Cleaning robot and cleaning method thereof

Abstract

The present specification relates to embodiments of a cleaning robot and a cleaning method thereof, in which the cleaning robot senses a state of a floor surface in an area traveled, obtains state information of contaminants present on the floor surface on the basis of a result of sensing, determines a timing and method of cleaning the contaminants, on the basis of an obtained result, and cleans the contaminants according to a result of determination.

Description

Cleaning robot and cleaning method thereof

[0001] The present invention relates to a cleaning robot that cleans a floor surface while driving in a driving area and a cleaning method thereof.

[0002] A robot is a machine that automatically processes or operates a given task using its own abilities. The application fields of robots are generally classified into various fields such as industrial, medical, space, and underwater.

[0003] Recently, the functions of robots are expanding due to the development of autonomous driving technology and automatic control technology using sensors. For example, cleaning robots are appearing that are deployed in large spaces such as airports and department stores and perform cleaning operations while driving through the space.

[0004] These cleaning robots can autonomously perform cleaning operations while driving through the space by utilizing map data and location information of the space.

[0005] Meanwhile, in the space where the above cleaning robot is deployed, the characteristics of the contaminants generated on the floor may vary.

[0006] Depending on the nature of the contaminant, there may be situations where the robot must avoid it, and in some cases, it may be difficult to clean it all at once and must be cleaned repeatedly to resolve the issue.

[0007] In the case of conventional robot vacuum cleaners, after the robot returns to the station, it often determines that the area is heavily contaminated and re-cleans it. However, in this case, the weakness is that the cleaning completion time increases by the amount of time it takes to return.

[0008] That is, the conventional technology did not efficiently clean the contaminants because excessive movements were required to clean the contaminants, which increased the cleaning time.

[0009] In addition, there was a limitation in that proper cleaning could not be performed according to the degree of contamination of the contaminant due to the absence of technology to perform response actions according to the degree of contamination of the contaminant in the past.

[0010] The present invention aims to improve the limitations of the prior art as described above, and the present specification provides an embodiment that can improve the limitations of the prior art.

[0011] Specifically, we aim to provide an embodiment capable of recognizing contaminants in real time and performing cleaning in response.

[0012] In addition, it is intended to provide an embodiment in which cleaning of contaminants can be carried out effectively.

[0013] In addition, we aim to provide an example in which appropriate cleaning can be performed according to the state of the contaminant.

[0014] The present invention, which aims to solve the above-described problem, is characterized by detecting contaminants in real time, determining operating conditions in response to the state of the contaminants, and then performing cleaning according to the determined results.

[0015] Specifically, when a contaminant is sensed during an operation, the degree and type of the contaminant are recognized, and then the cleaning time and method are determined accordingly to perform cleaning.

[0016] Such technical features can be applied and implemented to all types of cleaning robots, control systems for cleaning robots, cleaning control methods for cleaning robots, operating methods for cleaning robots, and cleaning methods for cleaning robots, and the present specification provides an embodiment of a cleaning robot and a cleaning method thereof that uses the above technical features as a means for solving the problem.

[0017] A cleaning robot according to an embodiment using the above technical features as a means for solving a problem includes a driving unit that generates a driving force for driving the cleaning robot, a cleaning unit that includes one or more cleaning modules and activates the one or more cleaning modules according to a cleaning mode, a sensing unit that senses the state of a floor surface of an area in which the cleaning robot drives, and a control unit that recognizes state information of contaminants existing on the floor surface based on a sensing result of the sensing unit, determines a cleaning time and a cleaning method for the contaminants according to the recognition result, and controls the driving unit and the cleaning unit according to the determination result to control cleaning performance for the contaminants.

[0018] In an embodiment of the above cleaning robot, the cleaning unit may include one or more cleaning modules among a suction module for sucking up dust and a mop module for cleaning the floor.

[0019] In the embodiment of the above cleaning robot, the mop module may be provided on the rear side of the driving unit.

[0020] In an embodiment of the above cleaning robot, the cleaning unit, if it includes the mop module, may further include a steam module that sprays high-temperature steam.

[0021] The above control unit can recognize the status information of the contaminant by dividing the sensing result into a plurality of areas and analyzing each of the plurality of areas on a pixel basis.

[0022] The control unit can recognize one or more of the location of the contaminant, the degree of the contaminant, the type of the contaminant, and the material of the floor surface on which the contaminant is located based on the sensing result.

[0023] The control unit may determine the cleaning timing as either a first time point for immediately cleaning the contaminant or a second time point for cleaning the contaminant after performing the operation being performed, depending on the degree of the contaminant.

[0024] The above control unit can determine the cleaning time as the second time point when the level of the contaminant corresponds to a certain contamination standard.

[0025] The control unit may determine the cleaning method according to the type of the contaminant as one of a first method in which the cleaning robot moves forward while facing the contaminant and cleans the contaminant, and a second method in which the cleaning robot changes direction while facing the contaminant and moves backward and cleans the contaminant.

[0026] The above control unit can determine the cleaning method as the second method when the type of the contaminant meets a certain drying standard.

[0027] The control unit, when determining the cleaning method as the second method, can determine the cleaning method as either the 2-1 method for cleaning by spraying high-temperature steam or the 2-2 method for cleaning by spraying high-temperature steam, depending on the material of the floor surface.

[0028] The above control unit can determine the cleaning method as the 2-2 method when the material of the floor surface is any one of a synthetic material, a fiber material, and wood.

[0029] The above control unit can control to immediately clean the ungroomed object when the ungroomed object exists in the ungroomed area after the ungroomed area has been formed and the type of the ungroomed object corresponds to a certain classification standard.

[0030] The above control unit can control the movement of the ungreased object by immediately switching to the direction in which the ungreased object exists when the type of the ungreased object corresponds to the above-described classification criterion.

[0031] In addition, a cleaning method of a cleaning robot according to an embodiment using the above technical feature as a means for solving a problem is a cleaning method of a cleaning robot including a mop module for wiping a floor surface, the cleaning method including a step of sensing a state of a floor surface during operation and generating a sensing result, a step of recognizing state information of a contaminant existing on the floor surface based on the sensing result, a step of determining a cleaning mode for cleaning the contaminant according to the state information, and a step of cleaning the contaminant while driving backward at least once to the position of the contaminant according to the cleaning mode.

[0032] In an embodiment of the above cleaning method, the mop module may be provided at the rear side of a driving unit that moves the cleaning robot.

[0033] The above cleaning robot further includes a steam module that sprays high-temperature steam, and the determining step can determine the cleaning mode as either a first mode using the steam module or a second mode not using the steam module, depending on the material of the floor surface.

[0034] The above cleaning step can be performed by driving backwards when driving to the location of the contaminant for the first time, and driving forward or backwards when driving again after the initial driving to the location of the contaminant.

[0035] The cleaning step may include a step of determining a current driving mode in the vicinity of the location of the contaminant, a step of determining whether to clean the contaminant based on whether the contaminant was previously cleaned if the driving mode is forward, and a step of changing the driving mode to drive forward to the location of the contaminant and clean the contaminant, and then turning the direction toward the direction of the contaminant if the driving mode is reverse.

[0036] The step of determining whether to clean the contaminant may include, in the case where the contaminant is cleaned for the first time, a step of turning the direction of direction in the opposite direction of the contaminant, then changing the driving method to drive backwards to the location of the contaminant and cleaning the contaminant, and in the case where the contaminant has been cleaned previously, a step of terminating the cleaning of the contaminant or turning the direction of direction in the opposite direction of the contaminant, then changing the driving method to drive backwards to the location of the contaminant and cleaning the contaminant based on a comparison result between the current state of the contaminant and the previous state.

[0037] The embodiments of the cleaning robot and the cleaning method of the cleaning robot as described above are not limited to the above, and may include embodiments described in the specific description to be described below or embodiments that can be inferred / derived from the specific description.

[0038] According to the embodiment of the cleaning robot and the cleaning method of the cleaning robot described above, when a contaminant is sensed during operation, the degree and type of the contaminant are recognized, and then the cleaning time and method are determined accordingly to perform cleaning, thereby enabling effective cleaning according to the state of the contaminant.

[0039] For example, by determining the timing of cleaning to clean the contaminants immediately or after the completion of the operation being performed depending on the degree of contamination, there is an effect that enables efficient performance of the operation mode as well as cleaning of the contaminants.

[0040] In addition, by determining the cleaning method to clean the contaminants in a wet or dry manner depending on the type of contaminant, there is an effect that cleaning of the contaminants can be performed appropriately depending on the type of contaminant.

[0041] In particular, when cleaning contaminants with a mop module, it is effective in preventing the driving wheels from becoming contaminated by contaminants during cleaning by driving in reverse and cleaning the contaminants.

[0042] In addition, by dividing the sensing results into multiple areas and analyzing them on a pixel-by-pixel basis to recognize the status information of the pollutant, it is possible to accurately recognize the status of the pollutant.

[0043] Accordingly, there is an effect that cleaning can be performed accurately based on the status information of the contaminant.

[0044] In addition, by immediately cleaning a specific category of ungroomed objects in the cleaning area, it has the effect of improving the cleaning effect and user satisfaction.

[0045] The effects according to the embodiments of the cleaning robot and the cleaning method of the cleaning robot described above are not limited to those described above, and may also include effects described in the specific description to be described below or effects that can be inferred / derived from the specific description.

[0046] Figure 1a is an example diagram of a cleaning robot according to an embodiment.

[0047] Figure 1b is an example diagram of a cleaning robot according to an embodiment b.

[0048] Fig. 2 is an example of a bottom view of a cleaning robot according to an embodiment.

