Cleaning device and method for controlling same

Abstract

A cleaning device according to an embodiment of the present invention may comprise: a robotic cleaner including a brush configured to strike a surface to be cleaned to scatter debris and a wet cleaning pad configured to contact the surface to be cleaned and clean the surface to be cleaned; and a station on which the robotic cleaner is docked. The robotic cleaner may further include a processor configured to: determine to blow air to the surface to be cleaned through an air blowing device on the basis of an image of the surface to be cleaned, obtained from the camera; and determine that a target object included in consecutive images obtained by the camera is a liquid, on the basis of a change in the shape of the target object while the air is blown from the air blowing device onto the surface to be cleaned.

Description

Cleaning device and control method thereof

[0001] The disclosed invention relates to a cleaning device for detecting liquid on a surface to be cleaned and a method for controlling the same.

[0002] Generally, a robot vacuum cleaner is a device that automatically cleans a cleaning space by moving around and sucking up dirt, such as dust accumulated on the floor, without user operation. The robot vacuum cleaner cleans the cleaning space by driving through it.

[0003] The robot vacuum cleaner determines the distance to obstacles such as furniture, office supplies, and walls installed within the cleaning area using a distance sensor, and cleans the area while autonomously changing direction by selectively driving the left and right wheel motors.

[0004] Conventional robotic vacuum cleaners used cameras to detect liquids present in the robot's movement path and either avoided or cleaned them. However, there was a problem where detection performance was degraded due to the influence of lighting, floor patterns, and floor colors in the cleaning space.

[0005] The above information is provided solely as background information to aid in understanding the present disclosure. No judgment or claim is made regarding which of the above information may constitute prior art relating to the present disclosure.

[0006] Both aspects of the present disclosure are intended to solve at least the problems and / or disadvantages mentioned above and to provide at least the advantages described below. Accordingly, one aspect of the disclosed invention provides a cleaning device and a control method thereof, wherein a robot vacuum cleaner equipped with an air injection device injects air onto a surface to be cleaned, acquires an image of the surface to be cleaned from a camera, and detects a liquid present on the surface to be cleaned based on a change in the shape of a target object in the image.

[0007] Additional aspects are described in part of the following description, some of which become obvious from the description or can be learned through the implementation of the presented embodiments.

[0008] A cleaning device according to one embodiment comprises: a robot vacuum cleaner including a brush that strikes a surface to be cleaned to scatter dirt and a mop that contacts the surface to be cleaned to clean the surface to be cleaned; and a station provided for the robot vacuum cleaner to be mounted thereon. The robot vacuum cleaner may further include an air injection device that sprays air onto the surface to be cleaned, a camera that acquires an image of the surface to be cleaned, and a processor that determines to spray the air onto the surface to be cleaned through the air injection device based on the image of the surface to be cleaned acquired from the camera, and determines that the target object is a liquid based on the change in the shape of the target object included in the continuous images acquired by the camera while the air is sprayed from the air injection device onto the surface to be cleaned.

[0009] A cleaning device according to one embodiment comprises: a robot vacuum cleaner including a brush that strikes a surface to be cleaned to scatter dirt and a mop that contacts the surface to be cleaned to clean the surface to be cleaned; and a station provided for the robot vacuum cleaner to be mounted thereon. The robot vacuum cleaner may further include an air injection device that sprays air onto the surface to be cleaned, a camera that acquires an image of the surface to be cleaned, and a processor that determines that the target object is a liquid based on the change in the shape of the target object included in the images acquired from the camera before the air injection from the air injection device onto the surface to be cleaned is initiated and after the air injection is terminated.

[0010] According to one embodiment, a control method for a cleaning device comprising a robot vacuum cleaner including a brush that strikes a surface to be cleaned to scatter dirt and a mop that contacts the surface to be cleaned to clean the surface to be cleaned, and a station provided for mounting the robot vacuum cleaner, may include spraying air onto the surface to be cleaned by the air injection device, acquiring continuous images of the surface to be cleaned by the camera while air is being sprayed onto the surface to be cleaned, and determining that the target object is a liquid based on a change in the shape of the target object included in the continuous images acquired by the camera.

[0011] The disclosed cleaning device and control method can improve the liquid detection performance present on the surface to be cleaned.

[0012] The disclosed cleaning device and control method can accurately detect liquid present on a surface to be cleaned and control the components of a robot vacuum cleaner according to the current cleaning mode to improve cleaning efficiency and prevent re-contamination by liquid.

[0013] The disclosed cleaning device and control method can improve cleaning efficiency and prevent re-contamination by liquid by controlling the components of a robot vacuum cleaner according to the characteristics of the cleaning area where cleaning is performed, user characteristics, or the characteristics of the surface to be cleaned.

[0014] The technical problems to be solved in this document are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this invention belongs from the description below.

[0015] The above and other aspects, features, and advantages will become clearer by referring to the following description together with the attached drawings.

[0016] Figure 1 illustrates a network system implemented by various electronic devices.

[0017] FIG. 2 is a drawing illustrating a state in which a robot vacuum cleaner is out of the station in a cleaning device according to one embodiment of the present disclosure.

[0018] FIG. 3 is a drawing illustrating a state in which a robot vacuum cleaner is seated on a station in a cleaning device according to one embodiment of the present disclosure.

[0019] FIG. 4 is a drawing showing the rear of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0020] FIG. 5 is a drawing showing the front of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0021] FIG. 6 is a drawing showing the lower part of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0022] FIG. 7 is a rear view of the internal configuration of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0023] FIG. 8 is a control block diagram of a robot vacuum cleaner according to one embodiment.

[0024] FIG. 9 is a diagram illustrating, over time, how a robot vacuum cleaner according to one embodiment sprays air forward through an air injection device as it moves forward.

[0025] FIG. 10 is a diagram illustrating a series of images acquired while the robot vacuum cleaner of FIG. 9 sprays air forward.

[0026] FIG. 11 is a diagram illustrating a preset operation of robot cleaning when the robot cleaner is performing cleaning in dry mode when liquid is detected according to one embodiment.

[0027] FIG. 12 is a diagram illustrating a preset operation of robot cleaning when the robot cleaner is performing cleaning in wet mode when liquid is detected according to one embodiment.

[0028] FIG. 13 is a diagram illustrating a preset operation of robot cleaning when the robot cleaner is performing cleaning in a wet / dry mode when liquid is detected according to one embodiment.

[0029] FIG. 14 is a diagram illustrating a robot vacuum cleaner performing liquid intensive cleaning according to one embodiment.

[0030] FIG. 15 is a drawing illustrating a cleaning map and a cleaning area according to one embodiment.

[0031] FIG. 16 is a diagram illustrating the path of a robot vacuum cleaner returning to a station after performing liquid intensive cleaning according to one embodiment.

[0032] FIG. 17 is a diagram illustrating an example of a path in which a robot vacuum cleaner returns to a station to perform mop cleaning and then moves to perform cleaning again, according to one embodiment.

[0033] FIG. 18 is a diagram illustrating an example of a path in which a robot vacuum cleaner returns to a station to perform mop cleaning and then moves to perform cleaning again, according to one embodiment.

[0034] FIG. 19 is a control flowchart of a robot vacuum cleaner according to one embodiment.

[0035] FIG. 20 is a control flowchart illustrating preset operations performed according to a cleaning mode after a robot vacuum cleaner according to one embodiment detects liquid.

[0036] FIG. 21 is a control flowchart for explaining the operation of a robot vacuum cleaner according to a cleaning area where liquid is detected, according to one embodiment.

[0037] FIG. 22 is a control flowchart for explaining the operation of a robot vacuum cleaner according to the nature of the surface to be cleaned, according to one embodiment.

[0038] FIG. 23 is a control flowchart for explaining the operation of a robot vacuum cleaner according to a user behavior pattern according to one embodiment.

[0039] The following description, with reference to the accompanying drawings, is provided to facilitate a comprehensive understanding of the various embodiments of the present disclosure as defined by the claims and their equivalents. While various specific details are included to aid in understanding the present disclosure, they are merely illustrative. Accordingly, those skilled in the art will recognize that various changes and modifications can be made to the various embodiments disclosed herein without departing from the scope and spirit of the present disclosure. Furthermore, descriptions of known functions and configurations may be omitted for the sake of clarity and brevity.

[0040] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0041] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0042] The singular form of the noun corresponding to an item may include one or plural items, unless the relevant context clearly indicates otherwise.

[0043] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0044] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0045] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that the component may be connected to the other component directly (e.g., via a wire), wirelessly, or through a third component.

[0046] Terms such as “include” or “have” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0047] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0048] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0049] The term “and / or” includes a combination of multiple related described components or any of the multiple related described components.

[0050] Meanwhile, terms such as "front," "back," "left," "right," "up," and "down" used in the following description are defined based on the drawings, and the shape and position of each component are not limited by these terms. For example, as shown in FIG. 2, the direction in which the robot vacuum cleaner (10) enters the station (20) can be defined as the rear (-X direction), and the opposite direction can be defined as the front (+X direction).

[0051] The operating principle and embodiments of the present invention will be described below with reference to the attached drawings.

[0052] It should be understood that the blocks of each flowchart and combinations of flowcharts may be performed by one or more computer programs containing computer execution instructions. The entirety of the one or more computer programs may be stored in a single memory device, or the one or more computer programs may be divided and each part may be stored in a plurality of different memory devices.

[0053] Any function or operation described in this specification may be processed by a single processor or a combination of multiple processors. The single processor or the combination of processors is a circuit that performs processing and includes an application processor (AP, e.g., a central processing unit (CPU)), a communication processor (CP, e.g., a modem), a graphics processing unit (GPU), a neural network processing unit (NPU) (e.g., an artificial intelligence (AI) chip), a Wi-Fi chip, a Bluetooth chip, a Global Positioning System (GPS) chip, a Near Field Communication (NFC) chip, a connectivity chip, a sensor controller, a touch controller, a fingerprint sensor controller, a display driver integrated circuit (IC), an audio codec (CODEC) chip, a Universal Serial Bus (USB) controller, a camera controller, an image processing IC, a microprocessor unit (MPU), a system-on-chip (SoC), an IC, or a similar circuit.

[0054] Figure 1 illustrates a network system implemented by various electronic devices.

[0055] Referring to FIG. 1, the home appliance (100) may include a communication module capable of communicating with another home appliance, a user device (2) or a server (3), a user interface that receives user input or outputs information to the user, at least one processor that controls the operation of the home appliance (100), and at least one memory in which a program for controlling the operation of the home appliance (100) is stored.

[0056] The home appliance (100) may be at least one of various types of home appliances. For example, the home appliance (100) may include at least one of a refrigerator (11), a dishwasher (12), a cleaning device (13), an electric oven (14), an air conditioner (15), a garment care device (16), a washing machine (17), a dryer (18), and a cleaning device (1), as illustrated.

[0057] The home appliance (100) is not limited to those exemplified in FIG. 1. For example, the home appliance (100) may include various home appliances such as cleaning robots, vacuum cleaners, and televisions that are not illustrated in the drawings. Additionally, the aforementioned home appliances are merely examples, and in addition to the aforementioned home appliances, other home appliances, user devices (2), or devices that can be connected to a server (3) to perform the operations described below may be included in the home appliance (100) according to one embodiment.

[0058] The server (3) may include a communication module capable of communicating with another server, a home appliance (100), or a user device (2), at least one processor capable of processing data received from another server, a home appliance (100), or a user device (2), and at least one memory capable of storing a program for processing data or processed data. This server (3) may be implemented as various computing devices such as a workstation, a cloud, a data drive, or a data station. The server (3) may be implemented as one or more servers physically or logically separated based on functions, detailed configurations of functions, or data, and may transmit and receive data and process the transmitted and received data through communication between each server.

[0059] The server (3) can perform functions such as managing user accounts, registering home appliances (100) associated with user accounts, and managing or controlling the registered home appliances (100). For example, a user can create a user account by accessing the server (3) through a user device (2). A user account can be identified by an ID and password set by the user. The server (3) can register home appliances (100) to the user account according to a set procedure. For example, the server (3) can register, manage, and control home appliances (100) by linking identification information of the home appliance (100) (e.g., serial number or MAC address, etc.) to the user account. The user device (2) may include a communication module capable of communicating with the home appliance (100) or the server (3), a user interface that receives user input or outputs information to the user, at least one processor that controls the operation of the user device (2), and at least one memory in which a program for controlling the operation of the user device (2) is stored.

[0060] The user device (2) may be carried by the user or placed in the user's home or office, etc. The user device (2) may include, but is not limited to, a personal computer, terminal, portable telephone, smartphone, handheld device, wearable device, etc.

[0061] A program, i.e., an application, for controlling the home appliance (100) can be stored in the memory of the user device (2). The application may be sold with the user device (2) already installed, or it may be downloaded and installed from an external server.

[0062] By running an application installed on the user device (2), the user can connect to the server (3) to create a user account, and communicate with the server (3) based on the logged-in user account to register the home appliance device (100).

[0063] For example, if the home appliance (100) is operated in accordance with the procedure guided by the application installed on the user device (2) so that the home appliance (100) can connect to the server (3), the home appliance (100) can be registered to the user account by registering the identification information of the home appliance (100) (e.g., serial number or MAC address, etc.) to the user account on the server (3).

[0064] The user can control the home appliance (100) using an application installed on the user device (2). For example, when the user logs into the user account using an application installed on the user device (2), the home appliance (100) registered to the user account appears, and when the user inputs a control command for the home appliance (100), the control command can be transmitted to the home appliance (100) through the server (3).

[0065] A network may include both wired and wireless networks. Wired networks include cable networks or telephone networks, etc., and wireless networks may include all networks that transmit and receive signals via radio waves. Wired and wireless networks may be connected to each other.

[0066] The network may include a wide area network (WAN) such as the Internet, a local area network (LAN) formed around an access point (AP), and / or a short-range wireless network that does not pass through an access point (AP). The short-range wireless network may include, for example, Bluetooth (IEEE 802.15.1), Zigbee (IEEE 802.15.4), Wi-Fi Direct, Near Field Communication (NFC), Z-Wave, etc., but is not limited to those exemplified.

[0067] An access point (AP) can connect a home appliance (100) or a user device (2) to a wide area network (WAN) to which a server (3) is connected. The home appliance (100) or the user device (2) can be connected to the server (3) via the wide area network (WAN).

[0068] The access point (AP) can communicate with a home appliance (100) or a user device (2) using wireless communication such as Wi-Fi (IEEE 802.11), Bluetooth (IEEE 802.15.1), or Zigbee (IEEE 802.15.4), and can connect to a wide area network (WAN) using wired communication, but is not limited thereto.

[0069] According to various embodiments, the home appliance (100) may be directly connected to the user device (2) or server (3) without going through the access relay (AP).

[0070] The home appliance (100) can be connected to a user device (2) or server (3) via a long-distance wireless network or a short-distance wireless network.

[0071] For example, the home appliance (100) can be connected to the user device (2) via a short-range wireless network (e.g., Wi-Fi Direct).