[0049] Fig. 3 is a block diagram showing the control configuration of a cleaning robot according to an embodiment.

[0050] Figure 4 is an example diagram of an AI server that can be connected to a cleaning robot according to an embodiment.

[0051] Fig. 5 is a configuration diagram of a home network system including a cleaning robot according to an embodiment.

[0052] Fig. 6 is an example diagram of a driving area of ​​a cleaning robot according to an embodiment.

[0053] Fig. 7 is an exemplary diagram showing the sensing concept of the sensing unit of a cleaning robot according to an embodiment.

[0054] Fig. 8 is an exemplary diagram showing the concept of analyzing the sensing results of a cleaning robot according to an embodiment.

[0055] Fig. 9 is a flowchart showing a contaminant cleaning process of a cleaning robot according to an embodiment.

[0056] Fig. 10 is a flowchart showing an additional cleaning process of the cleaning process illustrated in Fig. 9.

[0057] Fig. 11 is a flowchart of a cleaning method of a cleaning robot according to an embodiment.

[0058] Fig. 12 is a specific flowchart of the steps for cleaning contaminants among the cleaning methods illustrated in Fig. 11.

[0059] Fig. 13 is a specific flowchart of a step for determining whether to clean contaminants among the cleaning methods illustrated in Fig. 12.

[0060] Fig. 14 is a flowchart showing a specific operation process of a cleaning robot according to the cleaning method illustrated in Fig. 11.

[0061] Fig. 15 is an example diagram showing a specific motion of a cleaning robot according to the specific operation process illustrated in Fig. 14.

[0062] Hereinafter, a cleaning robot and a cleaning method of the cleaning robot according to an embodiment will be described in detail with reference to the attached drawings, but descriptions of some components may be omitted to clarify the features of the present invention.

[0063] First, the configuration of a cleaning robot according to an embodiment and an example of implementing the cleaning robot will be described with reference to FIGS. 1A to 6.

[0064] Figures 1a to 3 show the configuration of a cleaning robot (100) according to an embodiment.

[0065] The above cleaning robot (100) may be a robot that cleans while driving.

[0066] The above cleaning robot (100) may be a robot equipped with artificial intelligence (AI).

[0067] The above cleaning robot (100) may be a robot that is one type of AI device.

[0068] The above cleaning robot (100) may be a robot that drives and cleans automatically or by user operation.

[0069] For example, the above cleaning robot (1000) may be an autonomous driving vacuum cleaner and a vacuum cleaner that performs autonomous driving.

[0070] The above cleaning robot (100) may be a robot that drives in a certain area and recognizes its location.

[0071] The above cleaning robot (100) may be a robot that recognizes its location while driving and performs cleaning at the same time.

[0072] The above cleaning robot (100) can perform the function of cleaning the floor surface while driving on its own in a certain area.

[0073] Here, cleaning of the floor surface may include suctioning dust (including foreign substances) from the floor surface or mopping the floor surface.

[0074] The above cleaning robot (100) may be equipped with multiple configurations for driving and cleaning.

[0075] The above cleaning robot (100) may have a shape as shown in FIG. 1a or FIG. 1b.

[0076] The above cleaning robot (100) may have a shape as shown in FIG. 1a, or may have a shape as shown in FIG. 1b, or may have a shape modified from the shape shown in FIG. 1a and FIG. 1b, or may have a shape different from the shape shown in FIG. 1a and FIG. 1b.

[0077] The above cleaning robot (100) may include a main body (110), a driving unit (120), a cleaning unit (130), and a sensing unit (140), as shown in FIGS. 1A and 1B.

[0078] The above main body (110) forms the exterior of the cleaning robot (100) and can perform driving and cleaning.

[0079] That is, the main body (110) can perform the overall operation of the cleaning robot (100).

[0080] The above main body (110) can be formed in a form that is easy to drive and clean, and can form the exterior of the cleaning robot (100).

[0081] For example, it can be made in the shape of a circle, or it can be made in the shape of a square with rounded corners.

[0082] The above main body (110) may be provided with a configuration for driving and cleaning the robot (100).

[0083] The above main body (110) can be provided with internal and external components for driving and cleaning of the cleaning robot (100).

[0084] For example, a configuration in which driving motion, cleaning motion, or sensing is performed may be provided externally, and a configuration in which control of the cleaning robot (100) is performed may be provided internally.

[0085] First, although not shown in the drawing, the main body (110) may be equipped with a power supply unit (not shown) that supplies power to the cleaning robot (100).

[0086] The above power supply unit can supply power to the cleaning robot (100) by including the battery that can be charged by an external commercial power source.

[0087] The above battery is configured to be rechargeable and can be configured to be detachably attached to the bottom of the main body (110).

[0088] The above power supply unit can supply driving power to each component included in the cleaning robot (100), thereby supplying operating power required for the cleaning robot (100) to drive or perform a specific function.

[0089] The above driving unit (120) may be provided on the lower surface of the main body (110).

[0090] The above driving unit (120) is a wheel for driving the cleaning robot (100), and as shown in FIG. 2, at least left and right driving wheels (121 and 122) may be provided on the bottom.

[0091] The above driving unit (120) is equipped with a motor, and by driving the motor, the left and right driving wheels (121 and 122) can be rotated in both directions to rotate or move the main body.

[0092] At this time, the left and right driving wheels (121 and 122) can move independently.

[0093] The above driving unit (120) can move the main body (110) forward, backward, left, and right, drive in a curve, or rotate in place.

[0094] The above cleaning unit (130) can suck in air containing dust or mop.

[0095] The cleaning unit (130) may be placed on the front side of the main body (110) as shown in FIG. 1a, or may be placed on the rear side of the main body (110) as shown in FIG. 1b.

[0096] Here, the front side may be the side where the cleaner body (110) runs in the forward direction (F), i.e., the front of the cleaner body (110).

[0097] The above cleaning unit (130) can be detachably connected to the main body (110).

[0098] Meanwhile, if the cleaning unit (130) is composed of one module and is detachable from the main body (110), another module can be mounted on the main body (110) to replace the detached module.

[0099] For example, a module for dust removal could be replaced with a module for mopping.

[0100] Accordingly, if the user wants to remove dust from the floor, the user can attach a cleaning unit (130) to the main body (110), and if the user wants to clean the floor, the user can attach a mop unit to the main body (110).

[0101] Alternatively, a plurality of modules may be provided in the cleaning unit (130), and the plurality of modules may be switched according to the function of use, or a plurality of modules may be activated to perform a plurality of functions.

[0102] The sensing unit (140) may be placed on one side of the main body (110) where the cleaning unit (130) is located, i.e., in front of the main body (110).

[0103] The sensing unit (140) may be arranged to overlap with the cleaning unit (130) in the vertical direction of the main body (110).

[0104] The sensing unit (140) is arranged on the upper part of the main body (110) to detect obstacles or terrain features in front so that the cleaning robot (100) does not collide with obstacles.

[0105] The above sensing unit (140) may be configured to additionally perform other sensing functions in addition to the above sensing function.

[0106] For example, the sensing unit (140) may include a camera (141) for acquiring an image of the surroundings.

[0107] The above camera (141) may include a lens and an image sensor.

[0108] In addition, the camera (141) can convert an image of the surroundings of the main body (110) into an electrical signal that can be processed by a control unit to be described later, and transmit an electrical signal corresponding to an upper image to the control unit, for example.

[0109] Here, the electrical signal corresponding to the upper image can be used by the control unit to detect the position of the main body (110).

[0110] In addition, the sensing unit (140) can detect obstacles such as walls, furniture, and cliffs on the driving surface or driving path of the cleaning robot (100).

[0111] Additionally, the sensing unit (140) can detect the presence of a docking device that performs battery charging.

[0112] In addition, the sensing unit (140) can detect ceiling information and map the driving area or cleaning area of ​​the cleaning robot (100).

[0113] A more specific configuration of the above cleaning unit (130) and the above sensing unit (140) will be described later.

[0114] The operation of the cleaning robot (100) can be performed through a control configuration as shown in FIG. 3.

[0115] The cleaning robot (100), as shown in FIG. 3, includes the driving unit (120), the cleaning unit (130), the sensing unit (140), and the control unit (150) that controls the driving unit (120), the cleaning unit (130), and the sensing unit (140).

[0116] The above cleaning robot (100) may also further include one or more of a storage unit (160), a communication unit (170), an input unit (180), and an output unit (190).

[0117] Here, the components shown in FIG. 3 are not essential, so the cleaning robot (100) can be implemented by including more components or fewer components.

[0118] The cleaning robot (100) including such components can be controlled by the control unit (150).

[0119] The above control unit (150) is a device that performs the role of processing information based on artificial intelligence technology, and may include one or more circuit modules that perform at least one of information learning, information inference, information perception, and natural language processing.

[0120] The above control unit (150) can perform at least one of learning, inference, and processing of a large amount of information (big data) such as information stored in the cleaning robot (100), environmental information around the mobile terminal, and information stored in a communicable external storage using machine learning technology.

[0121] In addition, the control unit (150) can use information learned using the machine learning technology to predict (or infer) at least one executable operation of the cleaning robot (100), and control the cleaning robot (100) so that the operation with the highest feasibility among the at least one predicted operation is executed.

[0122] Machine learning technology refers to a technology that collects and learns large amounts of information based on at least one algorithm, and judges and predicts information based on the learned information.

[0123] Here, information learning refers to the action of identifying the characteristics, rules, and judgment criteria of information, quantifying the relationships between information, and predicting new data using the quantified patterns.