[0072] As another example, the home appliance (100) can be connected to a user device (2) or server (3) via a wide area network (WAN) using a long-distance wireless network (e.g., a cellular communication module).

[0073] As another example, a home appliance (100) can be connected to a wide area network (WAN) using wired communication and connected to a user device (2) or server (3) through the wide area network (WAN).

[0074] If the home appliance (100) can connect to a wide area network (WAN) using wired communication, it may operate as a connection relay. Accordingly, the home appliance (100) can connect other home appliances to the wide area network (WAN) to which the server (3) is connected. Additionally, other home appliances can connect the home appliance (100) to the wide area network (WAN) to which the server (3) is connected.

[0075] A home appliance (100) can transmit information regarding operation or status to another home appliance, user device (2), or server (3) via a network. For example, the home appliance (100) can transmit information regarding operation or status to another home appliance, user device (2), or server (3) when a request is received from the server (3), when a specific event occurs in the home appliance (100), or periodically or in real time. When the server (3) receives information regarding operation or status from the home appliance (100), it can update the stored information regarding operation or status of the home appliance (100) and transmit the updated information regarding operation and status of the home appliance (100) to the user device (2) via a network. Here, updating information may include various operations that change existing information, such as adding new information to existing information or replacing existing information with new information.

[0076] The home appliance (100) can obtain various information from other home appliances, user devices (2), or servers (3) and provide the obtained information to the user. For example, the home appliance (100) can obtain information related to the functions of the home appliance (100) (e.g., recipes, laundry methods, etc.) and various environmental information (e.g., weather, temperature, humidity, etc.) from the server (3), and can output the obtained information through a user interface.

[0077] The home appliance (100) may operate according to control commands received from other home appliances, user devices (2), or servers (3). For example, if the home appliance (100) has obtained prior approval from a user to operate according to control commands from servers (3) even without user input, the home appliance (100) may operate according to control commands received from servers (3). Here, the control commands received from servers (3) may include, but are not limited to, control commands entered by the user through user devices (2) or control commands based on pre-set conditions.

[0078] The user device (2) can transmit information about the user to the home appliance (100) or the server (3) through a communication module. For example, the user device (2) can transmit information about the user's location, health status, preferences, schedule, etc. to the server (3). The user device (2) can transmit information about the user to the server (3) upon the user's prior approval.

[0079] The home appliance (100), user device (2), or server (3) may determine control commands using technology such as artificial intelligence. For example, the server (3) may receive information regarding the operation or status of the home appliance (100) or information regarding the user of the user device (2), process it using technology such as artificial intelligence, and transmit the processing result or control command to the home appliance (100) or user device (2) based on the processing result.

[0080] The cleaning device (1) described below may correspond to the aforementioned home appliance (100).

[0081] FIG. 2 is a drawing illustrating a state in which a robot vacuum cleaner is out of the station in a cleaning device according to one embodiment of the present disclosure.

[0082] FIG. 3 is a drawing illustrating a state in which a robot vacuum cleaner is seated on a station in a cleaning device according to one embodiment of the present disclosure.

[0083] Referring to FIGS. 2 and FIGS. 3, the cleaning device (1) may include a robot vacuum cleaner (10) and a station (20). The cleaning device (1) may be referred to as a cleaning system (1).

[0084] A robot vacuum cleaner (10) can clean a floor surface while moving along the floor surface. The floor surface that the robot vacuum cleaner (10) cleans can be called the surface to be cleaned. The robot vacuum cleaner (10) can perform dry cleaning and / or wet cleaning. The robot vacuum cleaner (10) can suck up or wipe away dirt on the surface to be cleaned. Here, dirt can be a general term for foreign substances such as dust, hair, and food crumbs.

[0085] The robot vacuum cleaner (10) can be placed on the station (20). The robot vacuum cleaner (10) can be mounted on the station (20). The robot vacuum cleaner (10) can be docked on the station (20). At least a portion of the robot vacuum cleaner (10) can be placed in the receiving space (210a) of the station (20).

[0086] The robot vacuum cleaner (10) can move to the station (20) while cleaning and / or after cleaning is completed. That is, the robot vacuum cleaner (10) can return to the station (20).

[0087] For example, the robot vacuum cleaner (10) may move to a station (20) when charging is required, when the dirt in the dust collection bin (141, see FIG. 7) needs to be emptied, when the moisture content of the mop (160) is low, when washing the mop (160) is required, when sterilizing the mop (160) is required, and / or when drying the mop (160) is required.

[0088] The station (20) may be provided to hold the robot vacuum cleaner (10). The station (20) may be provided to allow the robot vacuum cleaner (10) to be placed on it. The station (20) may be provided to store the robot vacuum cleaner (10).

[0089] For example, while the robot vacuum cleaner (10) is seated at the station (20), the station (20) can charge the battery (not shown) of the robot vacuum cleaner (10). For example, while the robot vacuum cleaner (10) is seated at the station (20), the station (20) can collect dirt collected in the dust collection bin (141) of the robot vacuum cleaner (10). For example, while the robot vacuum cleaner (10) is seated at the station (20), the station (20) can supply water to the water tank (114) of the robot vacuum cleaner (10). For example, while the robot vacuum cleaner (10) is seated at the station (20), the station (20) can wet the mop (160) with water and / or steam. For example, while the robot vacuum cleaner (10) is seated at the station (20), the station (20) can wash the mop (160). For example, while the robot vacuum cleaner (10) is seated at the station (20), the station (20) can sterilize the mop (160). For example, while the robot vacuum cleaner (10) is seated at the station (20), the station (20) can dry the mop (160).

[0090] FIG. 4 is a drawing showing the rear of a robot vacuum cleaner (10) according to one embodiment of the present disclosure.

[0091] FIG. 5 is a drawing showing the front of a robot vacuum cleaner (10) according to one embodiment of the present disclosure.

[0092] FIG. 6 is a drawing showing the lower part of a robot vacuum cleaner (10) according to one embodiment of the present disclosure.

[0093] FIG. 7 is a rear view of the internal configuration of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0094] The robot vacuum cleaner (10) may include a main body (110). The main body (110) may form the overall exterior of the robot vacuum cleaner (10). Components of the robot vacuum cleaner (10) may be accommodated inside the main body (110). Electrical components may be placed inside the main body (110). The main body (110) may be referred to as the vacuum cleaner main body (110).

[0095] The robot vacuum cleaner (10) may include a suction port (111). The suction port (111) may be formed to face the surface to be cleaned. The suction port (111) may be open toward the surface to be cleaned. The suction port (111) may be formed in the main body (110). For example, the suction port (111) may be formed in the lower part of the main body (110). The suction port (111) may be formed by penetrating the lower surface (110b) of the main body (110). Dirt on the surface to be cleaned may be sucked into the interior of the main body (110) through the suction port (111) along with air. The suction port (111) may be referred to as the 'vacuum cleaner suction port (111)'.

[0096] The robot vacuum cleaner (10) may include a brush (130). The brush (130) may strike the surface to be cleaned to scatter dirt. The dirt scattered by the brush (130) may be drawn into the suction port (111) along with air.

[0097] For example, the robot vacuum cleaner (10) may include a first brush (131) positioned in the suction port (111). The first brush (131) may be rotatably mounted with respect to the main body (110). The axis of rotation of the first brush (131) may be an axis extending approximately along the horizontal direction (Y direction). The first brush (131) may be referred to as the main brush (131).

[0098] For example, the robot vacuum cleaner (10) may include a second brush (132) positioned adjacent to the lower edge of the main body (110). The second brush (132) may guide dirt around the main body (110) that the first brush (131) cannot sweep to the suction port (111). The second brush (132) may be rotatably mounted with respect to the main body (110). The axis of rotation of the second brush (132) may be an axis extending along the approximately vertical direction (Z direction). The second brush (132) may be referred to as a side brush (132). The robot vacuum cleaner (10) may include a side brush protrusion drive unit (not shown) that protrudes the side brush (132) out of the side of the robot vacuum cleaner (10). When the processor (91) determines that the robot vacuum cleaner (10) is close to a wall or obstacle based on information obtained from a plurality of sensors (171, 172, 173, 174, 175, 176a, 17ab; 176) included in the sensor unit (170), it can control the side brush protrusion drive unit to cause the side brush (132) to protrude out of the side of the robot vacuum cleaner (10).

[0099] The robot vacuum cleaner (10) may include a dust collection container (141). Dirt and / or air sucked in through the suction port (111) may move to the dust collection container (141). Dirt sucked in through the suction port (111) may be collected in the dust collection container (141). Air sucked in through the suction port (111) may be filtered as it passes through the dust collection container (141). Dirt and air sucked in through the suction port (111) may be separated in the dust collection container (141).

[0100] The robot vacuum cleaner (10) may include an exhaust port (112). The exhaust port (112) may be formed in the main body (110). The exhaust port (112) may be formed on the rear side of the main body (110). Air sucked in through the intake port (111) may be filtered and discharged to the outside of the robot vacuum cleaner (10) through the exhaust port (112). For example, the exhaust port (112) may be provided in multiple numbers, and the multiple exhaust ports may be composed of multiple holes. The exhaust port (112) may be referred to as a 'vacuum cleaner exhaust port (112)'.

[0101] The robot vacuum cleaner (10) may include a suction motor (142). The suction motor (142) may generate suction force. By the suction force generated by the suction motor (142), the suction port (111) may suck in dirt and / or air. By the suction force generated by the suction motor (142), the exhaust port (112) may discharge air that has been sucked into the robot vacuum cleaner (10) and filtered to the outside. The suction motor (142) may be positioned on an air passage (119) formed between the suction port (111) and the exhaust port (112). The suction motor (142) may be referred to as a vacuum cleaner suction motor (142).

[0102] The air passage formed between the intake port (111) and the exhaust port (112) may include a first passage (119a) provided between the intake port (111) and the dust collection container (141) and / or a second passage (119b) provided between the dust collection container (141) and the exhaust port (112). Air containing dirt may travel through the first passage (119a). Air that has been filtered and has dirt separated while passing through the dust collection container (141) may travel through the second passage (119b).

[0103] The robot vacuum cleaner (10) may include a nozzle (191). The nozzle (191) may be formed on the main body (110). The nozzle (191) may be formed on the rear side of the main body (110). However, the location of the nozzle (191) is not limited to the present disclosure, and any location where air can be sprayed onto the surface to be cleaned may be adopted as the location of the nozzle (191). Air sucked in through the suction port (111) may be filtered and discharged to the outside of the robot vacuum cleaner (10) through the nozzle (191). For example, air sucked in through the suction port (111) may be filtered and moved to the nozzle (191) through a third path (119c) branching from the second path (119b), and may be sprayed onto the surface to be cleaned through the nozzle (191). The nozzles (191) may be provided in multiple numbers, and the multiple nozzles (191) may be composed of multiple holes.

[0104] The robot vacuum cleaner (10) may include a third flow path (119c). The third flow path (119c) may be branched off from the second flow path (119b) to move filtered air toward the nozzle (191). That is, one end of the third flow path (119c) may be connected to the second flow path (119b), and the other end may be connected to the nozzle (191).

[0105] According to various embodiments, the robot vacuum cleaner (10) may include an auxiliary suction motor (not shown). The auxiliary suction motor may generate suction force. Filtered air may be moved to the nozzle (191) by the suction force generated by the auxiliary suction motor. Accordingly, the robot vacuum cleaner (10) may spray air onto the surface to be cleaned with a stronger spray force. The structure and form of the third path (119c) are not limited to the present disclosure. In other words, any structure and form of the third path (119c) may be adopted so that the robot vacuum cleaner (10) can move air to the nozzle (191) so that it can spray air free from contamination (e.g., filtered air) onto the surface to be cleaned through the nozzle (191).

[0106] The robot vacuum cleaner (10) may include a driving unit (120) for driving the robot vacuum cleaner (10). The driving unit (120) may be mounted on the main body (110) to move the main body (110). For example, the driving unit (120) may include a pair of main wheels (121). According to various embodiments, the driving unit (120) may further include at least one auxiliary wheel (122) for stable driving of the robot vacuum cleaner (10).

[0107] The robot vacuum cleaner (10) may include a battery. The battery may be rechargeable. The battery may provide the power required to operate the robot vacuum cleaner (10).

[0108] The robot vacuum cleaner (10) may include a charging terminal (51). The charging terminal (51) may be electrically connected to a battery. While the robot vacuum cleaner (10) is docked at the station (20), the charging terminal (51) of the robot vacuum cleaner (10) may be electrically connected to the charging terminal of the station (20). As the charging terminal (51) of the robot vacuum cleaner (10) is electrically connected to the charging terminal of the station (20), the battery of the robot vacuum cleaner (10) may be charged. That is, while the robot vacuum cleaner (10) is docked at the station (20), the battery may be charged. The charging terminal (51) may be referred to as the 'cleaner charging terminal (51)'.

[0109] The robot vacuum cleaner (10) may include a mop (160). The mop (160) is detachably mountable to the lower part of the main body (110). The mop (160) may be rotatably mounted to the main body (110). The mop (160) may be provided to clean the surface to be cleaned by contacting the surface to be cleaned. The mop (160) can wipe away dirt from the surface to be cleaned while wet. In the drawing, two mops (160) are shown, but there is no limit to the number of mops (160). The mop (160) may be referred to as a cleaning pad (160). The mop (160) may be referred to as a wet pad.

[0110] The mop (160) can be supplied with water from the water tank (not shown) of the robot vacuum cleaner (10). The mop (not shown) can be supplied with water from the station (20).

[0111] The robot vacuum cleaner (10) may include a sensor unit (170). In other words, the robot vacuum cleaner (10) may include a plurality of sensors (171, 172, 173, 174, 175, 176). In other words, the sensor unit (170) may include a plurality of sensors (171, 172, 173, 174, 175, 176).

[0112] The robot vacuum cleaner (10) may include a camera (171). The camera (171) can acquire visual information about the surrounding environment of the robot vacuum cleaner (10). For example, the camera (171) can acquire visual information about the surface to be cleaned. The camera (171) may be formed on the main body (110). The camera (171) may be formed on the side of the main body (110). However, the location of the camera (171) is not limited to the present disclosure, and any location capable of acquiring visual information about the surrounding environment of the robot vacuum cleaner (10) may be adopted as the location of the camera (171). Visual information acquired from the camera (171) may be transmitted to the processor (91). The camera (171) may be referred to as an image sensor.

[0113] The robot vacuum cleaner (10) may include a floor detection sensor (172). The floor detection sensor (172) may obtain information to determine whether the surface to be cleaned that the robot vacuum cleaner (10) is in contact with corresponds to a soft floor or a hard floor. At this time, the soft floor may include carpets, rugs, or rubber mats. The hard floor may include wooden floors, tile floors, or concrete floors. Examples of soft floors or hard floors are not limited to the examples described above, and a soft and cushioned floor surface may be included in the soft floor, and a floor surface made of a solid and hard material may be included in the hard floor.

[0114] For example, the floor sensing sensor (172) may be provided as a sensor that detects changes in surface resistance. Accordingly, the floor sensing sensor (172) can obtain information regarding changes in resistance caused by a fiber structure such as a carpet.