[0124] The algorithms used by machine learning technology can be statistical algorithms, and for example, they can be decision trees that use a tree-structured form as a prediction model, artificial neural networks that imitate the structure and function of the neural networks of living things, genetic programming based on the evolutionary algorithm of living things, clustering that distributes observed examples into subsets called clusters, and Monte Carlo methods that calculate function values ​​as probabilities using randomly extracted random numbers.

[0125] As a branch of machine learning technology, deep learning technology is a technology that uses artificial neural network (DNN) algorithms to perform at least one of learning, judgment, and processing of information.

[0126] Here, the artificial neural network (DNN) may have a structure that connects layers and transmits data between layers.

[0127] The above control unit (150) may be equipped with a learning engine that uses training data stored in an external server or the storage unit (160) and detects features for recognizing a given object.

[0128] At this time, features for recognizing an object may include the object's size, shape, and shade.

[0129] Specifically, when the control unit (150) inputs a part of the sensing result of the sensing unit (140), for example, an image acquired through the camera (141), into the learning engine, the learning engine can recognize at least one object or living thing included in the input image.

[0130] In this way, when the learning engine is applied to driving, the control unit (150) can recognize whether there are obstacles in the vicinity, such as chair legs, electric fans, or a specific type of balcony gap that interfere with the driving of the cleaning robot (100), and thus the efficiency and reliability of the driving of the cleaning robot (100) can be increased.

[0131] Meanwhile, the learning engine as described above may be mounted on the control unit (150) or the storage unit (160), or may be mounted on an external server.

[0132] When the learning engine is mounted on an external server, the control unit (150) can control the communication unit (170) to transmit at least one image to be analyzed to the external server.

[0133] An external server can recognize at least one object, contaminant, or living thing contained in the image by inputting the image received from the vacuum cleaner into the learning engine.

[0134] Additionally, the external server can transmit information related to the recognition result back to the cleaning robot (100).

[0135] At this time, information related to the recognition result may include the number of objects included in the image that is the subject of analysis and information related to the name of each object.

[0136] An example of such an external server may be as shown in Fig. 4.

[0137] The external server (200) may include one or more of a communication unit (210), a memory (230), a running processor (240), and a processor (260), as illustrated in FIG. 4.

[0138] The above communication unit (210) can transmit and receive data with an external device such as the cleaning robot (100).

[0139] The above memory (230) may include a model storage unit (231).

[0140] The above model storage unit (231) can store a model (or artificial neural network, 231a) that is being learned or has been learned through a learning processor (240).

[0141] The above learning processor (240) can train an artificial neural network (231a) using learning data.

[0142] The above learning model may be used while mounted on the external server (200), or may be used while mounted on an external device such as the cleaning robot (100).

[0143] The above learning model can be implemented in hardware, software, or a combination of hardware and software. If part or all of the learning model is implemented in software, one or more instructions constituting the learning model can be stored in the memory (230).

[0144] The above processor (260) can infer a result value for new input data using the learning model and generate a response or control command based on the inferred result value.

[0145] The result generated by the above processor (260) can be transmitted to the cleaning robot (100) through the communication unit (210).

[0146] The above cleaning robot (100) can be operated by controlling each component according to the function / operation that the control unit (150) wishes to perform.

[0147] The above cleaning unit (130) may include one or more cleaning modules for performing cleaning while driving.

[0148] For example, it may include at least one of a dry cleaning module for dry cleaning and a wet cleaning module for wet cleaning.

[0149] The above cleaning module may be provided according to the performance function of the cleaning robot (100).

[0150] In addition, since the cleaning module is made detachable and replaceable, the performance function of the cleaning robot (100) can be switched depending on the cleaning function to be performed.

[0151] The above cleaning module may be either a suction module (131) that sucks up dust from the floor surface or a mop module (132) that mops the floor surface.

[0152] The above cleaning unit (130) is equipped with one or more cleaning modules and can activate one or more cleaning modules depending on the operation to be performed.

[0153] For example, when including both the suction module (131) and the mop module (132), the suction module (131) can be activated when performing dry cleaning, and the mop module (132) can be activated when performing wet cleaning.

[0154] The above cleaning unit (130) may also further include a steam module (133) that sprays high-temperature steam onto the floor surface to perform steam cleaning.

[0155] In this case, the cleaning robot (100) may preferably be equipped with the mop module (132) and the steam module (133).

[0156] The above control unit (150) can control the cleaning unit (130) according to the cleaning function that the cleaning robot (100) wishes to perform.

[0157] For example, depending on the cleaning function you want to perform, you may want to activate the corresponding cleaning module.

[0158] Additionally, the control unit (150) can also control the operation of the cleaning module.

[0159] For example, during cleaning, the control unit (150) can control the suction speed and performance of the suction module (131), the height and pressing force of the mop module (132), etc.

[0160] The above sensing unit (140) may include one or more sensors that sense various information about the surroundings of the cleaning robot (100).

[0161] The sensing unit (140) may include one or more sensors among the camera (141), odor detection sensor (142), liquid detection sensor (143), floor detection sensor (144), and distance measurement sensor (145).

[0162] The above camera (141) can obtain an image of the surroundings of the cleaning robot (100).

[0163] The above camera (141) may include a plurality of image sensors, and the control unit (150) may detect the distance to a surrounding object based on images obtained from each of the plurality of image sensors.

[0164] The above camera (141) may include one or more of a two-dimensional camera sensor and a three-dimensional camera sensor.

[0165] The above two-dimensional camera sensor is provided on one side of the cleaning robot (100) and can acquire image information related to the surroundings of the main body while moving.

[0166] Additionally, the camera (141) may include an optical flow sensor.

[0167] The above optical flow sensor can convert a downward image input from an image sensor provided within the sensor to generate image data of a predetermined format.

[0168] By using the optical flow sensor, the control unit (150) can detect the position of the cleaning robot (100) regardless of slipping of the cleaning robot (100).

[0169] The above control unit (150) can compare and analyze image data captured by the optical flow sensor over time to calculate the movement distance and movement direction, and based on this, calculate the position of the cleaning robot (100).

[0170] By utilizing the image information for the lower side of the cleaning robot (100) using the optical flow sensor, the control unit (150) can perform slip-resistant correction for the position of the cleaning robot (100) calculated by other means.

[0171] The above 3D camera sensor is attached to one side or part of the main body (110) and can generate 3D coordinate information related to the surroundings of the main body (110).

[0172] That is, the 3D camera sensor may be a 3D depth camera that calculates the distance between the cleaning robot (100) and the subject to be photographed.

[0173] Specifically, the 3D camera sensor can capture a 2D image related to the surroundings of the main body (110) and generate a plurality of 3D coordinate information corresponding to the captured 2D image.

[0174] The above odor detection sensor (142) can be implemented with various chemical sensors, gas sensors, etc. that obtain sensing values ​​representing the characteristics of gas generated from materials (contaminants, etc.) around the cleaning robot (100).

[0175] The above liquid detection sensor (143) can detect whether the contaminant present on the floor surface around the cleaning robot (100) is a liquid contaminant.

[0176] For example, the liquid detection sensor (143) may be implemented as a humidity sensor, but is not limited thereto.

[0177] The above cleaning robot (100) can effectively detect transparent contaminants or chemical substances that are not easily detected visually by being equipped with the odor detection sensor (142) and the liquid detection sensor (143).

[0178] The above-mentioned floor detection sensor (144) can detect a step on the floor surface, such as stairs, while the cleaning robot (100) is moving, or obtain a sensing value for detecting the characteristics (type, material, etc.) of the floor surface.

[0179] For example, the floor detection sensor (144) may include, but is not limited to, at least one infrared sensor placed on the bottom of the cleaning robot (100).

[0180] The above distance measuring sensor (145) can detect the distance to an object placed in space.

[0181] For example, the distance measuring sensor (145) may include a laser light source that emits laser light and a light receiving unit that receives laser light reflected from an object.

[0182] The above distance measuring sensor (145) can detect the distance to an object based on the time at which the reflected laser light is received after emitting the laser light.

[0183] The sensing unit (140) may also further include one or more of an external signal detection sensor, a forward detection sensor, and a cliff detection sensor.

[0184] The above external signal detection sensor can detect an external signal of the cleaning robot (100).

[0185] The above external signal detection sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, an RF sensor, or the like.

[0186] The above cleaning robot (100) can receive a guidance signal generated by the charging station using the external signal detection sensor and confirm the location and direction of the charging station.

[0187] At this time, the charging station can transmit a guidance signal indicating the direction and distance so that the cleaning robot (100) can return.

[0188] That is, the cleaning robot (100) can receive a signal transmitted from the charging station, determine its current location, set a movement direction, and return to the charging station.

[0189] The above-mentioned front detection sensor can be installed at a certain interval along the front of the cleaning robot (100), specifically, along the outer side surface of the cleaning robot (100).

[0190] The above-mentioned forward detection sensor is a sensor located on at least one side of the cleaning robot (100) and detects an obstacle in front. The sensor can detect an object, particularly an obstacle, existing in the direction of movement of the cleaning robot (100) and transmit detection information to the control unit (150).

[0191] That is, the forward detection sensor can detect protrusions, household items, furniture, walls, wall corners, etc., existing on the moving path of the cleaning robot (100) and transmit the information to the control unit (150).

[0192] The above-mentioned forward detection sensor may be, for example, an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, etc., and the cleaning robot (100) may use one type of sensor as the forward detection sensor or may use two or more types of sensors together as needed.

[0193] The above cliff detection sensor (or cliff sensor) can detect obstacles on the floor supporting the main body (110) mainly by using various types of optical sensors.

[0194] The above cliff detection sensor is located on the back of the cleaning robot (100) to detect obstacles on the floor, and may be composed of an infrared sensor, an ultrasonic sensor, an RF sensor, a PSD (Position Sensitive Detector) sensor, etc.

[0195] The above control unit (150) can obtain a forward image through the sensing unit (140) and control the driving direction or driving speed of the cleaning robot (100) based on the obtained forward image.

[0196] The above control unit (150) can recognize various objects or obstacles included in the image through various image recognition techniques.

[0197] The above control unit (150) can recognize the location of the cleaning robot (100) based on recognized objects, etc.

[0198] In addition, the control unit (150) can set or change a driving path based on recognized objects or obstacles, and control the driving unit (120) based on the set or changed driving path.

[0199] Meanwhile, the control unit (150) can distinguish the characteristics of the floor surface (e.g., wooden floor, cement floor, carpet, etc.) based on the sensing result of the sensing unit (140).

[0200] For example, the material of the floor surface can be distinguished based on the image acquired through the camera (141) and the sensing value of the floor detection sensor (144).

[0201] The storage unit (160) stores an algorithm or data for distinguishing the characteristics of the floor surface based on the image and / or sensing value, so that the control unit (150) can recognize the material of the floor surface based on the sensing result of the sensing unit (140) and the data stored in the storage unit (160).

[0202] The above control unit (150) can also detect the state of contaminants present on the floor surface based on the sensing result of the sensing unit (140).

[0203] For example, based on the image acquired through the camera (141) or the sensing value of the odor detection sensor (142) and / or the liquid detection sensor (143), it is possible to detect whether a contaminant exists on the floor surface and the characteristics of the contaminant.

[0204] The storage unit (160) stores an algorithm or data for detecting the presence or absence of a contaminant and the characteristics of the contaminant based on the image and / or sensing value, so that the control unit (150) can recognize the status information of the contaminant based on the sensing result of the sensing unit (140) and the data stored in the storage unit (160).

[0205] The above control unit (150) can transmit the image and / or sensing value obtained through the sensing unit (140) to the external server (200) through the communication unit (110).

[0206] The external server (200) can analyze the image and / or sensing value to obtain information on the characteristics of the floor surface, the presence of contaminants, and / or the characteristics of contaminants, and provide the obtained information to the cleaning robot (100).

[0207] In this case, the external server (200) can recognize the characteristics of the floor surface, the presence of contaminants, and / or the characteristics of contaminants, etc. from the image and / or sensing values ​​through a model (artificial neural network (231a)) learned through the learning processor (240).

[0208] The above control unit (150) can also directly recognize the characteristics of the floor surface, the presence of contaminants, and / or the characteristics of contaminants from the image and / or sensing values ​​through the built-in learned model.

[0209] Alternatively, the control unit (150) may receive data corresponding to the learned model from the external server (200) and store it in the storage unit (160), and may recognize the characteristics of the floor surface, the presence of contaminants, and / or the characteristics of contaminants from the image and / or sensing values ​​through the stored data.

[0210] The above storage unit (160) can store a control program that controls or drives the cleaning robot (100) and data corresponding thereto.

[0211] The above storage unit (160) can store audio information, video information, obstacle information, location information, map information, etc.

[0212] Additionally, the storage unit (160) can store information related to driving patterns.

[0213] The above storage unit (160) may include a non-volatile memory device.

[0214] The above storage unit (160) can store a map for the driving area.

[0215] The above map may be input by an external terminal device capable of exchanging information with the cleaning robot (100) through wired or wireless communication, such as the external server (200), or may be generated by the cleaning robot (100) itself while driving.

[0216] The above map may display the locations of rooms within the driving area.

[0217] Additionally, the current location of the cleaning robot (100) can be displayed on the map, and the current location of the cleaning robot (100) on the map can be updated during the driving process.

[0218] The map for the driving area stored in the storage unit (160) is data that stores predetermined information of the driving area in a predetermined format, and may be a navigation map used for driving during cleaning, a SLAM (Simultaneous localization and mapping) map used for location recognition, a learning map used for learning cleaning by storing information when encountering an obstacle, a global location map used for global location recognition, an obstacle recognition map in which information about recognized obstacles is recorded, etc.

[0219] The above map may mean a node map including multiple nodes.

[0220] Here, the above node means data indicating a location on the map corresponding to a point, which is a location within the driving area.

[0221] The above storage unit (160) can also store cleaning history information.

[0222] The above cleaning history information can be generated each time the cleaning robot (100) performs cleaning.

[0223] The above communication unit (170) can be connected to the external server (200) and the terminal device using one of wired, wireless, and satellite communication methods to transmit and receive signals and data.

[0224] The above communication unit (170) can also transmit and receive data with other devices located within a specific area.

[0225] Here, the above-mentioned other device may be any device that can connect to a network and transmit and receive data, and may be, for example, a device such as an air conditioner, a heating device, an air purifier, a light, a TV, or a car.

[0226] Additionally, the above-mentioned other devices may be devices that control doors, windows, water valves, gas valves, etc.

[0227] Additionally, the above-mentioned other device may be a sensor that detects temperature, humidity, air pressure, gas, etc.

[0228] Additionally, the communication unit (170) can communicate with other cleaners located within a specific area or a certain range.

[0229] When a map is created, the control unit (150) can transmit the created map to one or more of the external server (200) and the terminal device via the communication unit (170), and can also store the map in the storage unit (160).

[0230] In addition, the control unit (150) can store a map received from the external server (200) and the terminal device in the storage unit (160).

[0231] The above input unit (180) can receive various control commands for the cleaning robot (100) from the user.

[0232] The above input unit (180) may include one or more buttons.

[0233] For example, the input unit (180) may include a confirmation button, a setting button, etc.

[0234] The above confirmation button may be a button for receiving a command from the user to confirm detection information, obstacle information, location information, and map information, and the above setting button may be a button for receiving a command from the user to set the above information.

[0235] In addition, the input unit (180) may include an input reset button for canceling a previous user input and receiving a user input again, a delete button for deleting a preset user input, a button for setting or changing an operation mode, a button for receiving a command to return to the charging station, etc.

[0236] Additionally, the input unit (180) may be installed on the upper part of the mobile robot using a hard key, soft key, touchpad, etc.

[0237] Additionally, the input unit (180) may have the form of a touch screen together with the output unit (190).

[0238] The above output unit (190) can be installed on the upper part of the cleaning robot (100). Of course, the installation location or installation form may vary.

[0239] For example, the output unit (190) can display battery status or driving method on the screen.

[0240] In addition, the output unit (190) can output status information inside the mobile robot detected by the sensing unit (140), for example, the current status of each component included in the mobile robot.

[0241] In addition, the output unit (190) can display external status information, obstacle information, location information, map information, etc. detected by the sensing unit (140) on the screen.

[0242] The above output unit (190) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0243] The above output unit (190) may further include an audio output means for audibly outputting the operation process or operation result of the cleaning robot (100) performed by the control unit (150).

[0244] For example, the output unit (190) can output a warning sound to the outside according to a warning signal generated by the control unit (150).

[0245] At this time, the sound output means (not shown) may be a means for outputting sound, such as a beeper or speaker, and the output unit (190) may output audio data or message data having a predetermined pattern stored in the storage unit (160) to the outside through the sound output means.

[0246] Accordingly, the cleaning robot (100) according to one embodiment of the present invention can output environmental information about the driving area on the screen or as sound through the output unit (190).

[0247] According to another embodiment, the cleaning robot (100) can transmit map information or environmental information to the terminal device through the communication unit (170) so that the terminal device can output a screen or sound to be output through the output unit (190).

[0248] Meanwhile, the control unit (150) detects the remaining power of the battery, and if the remaining power is insufficient, controls the battery to move to a charging station connected to an external commercial power source, thereby supplying charging current from the charging station and charging the battery.

[0249] Here, the battery is connected to a battery detection unit so that the remaining battery capacity and charging status can be transmitted to the control unit (150).

[0250] In this case, the remaining capacity of the battery can be displayed on the output unit (190) by the control unit (150).

[0251] The cleaning robot (100) described above may be included in a plurality of units in a home network system (1) (hereinafter referred to as a system) as illustrated in FIG. 5, and may perform cleaning within a building (10) to which the home network system (1) as illustrated in FIG. 6 is applied.

[0252] The above system (1) may include a plurality of robots (100a, 100b), a network (50), the external server (200), and a plurality of terminal devices (300a, 300b), as shown in FIG. 5.

[0253] Among these, the plurality of robots (100a, 100b), the network (50), and at least one terminal device (300a) may be placed inside a building (10), and other terminal devices (300b) and the external server (200) may be located outside the building (10).

[0254] The above system (1) allows the first robot (100a) and the second robot (100b) to exchange data with each other through the network (50).

[0255] In addition, the first robot (100a) and / or the second robot (100b) may perform cleaning-related operations or corresponding operations by control commands received from the terminal device (300a, 300b) via the network (50) or other communication.

[0256] That is, although not shown, multiple robots (100a, 100b) may communicate with the terminal (300) through the first network communication and communicate with each other through the second network communication.

[0257] Here, the network (50) may mean network communication, and may mean short-distance communication using at least one of wireless communication technologies such as WLAN (Wireless LAN), WPAN (Wireless Personal Area Network), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), Zigbee, Z-wave, Blue-Tooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultrawide-Band), Wireless USB (Wireless Universal Serial Bus), etc.

[0258] The illustrated network (50) may vary depending on the communication method of the robots that wish to communicate with each other.

[0259] The first robot (100a) and / or the second robot (100b) can provide information sensed through each sensing unit (140) to one or more of the terminal devices (300a, 300b) through the network (50).