[0115] A floor detection sensor (172) may be formed on the main body (110). A floor detection sensor (172) may be formed on the rear surface of the main body (110). However, the location of the floor detection sensor (172) is not limited to the present disclosure, and any location where information about the surface to be cleaned that the robot vacuum cleaner (10) is in contact with can be obtained may be adopted as the location of the floor detection sensor (172). Information obtained from the floor detection sensor (172) may be transmitted to the processor (91).

[0116] The robot vacuum cleaner (10) may include an obstacle detection sensor (173). An obstacle may refer to any object that protrudes from the floor of the cleaning area and obstructs the movement of the robot vacuum cleaner (10). For example, obstacles may include not only objects such as tables and sofas located in the cleaning area, but also walls that partition the space, and objects that the robot vacuum cleaner (10) can climb over and descend, such as door thresholds or round bars. The obstacle detection sensor (173) may be configured to detect the location of an obstacle or the distance to the obstacle. For example, the obstacle detection sensor (173) may include an ultrasonic sensor or an infrared sensor. Accordingly, the obstacle detection sensor (173) may obtain information regarding the location of an obstacle or the distance between obstacles by emitting ultrasonic waves or infrared rays into the surrounding environment outside the robot vacuum cleaner (10) and receiving signals reflected from the obstacle. The obstacle detection sensor (173) may be mounted on the main body (110). For example, the obstacle detection sensor (173) may be provided on the side of the main body (110). According to various embodiments, the obstacle detection sensor (173) may protrude from the main body (110). However, the location of the obstacle detection sensor (173) is not limited to the present disclosure, and any location where information regarding obstacles located around the robot vacuum cleaner (10) or along the movement path can be obtained may be adopted as the location of the obstacle detection sensor (173). Information obtained from the obstacle detection sensor (173) may be transmitted to the processor (91).

[0117] The robot vacuum cleaner (10) may include a LiDAR (Light Detection and Ranging) sensor (174). The LiDAR sensor (174) can acquire information regarding the surrounding environment of the robot vacuum cleaner (10). For example, the LiDAR sensor (174) can recognize walls, obstacles, etc. around the robot vacuum cleaner (10) by receiving a reflected laser after emitting a laser. Additionally, the LiDAR sensor (174) can acquire distance data between the robot vacuum cleaner (10) and various structures (e.g., walls, obstacles, etc.) by measuring the time it takes for the laser to be reflected after emitting it. The LiDAR sensor (174) may be mounted on the main body (110). For example, the LiDAR sensor (174) may protrude from the upper surface (110a) of the main body (110). However, the location of the LiDAR sensor (174) is not limited to the present disclosure, and any location where information about the surrounding environment can be obtained from the laser reflected therefrom by irradiating a laser into the surrounding environment of the robot vacuum cleaner (10) can be adopted as the location of the LiDAR sensor (174). The information obtained from the LiDAR sensor (174) can be transmitted to the processor (91).

[0118] The robot vacuum cleaner (10) may include a wall detection sensor (175). The wall detection sensor (175) can obtain information regarding a wall close to the robot vacuum cleaner (10). For example, the wall detection sensor (175) may include an ultrasonic sensor or an infrared sensor. That is, the wall detection sensor (175) can recognize a wall around the robot vacuum cleaner (10) by receiving an ultrasonic or infrared signal that is reflected after emitting ultrasonic or infrared rays in the direction of the wall. Additionally, the wall detection sensor (175) can obtain distance data between the walls around the robot vacuum cleaner (10) and the robot vacuum cleaner (10) by measuring the time it takes for the wall detection sensor (175) to be reflected after emitting. The wall detection sensor (175) may be mounted on the main body (110). For example, the wall detection sensor (175) may be provided on the side of the main body (110). However, the location of the wall detection sensor (175) is not limited to the present disclosure, and any location where information about a wall close to the robot vacuum cleaner (10) can be obtained may be adopted as the location of the wall detection sensor (175). The information obtained from the wall detection sensor (175) can be transmitted to the processor (91).

[0119] The robot vacuum cleaner (10) may include a fall detection sensor (176). The fall detection sensor (176) may obtain information for recognizing a step difference on the surface to be cleaned. For example, the fall detection sensor (176) may include an infrared sensor. That is, the wall detection sensor (175) may obtain distance data between the robot vacuum cleaner (10) and the surface to be cleaned by emitting infrared rays in the direction of the surface to be cleaned and receiving the reflected infrared signal. In other words, the wall detection sensor (175) may obtain information regarding a sudden change in distance between the robot vacuum cleaner (10) and the surface to be cleaned when there are stairs or a cliff in the movement path of the robot vacuum cleaner (10). The wall detection sensor (175) may be mounted on the main body (110). For example, the fall detection sensor (176) may be provided on the lower surface (110b) of the main body (110). However, the location of the fall detection sensor (176) is not limited to the present disclosure, and any location where information about the step difference of the robot surface to be cleaned can be adopted as the location of the fall detection sensor (176). The information obtained from the fall detection sensor (176) can be transmitted to the processor (91).

[0120] According to various embodiments, the robot vacuum cleaner (10) may be implemented in a form in which at least one of the aforementioned plurality of sensors (171, 172, 173, 174, 175, 176) is omitted, or additionally includes other sensors in addition to the aforementioned plurality of sensors (171, 172, 173, 174, 175, 176).

[0121] FIG. 8 is a control block diagram of a robot vacuum cleaner according to one embodiment.

[0122] Referring to FIG. 8, a robot vacuum cleaner (10) according to one embodiment may include a driving unit (120), a suction motor (142), a driving unit (150), a brush (130), a mop (160), a sensor unit (170), a user interface (181), a communication interface (182), an air injection device (190) and / or a control unit (90).

[0123] The driving unit (120) may include a driving wheel (121, 122) provided on the main body (110) and a wheel motor that provides power to the driving wheel (121, 122).

[0124] The driving wheels (121, 122) can move the main body (110) by rotation. The main body (110) can move forward, backward, or rotate by the rotation of the driving wheels (122). For example, if both left and right driving wheels (121, 122) rotate forward, the main body (110) moves straight forward, and if both left and right driving wheels (121, 122) rotate backward, the main body (110) can move straight backward.

[0125] Additionally, if the left and right driving wheels (121, 122) rotate in the same direction but at different speeds, the main body (110) moves in a curve to the right or left. If the left and right driving wheels (121, 122) rotate in different directions, the main body (110) can rotate to the left or right in place.

[0126] The wheel motor generates rotational force to rotate the driving wheels (121, 122). A DC motor or a BLDC motor may be used as the wheel motor, but the embodiment of the robot vacuum cleaner (10) does not limit the type of wheel motor. The same applies to other motors included in the robot vacuum cleaner (10) as well as the wheel motor.

[0127] The wheel motor may include a left wheel motor that rotates the left driving wheel and a right wheel motor that rotates the right driving wheel.

[0128] Each of the left and right wheel motors can operate independently of each other according to a control signal from the processor (91), and the main body (110) can move forward, backward, or rotate depending on the operation of the left and right wheel motors.

[0129] The processor (91) can control the movement of the robot vacuum cleaner (10) by controlling the driving unit (120). At this time, the processor (91) controlling the driving unit (120) may include controlling the operation of the wheel motor.

[0130] The suction motor (142) sucks foreign matter scattered by the brush (130) into the dust collection container (141) and can rotate a suction fan that generates suction force to suck foreign matter into the dust collection container (141).

[0131] The processor (91) can control the suction motor (142) to rotate the suction fan during cleaning, thereby allowing foreign matter scattered by the brush (130) to flow into the dust collection container (141) through the suction port (111).