[0260] Additionally, one or more of the terminal devices (300a, 300b) can transmit a control command generated based on the received information to the first robot (100a) and / or the second robot (100b) through the network (50).

[0261] In addition, the communication unit (170) of the first robot (100a) and the communication unit (170) of the second robot (100b) can directly communicate wirelessly or indirectly communicate wirelessly through another router (not shown) to obtain information about the driving status and each other's location information.

[0262] The above external server (200) can be directly connected wirelessly through the terminal device (300b).

[0263] Alternatively, the external server (200) may be connected to at least one of the plurality of robots (100a, 100b) without going through the terminal device (300b).

[0264] The above external server (200) may include a programmable processor and may be equipped with various algorithms.

[0265] The external server (200) can store firmware information and driving information (course information, etc.) for the plurality of robots (100a, 100b) and register product information for the plurality of robots (100a, 100b).

[0266] For example, the external server (200) may be a server operated by a robot manufacturer or a server operated by an operator of a public application store.

[0267] The above system (1) can be applied to a home building (10) as shown in FIG. 6, so that the cleaning robot (100) can drive inside the home building (10) and perform cleaning.

[0268] The above cleaning robot (100) performs cleaning while driving in a driving area of ​​a home environment as shown in FIG. 6, and power charging and maintenance of one or more cleaning modules can be performed at a charging station (400).

[0269] Meanwhile, in the driving area of ​​the home environment as shown in Fig. 6, a contaminant (C) may exist, and the cleaning robot (100) may recognize the contaminant (C) and clean the contaminant (C).

[0270] The above contaminants (C) may be objects to be cleaned that may occur on the floor surface within a home environment, such as hair, dust, and liquids.

[0271] The cleaning robot (100) includes the driving unit (120) that generates driving force for driving, the cleaning unit (130) that activates the one or more cleaning modules according to a cleaning mode, the sensing unit (140) that senses the state of the floor surface of the driving area, and the control unit (150) that recognizes the state information of the contaminant (C) existing on the floor surface based on the sensing result of the sensing unit (140), determines the cleaning time and method of the contaminant (C) according to the recognition result, and controls the driving unit (120) and the cleaning unit (130) according to the determination result, thereby performing cleaning of the contaminant (C) existing on the floor surface of the driving area (10) as illustrated in FIG. 6.

[0272] Hereinafter, a specific embodiment of the cleaning robot (100) will be described with further reference to FIGS. 7 to 10.

[0273] In the above cleaning robot (100), the driving unit (120) generates driving force for driving the cleaning robot (100) and can move the position of the main body (110).

[0274] In the above cleaning robot (100), the cleaning unit (130) can clean the object to be cleaned by activating one or more cleaning modules depending on the operation or cleaning mode being performed.

[0275] The above cleaning unit (130) may include one or more cleaning modules among the suction module (131) that sucks up dust and the mop module (132) that cleans the floor surface.

[0276] The above suction module (131) may be a module that cleans the floor surface dry.

[0277] The above suction module (131) may be a module that sucks up dust from the floor surface and cleans it.

[0278] The above suction module (131) may be provided on the front side of the driving unit (120).

[0279] For example, as shown in FIG. 2, it may be provided in front of the driving unit (120) on the lower surface of the main body (110).

[0280] The above mop module (132) may be a module that wet cleans the floor surface.

[0281] The above mop module (132) may be a module that cleans the floor surface by mopping it.

[0282] The above mop module (132) may be provided on the rear side of the driving unit (120).

[0283] For example, as shown in FIG. 2, it may be provided behind the driving unit (120) on the lower surface of the main body (110).

[0284] Meanwhile, the cleaning unit (130), if it includes the mop module (132), may further include a steam module (133) that sprays high-temperature steam.

[0285] That is, the cleaning unit (130) may perform mop cleaning and steam cleaning by including the mop module (132) and the steam module (133).

[0286] When the cleaning unit (130) includes the mop module (132) and the steam module (133), the mop module (132) can be activated after the steam module (133) is activated.

[0287] For example, after spraying steam onto the area to be cleaned with the steam module (133), the area to be cleaned can be mopped with the mop module (132).

[0288] By performing mopping and steam cleaning in this way, you can effectively clean contaminants that cannot be cleaned by mopping alone.

[0289] In the above cleaning robot (100), the sensing unit (140) can sense the state of the floor surface while the cleaning robot (100) is moving and transmit the sensing result to the control unit (150).

[0290] The sensing unit (140), as illustrated in FIG. 7, can sense the floor surface where the contaminant (C) exists using one or more sensors and transmit the sensing result corresponding to the sensing range (SL) of the sensor to the control unit (150).

[0291] The control unit (150) receives the sensing result from the sensing unit (140), divides the sensing result into a plurality of areas, and analyzes the result on a pixel basis for each of the plurality of areas to recognize the status information of the contaminant (C).

[0292] For example, as illustrated in FIG. 8, the sensing range (SL) excluding the dead zone is divided into 9 regions, and each region is analyzed on a pixel basis to detect the shape of the contaminant (C), thereby recognizing the status information of the contaminant (C).

[0293] Accordingly, the control unit (150) can accurately recognize the status information of the contaminant (C).

[0294] Here, the status information may be information on one or more of the location of the contaminant (C), the degree of the contaminant (C), the type of the contaminant (C), and the material of the floor surface on which the contaminant (C) is located.

[0295] That is, the control unit (150) can recognize one or more of the location of the contaminant (C), the degree of the contaminant (C), the type of the contaminant (C), and the material of the floor surface on which the contaminant (C) is located, based on the sensing result.

[0296] The control unit (150) recognizes one or more status information among the location of the contaminant (C), the degree of the contaminant (C), the type of the contaminant (C), and the material of the floor surface on which the contaminant (C) is located, and determines the cleaning time and cleaning method of the contaminant (C) based on the recognition result, thereby controlling the cleaning of the contaminant (C).

[0297] That is, the cleaning robot (100) can clean the contaminant (C) at the cleaning time and using the cleaning method according to the status information of the contaminant (C).

[0298] Accordingly, the cleaning robot (100) can perform appropriate and efficient cleaning corresponding to the status information of the contaminant (C).

[0299] The above control unit (150) can determine the cleaning time according to the degree of the contaminant (C).

[0300] The above control unit (150) can determine the cleaning timing as either a first time point for immediately cleaning the contaminant (C) or a second time point for cleaning the contaminant (C) after performing the operation being performed, depending on the degree of the contaminant (C).

[0301] That is, the cleaning robot (100) may clean the contaminant (C) immediately or after completion of the currently performed operation, depending on the degree of the contaminant (C).

[0302] For example, if the range of the contaminant (C) is such that it can be cleaned immediately, the contaminant (C) is cleaned immediately, and if the range of the contaminant (C) is such that it takes a certain amount of time or more, the contaminant (C) may be returned to the location of the contaminant (C) after the cleaning plan being performed is completed and the contaminant (C) may be cleaned.

[0303] Accordingly, appropriate cleaning is performed according to the degree of the contaminant (C), so that the cleaning time consumed in the cleaning plan being performed including the contaminant (C) can be efficiently managed.

[0304] The above control unit (150) can determine the cleaning time as the first time point when the level of the contaminant (C) does not meet a certain contamination standard.

[0305] That is, the cleaning robot (100) can immediately clean the contaminant (C) if the level of the contaminant (C) does not meet the predetermined contamination standard.

[0306] Here, the above-mentioned specific contamination standard may be a standard for at least one of the range of the contaminant (C) and the concentration of the contaminant (C).

[0307] The above-mentioned schedule contamination criteria may also further include criteria for the required cleaning time of the contaminant (C).

[0308] In this case, the control unit (150) may calculate the cleaning time of the contaminant (C) from the degree of the contaminant (C) and determine the cleaning time by comparing the cleaning time with the predetermined contamination standard.

[0309] The above control unit (150) can determine the cleaning time as the second time point when the level of the contaminant (C) corresponds to the predetermined contamination standard.

[0310] That is, if the level of the contaminant (C) corresponds to the predetermined contamination standard, the cleaning robot (100) may clean the contaminant (C) after completing the currently performed operation.

[0311] The above control unit (150) can determine the cleaning method according to the type of the contaminant (C).

[0312] The control unit (150) may determine the cleaning method according to the type of the contaminant (C) as one of a first method in which the cleaning robot (100) moves forward while facing the contaminant (C) and cleans the contaminant (C), and a second method in which the cleaning robot (100) changes direction while facing the contaminant (C) and moves backward while cleaning the contaminant (C).

[0313] Here, the first method may be a method of performing cleaning using the suction module (131) or a dry cleaning method, and the second method may be a method of performing cleaning using the mop module (132) or a wet cleaning method.

[0314] That is, the cleaning robot (100) may move forward and clean the contaminant (C) or move backward and clean the contaminant (C) depending on the type of the contaminant (C).

[0315] For example, if the type of the contaminant (C) is dust, the contaminant (C) can be cleaned by driving forward, and if the type of the contaminant (C) is liquid, the contaminant (C) can be cleaned by driving backward.

[0316] Accordingly, appropriate cleaning is performed according to the type of the contaminant (C), and cleaning can be performed while preventing additional contamination caused by cleaning the contaminant (C).

[0317] The above control unit (150) can determine the cleaning method as the first method when the type of the contaminant (C) does not meet a certain drying standard.

[0318] That is, the cleaning robot (100) may clean the contaminant (C) by moving forward if the type of the contaminant (C) does not meet the predetermined drying standard.

[0319] Here, the above-mentioned dry standard may be a standard for the moisture content of the contaminant (C).

[0320] The above control unit (150) can determine the cleaning method as the second method when the type of the contaminant (C) corresponds to the above-described dryness standard.

[0321] That is, the cleaning robot (100) can clean the contaminant (C) by driving backwards if the type of the contaminant (C) meets the predetermined drying standard.

[0322] In this case, the control unit (150) may control the main body (110) to rotate in the opposite direction from the direction of the contaminant (C) so that the rear surface of the main body (110) faces the contaminant (C) and moves backward to the position of the contaminant (C) and activate the mop module (132) to clean the contaminant (C).

[0323] That is, when the contaminant (C) meets the above-mentioned dryness standard and is cleaned by the mop module (132) or wet cleaning, the cleaning robot (100) can clean the location of the contaminant (C) by driving backwards so that the mop module (132) provided behind the driving unit (120) can clean the contaminant (C) in advance before the driving unit (120) touches the contaminant (C).

[0324] Accordingly, before the driving unit (120) passes over the contaminant (C), the contaminant (C) is first cleaned by the mop module (132), thereby preventing the driving unit (120) from being contaminated by the contaminant (C) as the cleaning robot (100) passes over the contaminant (C).

[0325] The specific operation of the cleaning robot (100) cleaning in the second manner may be the same as M1 to M3 of FIG. 15, which will be described later, and a specific description will be described again later in the description of FIG. 15.

[0326] Meanwhile, when the control unit (150) determines the cleaning method as the second method, it can determine the cleaning method as either the 2-1 method for cleaning by spraying high-temperature steam or the 2-2 method for cleaning by spraying the high-temperature steam depending on the material of the floor surface.

[0327] That is, the cleaning robot (100) can clean the contaminant (C) using either the 2-1 method or the 2-2 method depending on the material of the floor surface.

[0328] Accordingly, appropriate cleaning can be performed according to the material of the floor surface.

[0329] Here, the above-mentioned 2-1 method may be a method of cleaning the contaminant (C) with a mop using the steam module (133), and the above-mentioned 2-2 method may be a method of cleaning the contaminant (C) with a mop without using the steam module (133).

[0330] The above control unit (150) can determine the cleaning method as the 2-1 method when the material of the floor surface is not a synthetic material, a fiber material, or wood.

[0331] That is, the cleaning robot (100) can clean the contaminants (C) using steam cleaning and mopping methods if the material of the floor surface is not a synthetic material, fiber material, or wood.

[0332] In this case, the cleaning robot (100) may spray steam at the location of the contaminant (C) using the steam module (133) and then clean the contaminant (C) using the mop module (132).

[0333] The above control unit (150) can determine the cleaning method as the 2-2 method when the material of the floor surface is any one of a synthetic material, a fiber material, and wood.

[0334] That is, the cleaning robot (100) can clean the contaminants (C) using a mop cleaning method if the material of the floor surface is any one of synthetic material, fiber material, and wood.

[0335] Accordingly, it can be cleaned while protecting flooring that is at risk of damage, burnout, contamination, and chemical release when steam is sprayed.

[0336] In this way, the contaminant cleaning process of the cleaning robot (100), in which the control unit (150) determines the cleaning time and cleaning method of the contaminant (C) based on the recognition result and cleaning of the contaminant (C) is performed, can be performed in the order shown in FIG. 9.

[0337] First, the control unit (150) can recognize (S0) the status information based on the sensing result of the sensing unit (140) and determine (S1) whether the degree of the recognized contaminant (C) corresponds to the predetermined contamination standard.

[0338] If the level of the above contaminant (C) does not meet the above-mentioned specific contamination standard, the first time point for immediately cleaning the contaminant (C) is determined (S2a), and the cleaning robot (100) can be positioned (S3) around the contaminant (C).

[0339] If the degree of the above-mentioned contaminant (C) corresponds to the above-mentioned certain contamination standard, the second time point is determined (S2b-1) to clean the contaminant (C) after performing the currently-performing operation, and the cleaning robot (100) can be positioned (S3) around the contaminant (C) after performing the currently-performing operation (S2b-2).

[0340] When the cleaning robot (100) is positioned (S3) around the contaminant (C), the control unit (150) can determine (S4) whether the type of the contaminant (C) around the contaminant (C) corresponds to the predetermined drying standard.

[0341] If the type of the above contaminant (C) does not meet the above-mentioned drying standard, the first method of cleaning the contaminant (C) in a forward driving manner is determined (S5a), and the cleaning robot (100) can clean the contaminant (C) by moving forward (S6).

[0342] If the type of the above contaminant (C) corresponds to the above-mentioned dry standard, the second method of cleaning the contaminant (C) in a reverse driving manner is determined (S5b-1), and the control unit (150) can determine whether the material of the floor surface corresponds to a specific material (S5b-2).

[0343] If the material of the floor surface does not correspond to a specific material, the method 2-1 is determined (S5b-3a) to clean the contaminant (C) using a steam spray method, and the cleaning robot (100) can clean the contaminant (C) by moving backwards using a steam spray method (S6).

[0344] If the material of the above floor surface corresponds to a specific material, the 2-2 method for cleaning the contaminant (C) using a steam micro-spray method is determined (S5b-3b), and the cleaning robot (100) can clean the contaminant (C) using a steam micro-spray method while driving backward (S6).

[0345] The above cleaning robot (100) can clean the contaminant (C) through this process.

[0346] The above cleaning robot (100) may also perform a process as shown in FIG. 10 after cleaning (S6) the contaminant (C).

[0347] The above control unit (150) can control cleaning of the ungroomed object based on the result of recognition of the ungroomed object when the ungroomed object is recognized in the ungroomed area while the ungroomed area is formed.

[0348] Here, the above-mentioned cleaning area may be an area where the cleaning robot (100) performs a basic operation or an area where the contaminant (C) is cleaned.

[0349] That is, the above-mentioned cleaning area can be formed by the cleaning robot (100) previously driving or cleaning.

[0350] The above control unit (150) can recognize the ungroomed object present in the cleaning area, determine whether the type of the ungroomed object corresponds to a certain classification standard (S7), and control the cleaning of the ungroomed object based on the determination result.

[0351] Here, the above-mentioned classification criteria may be criteria for a specific type of cleaning target among the types of ungroomed materials.

[0352] The above specific type may be a cleaning object that requires immediate cleaning according to the user's request.

[0353] The above schedule classification criteria may include one or more cleaning objects.

[0354] The above classification criteria may include, for example, hair.

[0355] If hair is included in the above-mentioned classification criteria, the control unit (150) may determine whether the type of the uncleaned matter corresponds to hair.

[0356] The control unit (150) determines (S7) whether the type of the ungreased material corresponds to the predetermined classification standard, and if the type of the ungreased material does not correspond to the predetermined classification standard, the control unit can control the cleaning of the ungreased material to be not performed by maintaining the position (S8a) and to perform the currently performed operation (S9).

[0357] That is, if the type of the ungroomed object does not meet the above-mentioned classification criteria, the cleaning robot (100) may not move to clean the ungroomed object (S8a) and may perform the operation currently being performed (S9).

[0358] Here, the above-described motion being performed may be an motion in which the cleaning robot (100) returns to the charging station (400) after completing the cleaning motion, or an motion in which the cleaning robot (100) moves to a specific area.

[0359] The control unit (150) determines (S7) whether the type of the ungreased material corresponds to the predetermined classification standard, and if the type of the ungreased material corresponds to the predetermined classification standard, the control unit can control to immediately clean the ungreased material (S8b) and then perform the currently-performing operation (S9).

[0360] In this case, the control unit (150) can control the main body (110) to immediately turn in the direction in which the uncleaned object exists and move toward the uncleaned object (S8b).

[0361] That is, if the type of the ungroomed object corresponds to the above-mentioned classification standard, the cleaning robot (100) may move to the vicinity of the ungroomed object to clean the ungroomed object (S8a) and perform the operation currently being performed (S9).

[0362] Accordingly, if residual cleaning objects such as hair remain in an area that has been previously cleaned, the cleaning robot (100) recognizes this and cleans it, thereby improving the user's convenience and satisfaction with cleaning.

[0363] Meanwhile, if the cleaning robot (100) is a mop cleaning robot, the contaminant (C) can be cleaned using the cleaning method of the cleaning robot according to the embodiment.

[0364] Hereinafter, a cleaning method (hereinafter referred to as a cleaning method) of a cleaning robot according to an embodiment will be described with reference to FIGS. 11 to 15. However, any part overlapping with the previously described content will be omitted as much as possible in place of the above-described content.

[0365] The above cleaning method may be a cleaning method of a cleaning robot including the mop module (132) that cleans the floor surface.

[0366] The above cleaning method may be a method in which the cleaning robot (100) cleans the contaminant (C) using a mop cleaning method.

[0367] The above cleaning method may be a method in which the cleaning robot (100) including the mop module (132) cleans the contaminants (C) with a mop.

[0368] Here, the mop module (132) may be provided on the rear side of the driving unit (120) that moves the cleaning robot (100), as shown in FIG. 2.

[0369] In addition, the cleaning robot (100) may further include a steam module (133) that sprays high-temperature steam.

[0370] The above cleaning method can be applied and implemented to the cleaning robot (100), and can also be implemented as an embodiment independent of the cleaning robot (100).

[0371] The above cleaning method includes, as illustrated in FIG. 11, a step (S100) of sensing the state of a floor surface during operation and generating a sensing result, a step (S200) of recognizing state information of a contaminant existing on the floor surface based on the sensing result, a step (S300) of determining a cleaning mode for cleaning the contaminant according to the state information, and a step (S400) of cleaning the contaminant while driving backward at least once according to the cleaning mode.