[0132] The driving unit (150) may include a brush driving unit (151) that drives the brush (130) and / or a mop driving unit (152) that drives the mop (160).

[0133] The brush drive unit (151) may include a brush rotation drive unit (1511) that rotates the brush (130) and / or a brush lifting drive unit (1512) that raises or lowers the brush (130).

[0134] The brush rotation drive unit (1511) may include a motor. The brush rotation drive unit (1511) may be referred to as a motor (1521). For example, while the robot vacuum cleaner (10) performs cleaning of the surface to be cleaned in a dry mode or a wet / dry mode, the brush rotation drive unit (1511) may rotate the brush (130). The processor (91) of the robot vacuum cleaner (10) may control the brush rotation drive unit (1511) to rotate the brush (130). Accordingly, the processor (91) may cause foreign matter on the floor to be scattered by the brush (130) by controlling the brush rotation drive unit (1511) to rotate the brush (130) during dry cleaning.

[0135] The processor (91) can rotate the brush (130) by controlling the brush rotation drive unit (1511). The brush rotation drive unit (1511) may include a motor for rotating the brush (130) and a drive circuit for driving the motor.

[0136] The brush lifting drive unit (1512) can move the brush (130) upward or downward. The brush lifting drive unit (1512) can move the brush (130) upward or downward when the robot vacuum cleaner (10) performs cleaning in dry mode or wet / dry mode.

[0137] Specifically, as the brush lifting drive unit (1512) moves the brush (130) upward, the brush (130) can be separated from the surface to be cleaned. If it is determined that there is liquid on the surface to be cleaned corresponding to the movement path of the robot vacuum cleaner (10), the brush lifting drive unit (1512) can move the brush (130) upward. Accordingly, the robot vacuum cleaner (10) can prevent the brush (130) from being contaminated by the liquid present on the surface to be cleaned.

[0138] Conversely, as the brush lifting drive unit (1512) moves the brush (130) downward, the brush (130) can come into contact with the surface to be cleaned. While the robot vacuum cleaner (10) is performing cleaning of the surface to be cleaned, the brush lifting drive unit (1512) can move the brush (130) downward. The processor (91) can control the brush lifting drive unit (1512) to move the brush (130) up and down.

[0139] The processor (91) can raise or lower the brush (130) by controlling the brush lifting drive unit (1512). That is, the processor (91) can move the brush (130) by controlling the brush lifting drive unit (1512). The brush lifting drive unit (1512) may include an actuator capable of moving the brush (130).

[0140] The mop drive unit (152) may include a mop rotation drive unit (1521) that rotates the mop (160) and / or a mop lifting drive unit (1522) that raises or lowers the mop (160).

[0141] The mop rotation drive unit (1521) may include a motor. The mop rotation drive unit (1521) may be referred to as the motor (1521). For example, while the robot vacuum cleaner (10) performs cleaning of the surface to be cleaned in wet mode or dry-wet mode, the mop rotation drive unit (1521) may rotate the mop (160). As another example, while the robot vacuum cleaner (10) is mounted on the station (20) and washing and / or sterilization of the mop (160) is in progress, the mop rotation drive unit (1521) may rotate the mop (160). The processor (91) of the robot vacuum cleaner (10) may control the mop rotation drive unit (1521) to rotate the mop (160).

[0142] The processor (91) can rotate the mop (160) by controlling the mop rotation drive unit (1521). The mop rotation drive unit (1521) may include a motor for rotating the mop (160) and a drive circuit for driving the motor.

[0143] The mop lifting drive unit (1522) can move the mop (160) upward or downward. The mop lifting drive unit (1522) can move the mop (160) upward or downward when the robot vacuum cleaner (10) performs cleaning in wet mode or dry-wet mode.

[0144] Specifically, as the mop lifting drive unit (1522) moves the mop (160) upward, the mop (160) can be separated from the surface to be cleaned. While the robot vacuum cleaner (10) completes cleaning and returns to the station (20), the mop lifting drive unit (1522) can move the mop (160) upward. For example, while the robot vacuum cleaner (10) returns to the station (20) after completing liquid intensive cleaning, the lifting drive unit (162) can move the mop (160) upward. Accordingly, while the robot vacuum cleaner (10) is moving to the station (20), it is possible to prevent the mop (160) from colliding with obstacles on the surface to be cleaned or leaving unnecessary water on the surface to be cleaned.

[0145] Conversely, as the mop lifting drive unit (1522) moves the mop (160) downward, the mop (160) can come into contact with the surface to be cleaned. While the robot vacuum cleaner (10) is performing cleaning of the surface to be cleaned, the mop lifting drive unit (1522) can move the mop (160) downward. The processor (91) can control the mop lifting drive unit (1522) to move the mop (160) up and down.

[0146] The processor (91) can raise or lower the mop (160) by controlling the mop lifting drive unit (1522). That is, the processor (91) can move the mop (160) by controlling the mop lifting drive unit (1522). The mop lifting drive unit (1522) may include an actuator capable of moving the mop (160).

[0147] The sensor unit (170) may include a camera (171) and / or a floor detection sensor (172).

[0148] The camera (171) can acquire visual information about the surrounding environment of the robot vacuum cleaner (10). For example, the camera (171) can acquire visual information about the surface to be cleaned. The camera (171) may be referred to as an image sensor. The visual information acquired from the camera (171) can be transmitted to the processor (91). For example, the processor (91) can acquire continuous images acquired at predetermined time intervals from the camera (171) while the robot vacuum cleaner (10) is moving.

[0149] The floor detection sensor (172) can obtain information to determine whether the surface to be cleaned that the robot vacuum cleaner (10) is in contact with corresponds to a soft floor or a hard floor.

[0150] For example, the floor sensing sensor (172) may be provided as a sensor that detects changes in surface resistance. Accordingly, the floor sensing sensor (172) can obtain information regarding changes in resistance caused by a fiber structure such as a carpet.

[0151] As another example, the floor detection sensor (172) may be provided as an ultrasonic sensor. Accordingly, the floor detection sensor (172) may irradiate ultrasonic waves onto the surface to be cleaned and receive an echo signal reflected from the surface to be cleaned, and obtain information regarding signal loss (i.e., scattering) caused by a fiber structure such as a carpet from the received echo signal.

[0152] Information obtained from the floor detection sensor (172) can be transmitted to the processor (91). For example, the processor (91) can determine whether the surface to be cleaned corresponds to a hard floor or a soft floor by comparing the information obtained from the floor detection sensor (172) with a data table regarding the nature of the floor that is stored in memory (92).

[0153] According to various embodiments, the sensor unit (170) may include various additional sensors in addition to the camera (171) and / or floor detection sensor (172). For example, the sensor unit (170) may further include an obstacle detection sensor (173), a LiDAR sensor (174) and / or a wall detection sensor (175), and a fall detection sensor (176).

[0154] The air injection device (190) can inject air onto a surface to be cleaned. The air injection device (190) may include the aforementioned nozzle (191) and / or a third path (119c). At this time, the air injected onto the surface to be cleaned may pass through a dust collector (141) to filter out contaminants, and then move to the nozzle (191) through the third path (119c) branched from the second path (119b). The air injection device (190) may include an air injection control unit (not shown) that controls whether or not to inject air into the nozzle (191). The air injection control unit may be electrically, operatively, or functionally connected to a processor (91). The processor (91) may control the air injection control unit to inject air through the nozzle (191) or not inject it. Additionally, the processor (91) may control the air injection control unit to control the pressure of the air injected through the nozzle (191). In the present disclosure, controlling the air injection device (190) by the processor (91) may include controlling the air injection control unit of the air injection device (190).