[0372] That is, the cleaning robot (100) senses the state of the floor surface during operation to generate a sensing result (S100), recognizes the state information based on the sensing result (S200), determines the cleaning mode according to the state information (S300), and cleans the contaminant (C) by driving backward at least once according to the cleaning mode and cleaning the contaminant (C) (S400).

[0373] The above generating step (S100) may be a step in which the sensing unit (140) senses the state of the floor surface.

[0374] The above generating step (S100) can generate the sensing result by sensing the state of the floor surface as shown in FIG. 7.

[0375] The above-mentioned recognizing step (S200) may be a step in which the control unit (150) recognizes the status information based on the sensing result.

[0376] The above-described recognizing step (S200) can recognize one or more of the location of the contaminant (C), the degree of the contaminant (C), the type of the contaminant (C), and the material of the floor surface on which the contaminant (C) is located as the state information by analyzing the sensing result as illustrated in FIG. 8.

[0377] The above-determined step (S300) may be a step in which the control unit (150) determines the cleaning mode according to the status information.

[0378] The above-determined step (S300) can determine the cleaning mode as either a first mode using the steam module (133) or a second mode not using the steam module (133) depending on the material of the floor surface.

[0379] Here, each of the first mode and the second mode may be a mode that uses the mop module (132).

[0380] That is, the first mode may be a mode in which the contaminant (C) is cleaned using the mop module (132) and the steam module (133) by mopping and steam cleaning, and the second mode may be a mode in which the contaminant (C) is cleaned using only the mop module (132) by mopping.

[0381] The above-determined step (S300) may determine the cleaning mode as the first mode when the material of the floor surface is not one of a synthetic material, a fiber material, and wood.

[0382] That is, the step of determining (S300) may determine the cleaning mode as the first mode so as to clean the contaminant (C) by mopping and steam cleaning when the material of the floor surface is not one of synthetic material, fiber material, and wood.

[0383] The above-determined step (S300) may determine the cleaning mode as the second mode when the material of the floor surface is any one of a synthetic material, a fiber material, and wood.

[0384] That is, the above-determined step (S300) may determine the cleaning mode as the second mode so as to clean the contaminant (C) by mopping it if the material of the floor surface is any one of a synthetic material, a fiber material, and wood.

[0385] The above cleaning step (S400) may be a step in which the control unit (150) controls the driving unit (120) and the cleaning unit (130) according to the cleaning mode, so that the cleaning robot (100) cleans the contaminants (C).

[0386] The above cleaning step (S400) can drive backwards when driving for the first time to the location of the contaminant (C), and can drive forward or backwards when driving again after the first drive to the location of the contaminant (C).

[0387] That is, the cleaning robot (100) may clean by driving backward when first driving to the location of the contaminant (C), and after the first driving, may clean by driving forward or backward to the location of the contaminant (C).

[0388] Accordingly, the position of the contaminant (C) may be cleaned by driving backward at least once.

[0389] For example, when cleaning by going back and forth to the location of the above contaminant (C), the vehicle may clean by driving backwards during the initial drive, and then drive forward during the return drive.

[0390] In this way, by driving backwards and cleaning the location of the contaminant (C) for the first time, the driving unit (120) can be prevented from being contaminated by the contaminant (C) that was not cleaned when driving forward.

[0391] That is, when the cleaning robot (100) first drives to the location of the contaminant (C), it drives backwards, so that the contaminant (C) is cleaned first by the mop module (132) provided behind the driving unit (120) before the driving unit (120) passes the contaminant (C), thereby preventing contamination of the driving unit (120).

[0392] The specific operation of the above cleaning step (S400) may be the same as M1 to M3 illustrated in FIG. 15, which will be described later.

[0393] Meanwhile, the specific steps of the above cleaning step (S400) may be as shown in FIGS. 12 and 13.

[0394] The cleaning step (S400) may include, as illustrated in FIG. 12, a step (S410) of determining a current driving mode in the vicinity of the location of the contaminant (C), a step (S420) of determining whether to clean the contaminant (C) based on whether the contaminant (C) has been cleaned before if the driving mode is forward, and a step (S430) of changing the driving mode to drive forward to the location of the contaminant (C) and clean the contaminant (C), and then turning the direction toward the direction of the contaminant (C).

[0395] The step (S410) of determining the driving method may be a step in which the control unit (150) determines the driving method while the cleaning robot (100) is located around the location of the contaminant (C).

[0396] The step (S410) of determining the driving method can determine whether the driving method is forward or backward.

[0397] The step (S420) of determining whether to clean the contaminant (C) may be a step in which, when the driving method is forward, the control unit (150) determines whether to clean the contaminant (C) based on whether previous cleaning has been performed, and the cleaning robot (100) performs cleaning based on the determination result.

[0398] The step (S420) of determining whether to clean the contaminant (C) may include, as illustrated in FIG. 13, a step (S421) of turning the direction in the opposite direction of the contaminant (C) when cleaning the contaminant (C) for the first time and then switching the driving method to drive backwards to the position of the contaminant (C) and cleaning the contaminant (C), and a step (S422) of terminating the cleaning of the contaminant (C) or turning the direction in the opposite direction of the contaminant (C) and then switching the driving method to drive backwards to the position of the contaminant (C) and cleaning the contaminant when the contaminant (C) has been cleaned before, based on a comparison result between the current state of the contaminant (C) and the previous state.

[0399] In the case of cleaning the contaminant (C) for the first time, the step (S421) of rotating the direction of orientation in the opposite direction of the contaminant (C) and then switching the driving method to drive backwards to the location of the contaminant (C) and cleaning the contaminant (C) may be a step in which, when cleaning the contaminant (C) for the first time, the cleaning robot (100) is directed toward the contaminant (C) around the location of the contaminant (C), then rotates the direction of orientation in the opposite direction of the contaminant (C) so that the contaminant (C) is located at the rear of the cleaning robot (100), and then switches the driving method from forward to backward to drive backwards to clean the location of the contaminant (C).

[0400] In the case where the contaminant (C) has been cleaned before, the step (S422) of ending the cleaning of the contaminant (C) or turning the direction in the opposite direction of the contaminant (C) based on the result of comparing the current state of the contaminant (C) with the previous state, and then switching the driving method to drive backwards to the position of the contaminant (C) and cleaning the contaminant is a step in which, when the contaminant (C) has been cleaned before, the control unit (150) compares the current state of the contaminant (C) with the previous state, and if there is no change between the current state and the previous state, the cleaning of the contaminant (C) is ended, and if there is a change between the current state and the previous state, the cleaning robot (100) turns the direction in the opposite direction of the contaminant (C) while facing the contaminant (C) around the position of the contaminant (C), and in the case where the contaminant (C) is located at the rear of the cleaning robot (100), the driving method is switched from forward to backward to drive backwards to clean the position of the contaminant (C). Can be.

[0401] The step (S430) of rotating in the direction of the contaminant (C) may be a step in which the cleaning robot (100) changes the driving method to clean the contaminant (C) when the driving method is reverse.

[0402] The step (S430) of rotating in the direction of the contaminant (C) can change the driving mode from reverse to forward to clean the contaminant (C) forward.

[0403] The overall operation process of the cleaning robot (100) that cleans the contaminants (C) in the order shown in FIGS. 11 to 13 may be as shown in FIG. 14.

[0404] The cleaning robot (100) first senses the state of the floor surface while performing the basic operation (S100), and if the contaminant (C) is not detected, it moves to the charging station (400) (S500) and washes the mop module (132) (S600), and then completes the basic operation.

[0405] The cleaning robot (100) above can detect the contaminant (C) as a result of sensing the state of the floor surface (S100) and determine the cleaning mode (S300) by recognizing the state information (S200).

[0406] In this case, the cleaning robot (100) may be in a state where the contaminant (C) is facing forward.

[0407] That is, the direction of the cleaning robot (100) may be directed toward the contaminant (C).

[0408] The above cleaning robot (100) can determine whether the current driving mode is forward or backward (S410) after determining the cleaning mode as either the first mode or the second mode (S300).

[0409] The cleaning robot (100) can determine whether the location of the contaminant (C) is in the previous cleaning area (S420) if the driving method is forward as a result of determining the driving method (S410).

[0410] The above cleaning robot (100) can compare the current state and the previous state (S422) when the driving method is forward (S410) and the location of the contaminant (C) is the previous cleaning area (S420).

[0411] The cleaning robot (100) above, when the driving mode is forward (S410), the location of the contaminant (C) is the previous cleaning area (S420), and the current state has not changed from the previous state (S422), determines that cleaning of the contaminant (C) is impossible and can move to the charging station (400) (S500).

[0412] That is, when the driving method is forward and the location of the contaminant (C) is a previous cleaning area, the cleaning robot (100) determines whether the current state is a cleanable area based on whether there has been a change from the previous state, and if there has been no change, determines that the area is not cleanable, and completes cleaning of the contaminant (C).

[0413] Accordingly, unnecessary cleaning operations for non-cleanable contaminants (C) can be prevented.

[0414] In this case, cleaning of the above contaminant (C) may be considered complete after at least one round-trip cleaning.

[0415] The cleaning robot (100) above can, when the driving mode is forward (S410), the location of the contaminant (C) is a previous cleaning area (S420), and the current state has changed from the previous state (S422), rotate the direction of orientation and then change the driving mode to reverse to drive backward and clean the location of the contaminant (C) (S421).

[0416] That is, when the driving method is forward and the location of the contaminant (C) is a previous cleaning area, the cleaning robot (100) determines whether the current state is a cleanable area based on whether there is a change from the previous state, and if there is a change, it determines that the area is cleanable and can re-clean the contaminant (C).