[0155] For example, the air injection control unit may include a valve or damper (or an actuator that controls the opening and closing of the damper) provided on the third path (119c). The processor (91) may control the valve or actuator to inject air through the nozzle (191) or not inject it. Additionally, depending on various embodiments, the pressure of the air injected through the nozzle (191) may be controlled.

[0156] According to various embodiments, the air injection device (190) includes an auxiliary motor provided separately from the suction motor (142), and can inject air into the surface to be cleaned with strong air pressure by the auxiliary motor.

[0157] According to various embodiments, the air injection device (190) may additionally include other configurations in addition to the configurations described above, or may be implemented in a form in which some of the configurations described above are omitted. The implementation form of the air injection device (190) is not limited to the present disclosure, and any form capable of injecting contaminated air to a surface to be cleaned at a pressure above a certain level may be adopted as an implementation form of the air injection device (190).

[0158] The user interface (181) may include an output interface and an input interface.

[0159] At least one output interface can transmit various information related to the operation of the robot vacuum cleaner (10) to the user by generating sensory information.

[0160] For example, at least one output interface can transmit information to the user regarding the settings of the robot vacuum cleaner (10) and the operating time of the robot vacuum cleaner (10). Information regarding the operation of the robot vacuum cleaner (10) may be output via a display, an indicator, and / or voice. At least one output interface may include, for example, a Liquid Crystal Display (LCD) panel, an indicator, a Light Emitting Diode (LED) panel, a speaker, etc.

[0161] If the display includes a touch screen display, the touch screen display may correspond to an example of an output interface and an input interface.

[0162] In one embodiment, at least one output interface can output sensory information (e.g., visual information, auditory information, etc.) related to the control of the robot vacuum cleaner (10).

[0163] At least one input interface can convert sensory information received from a user into an electrical signal.

[0164] At least one input interface may include a power button for turning on the power of the robot vacuum cleaner (10).

[0165] Each button may include a visual indicator (e.g., text, icon, etc.) that can represent its function.

[0166] At least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touchpad, a touchscreen, a jog dial, and / or a microphone.

[0167] In the present disclosure, 'button' may be replaced with a UI element (User Interface Element), tact switch, push switch, slide switch, toggle switch, micro switch, touch switch, touch pad, touch screen, jog dial, and / or microphone, etc.

[0168] The robot vacuum cleaner (10) processes user input received through the user interface (181) and can output information related to the robot vacuum cleaner (10) through the user interface (181).

[0169] In one embodiment, the user interface (181) may include an input interface for receiving user commands regarding a cleaning mode. At that time, the cleaning mode may include at least one of a dry mode, a wet mode, and a dry-wet mode.

[0170] When a user command regarding a cleaning mode is input through an input interface, the processor (91) can control the configuration of the robot vacuum cleaner (10) to correspond to each cleaning mode. Additionally, when a user command regarding a cleaning mode is input through an input interface, the processor (91) can transmit a control command signal corresponding to each cleaning mode to the station (20).

[0171] The communication interface (182) can communicate with an external device (e.g., server, user device, station (20)) via wired and / or wireless communication.

[0172] The communication interface (182) can transmit data to an external device (e.g., server, user device, station (20)) or receive data from an external device. To this end, the communication interface (182) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and the performance of communication through the established communication channel. According to one embodiment, the communication interface (182) may include a wireless communication module (e.g., cellular communication module, short-range wireless communication module, or GNSS (global navigation satellite system) communication module) or a wired communication module (e.g., LAN (local area network) communication module, or power line communication module). Among these communication modules, the corresponding communication module can communicate with an external device through a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a long-range communication network such as a computer network (e.g., LAN or WAN). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0173] A short-range wireless communication module may include, but is not limited to, Bluetooth communication modules, BLE (Bluetooth Low Energy) communication modules, Near Field Communication modules, WLAN (Wi-Fi) communication modules, Zigbee communication modules, infrared (IrDA, infrared Data Association) communication modules, WFD (Wi-Fi Direct) communication modules, UWB (ultrawideband) communication modules, Ant+ communication modules, microwave (uWave) communication modules, etc.

[0174] The remote communication module may include a communication module that performs various types of remote communication and may include a mobile communication interface. The mobile communication interface transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0175] In one embodiment, the communication interface (182) can communicate with an external device through a nearby access point (AP). The access point (AP) can connect the local network (LAN) to which the robot vacuum cleaner (10) is connected to a wide area network (WAN) to which the server is connected. The robot vacuum cleaner (10) can be connected to the server through the wide area network (WAN).

[0176] In one embodiment, the communication interface (182) can communicate wirelessly with the station (20).

[0177] The control unit (90) can control the overall operation of the robot vacuum cleaner (10).

[0178] The control unit (90) may include at least one processor (91) for controlling the operation of the robot vacuum cleaner (10) and at least one memory (92) in which a program and data for controlling the operation of the robot vacuum cleaner (10) are stored. In this case, the control unit (90) may be referred to as the robot vacuum cleaner control unit (90), the processor (91) as the robot vacuum cleaner processor (91), and the memory (92) as the robot vacuum cleaner memory (92).

[0179] At least one processor (91) controls the overall operation of the robot vacuum cleaner (10). Specifically, at least one processor (91) is connected to each component of the robot vacuum cleaner (10) to control the overall operation of the robot vacuum cleaner (10). For example, at least one processor (91) is electrically connected to a memory (92) to control the overall operation of the robot vacuum cleaner (10). The processor (91) may be composed of one or more processors.

[0180] At least one processor (91) can perform the operation of a robot vacuum cleaner (10) according to various embodiments by executing at least one instruction stored in memory (92).

[0181] At least one memory (92) can store data necessary for various embodiments. Depending on the purpose of data storage, the memory (92) may be implemented in the form of a memory embedded in the robot vacuum cleaner (10) or in the form of a memory that can be attached to and detached from the robot vacuum cleaner (10). For example, data for driving the robot vacuum cleaner (10) may be stored in a memory embedded in the robot vacuum cleaner (10), and data for the expansion function of the robot vacuum cleaner (10) may be stored in a memory that can be attached to and detached from the robot vacuum cleaner (10). Meanwhile, the memory embedded in the robot vacuum cleaner (10) may be implemented as at least one of volatile memory (e.g., DRAM (dynamic RAM), SRAM (static RAM), or SDRAM (synchronous dynamic RAM), etc.), non-volatile memory (e.g., OTPROM (one-time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash, etc.), hard drive, or solid state drive (SSD). Additionally, the memory that can be attached to and detached from the robot vacuum cleaner (10) may be implemented in the form of a memory card (e.g., CF (compact flash), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.), external memory connectable to a USB port (e.g., USB memory). there is.

[0182] At least one processor (91) may include one or more of a CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerated Processing Unit), MIC (Many Integrated Core), DSP (Digital Signal Processor), NPU (Neural Processing Unit), hardware accelerator, or machine learning accelerator. At least one processor (91) may control one or any combination of other components of the robot vacuum cleaner (10) and may perform operations or data processing related to communication. At least one processor (91) may execute at least one program or instruction stored in memory (92). For example, at least one processor (91) may perform a method according to at least one embodiment of the present disclosure by executing at least one instruction stored in memory (92).

[0183] In one embodiment, the processor (91) may control the drive unit (163) according to a predetermined condition. Controlling the drive unit (163) may include rotating the brush (130) or the mop (160) or moving it upward or downward.

[0184] In one embodiment, the processor (91) can control the driving unit (120) according to a predetermined condition. Controlling the driving unit (120) may include decreasing or increasing the driving speed of the robot vacuum cleaner (10).