[0417] In this case, cleaning of the above contaminant (C) may correspond to the first run of re-cleaning after one round-trip cleaning.

[0418] In this way, if the location of the contaminant (C) is cleaned by driving backward, the contaminant (C) is positioned in front of the cleaning robot (100), and the state sensing (S100) of the floor surface can be performed again.

[0419] In this case, since the driving method is in reverse, after the step (S300) of determining the cleaning mode, the driving method is switched to drive forward to the location of the contaminant (C) and clean the contaminant (C), and then the step (S430) of rotating the direction in the direction of the contaminant (C) can be performed.

[0420] When performing the step (S430) of rotating in the direction of the contaminant (C) as described above, the cleaning of the contaminant (C) may correspond to a return run of one round-trip cleaning.

[0421] The cleaning robot (100) above, when the driving mode is forward (S410) and the location of the contaminant (C) is not the previous cleaning area (S420), can rotate the direction of orientation and then change the driving mode to reverse to drive backward and clean the location of the contaminant (C) (S421).

[0422] In this case, cleaning of the above contaminant (C) may correspond to the first run of the first round-trip cleaning.

[0423] In this way, if the location of the contaminant (C) is cleaned by driving backward, the contaminant (C) is positioned in front of the cleaning robot (100), and the state sensing (S100) of the floor surface can be performed again.

[0424] In this case, since the driving method is reverse, after the step (S300) of determining the cleaning mode, the driving method can be switched to drive forward to the location of the contaminant (C) and clean the contaminant (C), and then the step (S430) of rotating the direction in the direction of the contaminant (C) can be performed.

[0425] Meanwhile, if the cleaning robot (100) determines the driving mode (S410) and the driving mode is reverse, the cleaning robot (100) can change the driving mode from reverse to forward, drive forward to the location of the contaminant (C), clean the contaminant (C), and then rotate the direction toward the contaminant (C) (S430).

[0426] In this way, when the position of the contaminant (C) is cleaned by moving forward, the contaminant (C) is positioned at the rear of the cleaning robot (100), and the orientation direction is rotated (S430) toward the contaminant (C), and in a state where the contaminant (C) is positioned at the front of the cleaning robot (100), the state sensing of the floor surface (S100) can be performed again.

[0427] The specific operation sequence of the cleaning robot (100) according to the flow chart shown in Fig. 14 is as follows.

[0428] The first cleaning can be done by driving in reverse, performing steps S100, S200, S300, S410, S420, and S421 in that order, and then re-performing from step S100.

[0429] Afterwards, cleaning is performed in forward motion in the order of steps S100, S200, S300, S410, and S430 to achieve one round-trip cleaning, and then the cleaning can be performed again from step S100.

[0430] Afterwards, steps S100, S200, S300, S410, S420 and S422 are performed in order, and depending on whether there is a change from the previous state, steps S500 and S600 are performed in order to complete cleaning, or step S421 is performed to clean the second initial driving in reverse driving, and then the process is repeated from step S100.

[0431] The specific motion according to the specific operation process of the above cleaning robot (100) may be as shown in Fig. 15.

[0432] First, when the cleaning robot (100) recognizes the state information (M1) while facing the contaminant (C), it rotates the facing direction (M2) and then moves backward (M3) to the location of the contaminant (C) to perform initial cleaning.

[0433] After the initial cleaning, the cleaning robot (100) is directed at the contaminant (C) and recognizes the status information of the contaminant (C) again (M4). If the contaminant (C) has been removed, it rotates in the direction of rotation (M5a) and returns to the charging station (400). If cleaning of the contaminant (C) is required, it drives forward (M5b) to the location of the contaminant (C) while directed at the contaminant (C) and then rotates in the direction of rotation again (M6) to perform reciprocating cleaning.

[0434] Afterwards, depending on the result of re-recognizing the contaminant (C), the cleaning may be completed by returning to the charging station (400), or the cleaning may be performed multiple times by re-executing from step M2.

[0435] As described above, by driving backward at least once and driving back and forth to clean the contaminant (C), contamination of the driving unit (120) can be prevented and the contaminant (C) can be cleaned accurately and effectively.

[0436] Although the above cleaning robot and the above cleaning method have been described so far, the described embodiments can be modified in various ways without departing from the scope of the present invention, and the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims described below but also by equivalents of the claims.

[0437] [Explanation of symbols]

[0438] 100: Cleaning robot 110: Body 120: Drive unit

[0439] 130: Cleaning unit 140: Sensing unit 150: Control unit

Claims

1. In cleaning robots, A driving unit that generates driving force for driving the above cleaning robot; A cleaning unit comprising one or more cleaning modules, wherein the one or more cleaning modules are activated according to a cleaning mode; A sensing unit that senses the condition of the floor surface of the area where the cleaning robot runs; and A cleaning robot characterized in that it includes a control unit that recognizes the status information of contaminants existing on the floor surface based on the sensing result of the sensing unit, determines the cleaning time and cleaning method of the contaminants based on the recognition result, and controls the driving unit and the cleaning unit based on the determination result to control the cleaning performance of the contaminants.

2. In paragraph 1, The above cleaner, A cleaning robot characterized by including at least one cleaning module among a suction module for sucking up dust and a mop module for cleaning the floor surface.

3. In paragraph 2, The above mop module, A cleaning robot characterized by being provided on the rear side of the above driving unit.

4. In paragraph 2, The above cleaner, If the above mop module is included, A cleaning robot further characterized by including a steam module that sprays high-temperature steam.

5. In paragraph 1, The above control unit, A cleaning robot characterized in that the sensing results are divided into a plurality of areas and analyzed on a pixel basis for each of the plurality of areas to recognize the status information of the contaminant.

6. In paragraph 1, The above control unit, A cleaning robot characterized in that it recognizes at least one of the location of the contaminant, the degree of the contaminant, the type of the contaminant, and the material of the floor surface on which the contaminant is located based on the sensing result.

7. In paragraph 6, The above control unit, A cleaning robot characterized in that, depending on the degree of the contaminant, the cleaning time is determined as either a first time point for immediately cleaning the contaminant or a second time point for cleaning the contaminant after performing the operation being performed.

8. In paragraph 7, The above control unit, If the level of the above contaminants meets certain contamination standards, A cleaning robot characterized in that the cleaning time is determined as the second time point.

9. In paragraph 6, The above control unit, A cleaning robot characterized in that, depending on the type of the contaminant, the cleaning method is determined as one of a first method in which the cleaning robot moves forward while facing the contaminant and cleans the contaminant, and a second method in which the cleaning robot changes direction while facing the contaminant and moves backward and cleans the contaminant.

10. In paragraph 9, The above control unit, If the type of the above contaminant meets certain drying standards, A cleaning robot characterized in that the cleaning method is determined by the second method.

11. In paragraph 9, The above control unit, If the above cleaning method is determined as the second method, A cleaning robot characterized in that, depending on the material of the floor surface, the cleaning method is determined as either the 2-1 method for cleaning by spraying high-temperature steam or the 2-2 method for cleaning by spraying the high-temperature steam.

12. In paragraph 11, The above control unit, If the material of the above floor surface is any one of synthetic material, fiber material, and wood, A cleaning robot characterized in that the cleaning method is determined by the above-mentioned 2-2 method.

13. In paragraph 1, The above control unit, When the cleaning area is formed and the ungroomed object existing in the cleaning area is recognized, if the type of the ungroomed object corresponds to a certain classification standard, A cleaning robot characterized by controlling the cleaning of the above-mentioned uncleaned matter immediately.

14. In paragraph 13, The above control unit, If the type of the above-mentioned uncleaned matter falls under the above-mentioned classification criteria, A cleaning robot characterized in that it controls to immediately turn in the direction in which the uncleaned object exists and move toward the uncleaned object.

15. A cleaning method of a cleaning robot including a mop module for cleaning a floor surface, A step of generating a sensing result by sensing the state of the floor surface during operation; A step of recognizing status information of contaminants present on the floor surface based on the sensing results; A step of determining a cleaning mode for cleaning the contaminants according to the above status information; and A cleaning method characterized by comprising a step of cleaning the contaminant by driving backward at least once to the location of the contaminant according to the cleaning mode.

16. In paragraph 15, The above mop module, A cleaning method characterized in that it is provided on the rear side of a driving unit that moves the cleaning robot.

17. In paragraph 15, The above cleaning robot, It further includes a steam module that sprays high temperature steam, The above decision step is, A cleaning method characterized in that the cleaning mode is determined as one of a first mode using the steam module and a second mode not using the steam module, depending on the material of the floor surface.

18. In paragraph 15, The above cleaning steps are: A cleaning method characterized in that the vehicle drives backward when driving to the location of the contaminant for the first time, and drives forward or backward when driving again after the first driving to the location of the contaminant.

19. In paragraph 15, The above cleaning steps are: A step of determining the current driving mode by positioning the vehicle around the location of the above pollutant; If the driving method is forward, a step of determining whether to clean the contaminant based on whether the contaminant has been previously cleaned; and A cleaning method characterized by including a step of changing the driving method to a forward driving method when the driving method is reverse, cleaning the contaminant, and then rotating the direction toward the contaminant.

20. In paragraph 19, The step of determining whether to clean the above contaminants is: When cleaning the contaminant for the first time, the step of rotating the direction of direction in the opposite direction of the contaminant, then changing the driving method to drive backwards to the location of the contaminant and cleaning the contaminant; and A cleaning method characterized by comprising a step of terminating cleaning of the contaminant or turning the direction of the contaminant in the opposite direction to the contaminant based on a comparison result between the current state of the contaminant and the previous state, and then changing the driving method to drive backward to the location of the contaminant and clean the contaminant.

Images