[0185] In one embodiment, the processor (91) may determine whether to spray air onto the surface to be cleaned through the air injection device (190) based on an image of the surface to be cleaned obtained from the camera (171). For example, the processor (91) may determine whether the image obtained from the camera (171) includes a preset shape. At this time, information regarding the preset shape may be stored in the memory (92). If the image obtained from the camera (171) includes a preset shape, the processor (91) may determine to spray air through the air injection device (190).

[0186] The processor (91) can control the camera (171) so that the camera (171) acquires continuous images of the surface to be cleaned while air is being sprayed from the air injection device (190) onto the surface to be cleaned. The processor (91) can determine that the target object is a liquid based on changes in the shape of the target object included in the continuous images acquired by the camera (171).

[0187] Additionally, the processor (91) can control the camera (171) so that the camera (171) acquires images of the surface to be cleaned before air is injected from the air injection device (190) to the surface to be cleaned and after air is injected from the air injection device (190) to the surface to be cleaned, respectively. The processor (91) can determine that the target object is a liquid based on changes in the shape of the target object included in the images acquired by the camera (171).

[0188] The processor (91) can control the driving unit (120) to reduce the driving speed of the robot vacuum cleaner (10) when it determines that the target object is a liquid.

[0189] The processor (91) can control the drive unit (150) to perform a preset operation corresponding to the cleaning mode being performed by the robot vacuum cleaner (10).

[0190] The processor (91) can control the brush lifting drive unit (1512) to lift the brush (130) before the robot vacuum cleaner (10) reaches the liquid, based on the fact that cleaning is being performed in dry mode.

[0191] The processor (91) can control the driving unit (120) to perform a liquid avoidance drive so that the robot vacuum cleaner (10) does not reach the liquid, based on the fact that it is performing cleaning in dry mode.

[0192] The processor (91) can control at least one of the driving unit (120) or the mop rotation drive unit (1521) so that the robot vacuum cleaner (10) performs intensive cleaning of the liquid based on the fact that cleaning is being performed in wet mode.

[0193] The processor (91) can move the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning, and can control the driving unit (120) so that the robot vacuum cleaner (10) performs spiral driving or forward and backward repeated driving at the location where liquid is determined to be present.

[0194] The processor (91) can control the mop rotation drive unit (1521) to increase or decrease the rotation speed of the mop based on moving the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning.

[0195] The processor (91) can control the driving unit (120) to return the robot vacuum cleaner (10) to the station (20) after performing liquid intensive cleaning.

[0196] The processor (91) can control the brush lifting drive unit (1512) to lift the brush (130) before the robot vacuum cleaner (20) reaches the liquid based on the fact that cleaning is being performed in a wet / dry mode, control at least one of the driving unit (120) or the mop rotation drive unit (1521) to have the robot vacuum cleaner (100) perform intensive cleaning of the liquid based on the fact that the brush (130) has been lifted, and control the driving unit (120) to return the robot vacuum cleaner (10) to the station (20) after performing intensive cleaning of the liquid.

[0197] The processor (91) can determine whether the cleaning process of the mop (160) is completed after the robot vacuum cleaner (10) returns to the station (20), and control the driving unit (120) so that the robot vacuum cleaner (10) moves to a cleaning area located closest to the station (20) or a location where liquid is determined to be present based on whether the cleaning process of the mop (160) is completed. At this time, the cleaning area is a separated area included in the cleaning map and may correspond to the range where one cleaning cycle is completed.

[0198] The processor (91) can determine whether the surface to be cleaned that the robot vacuum cleaner (10) is in contact with corresponds to a soft floor based on information obtained from the floor detection sensor (172), and can control the driving unit (120) to perform a liquid avoidance drive so that the robot vacuum cleaner (10) does not reach the liquid based on the determination that the surface to be cleaned corresponds to a soft floor.

[0199] A series of operations for controlling the operation of the robot vacuum cleaner (10) of the aforementioned processor (91) can be performed by a processor (not shown) included in the station. That is, the processor of the station (20) can transmit a control signal to the robot vacuum cleaner to control the operation of the robot vacuum cleaner (10).

[0200] In addition, the robot vacuum cleaner (10) may include a battery.

[0201] The battery can supply power to various electrical components of the robot vacuum cleaner (10). The battery can be charged while the robot vacuum cleaner (10) is stationed at the station (20).

[0202] The robot vacuum cleaner (10) may include a battery sensor that detects the charge level of the battery.

[0203] The control unit (90) can control the driving unit (120) so that the robot vacuum cleaner (10) returns to the station (20) when the battery charge level drops below a predetermined charge level.

[0204] FIG. 9 is a diagram illustrating, over time, how a robot vacuum cleaner according to one embodiment sprays air forward through an air injection device as it moves forward.

[0205] Referring to FIG. 9, the robot vacuum cleaner (10) can obtain an image of the surface to be cleaned through the camera (171).

[0206] Specifically, the robot vacuum cleaner (10) can acquire an image of the surface to be cleaned in front of the robot vacuum cleaner (10) through a camera (171) while continuing to drive (P10). At this time, the surface to be cleaned in front of the robot vacuum cleaner (10) may include a surface to be cleaned located in the driving direction of the robot vacuum cleaner (10) relative to the robot vacuum cleaner (10). In other words, the surface to be cleaned in front of the robot vacuum cleaner (10) may include a surface to be cleaned that the robot vacuum cleaner (10) will clean in the future. For example, the robot vacuum cleaner (10) can acquire an image of a surface to be cleaned in front located at a predetermined distance from the robot vacuum cleaner (10).

[0207] The robot vacuum cleaner (10) can determine whether the image of the front surface to be cleaned acquired includes the shape of a target object (S). At this time, the target object (S) may refer to an object existing on the surface to be cleaned, which may later be determined to be a liquid. For example, the processor (91) can preprocess the image and extract features from the image, and determine whether the shape of the target object is included in the image based on the extracted features. At this time, various methods may be employed in preprocessing the image or extracting features from the preprocessed image. For example, the processor (91) can remove noise and adjust contrast so that features can be emphasized in the image of the front surface to be cleaned acquired. The processor (91) may use edge detection or Hough transform methods to extract features from the preprocessed image. At this time, in determining whether the image of the front surface to be cleaned includes the shape of the target object, the processor (91) may perform a series of processes using a machine learning model. The processor (91) may use a machine learning model stored in memory (92) or a machine learning model stored in an external device (e.g., a server (3)).

[0208] When the robot vacuum cleaner (10) determines that the image of the front surface to be cleaned acquired includes the shape of the target object (S), the robot vacuum cleaner (10) can acquire location data of the target object (e.g., the target object is located in the kitchen) and / or distance data between the robot vacuum cleaner (10) and the shape of the target object (e.g., d1 in FIG. 9) from at least one sensor included in the sensor unit (170).

[0209] Additionally, when the robot vacuum cleaner (10) determines that the image of the front surface to be cleaned acquired includes the shape of the target object, it can move toward the target object (S) and spray air toward the target object (S).

[0210] The robot vacuum cleaner (10) can determine the time at which it starts blowing air toward a target object under preset conditions. For example, the processor (91) can control the air blower device (190) to start blowing air from the time when the distance between the robot vacuum cleaner (10) and the shape of the target object (S) reaches a preset distance (e.g., d2 in FIG. 9) while the robot vacuum cleaner (10) continues to drive (P11). In other words, the processor (91) can control the air blower device (190) to move the robot vacuum cleaner (10) by a predetermined distance (e.g., d3 in FIG. 9) so that the distance between the robot vacuum cleaner (10) and the shape of the target object (S) reaches a preset distance (e.g., d2 in FIG. 9), and then start blowing air.

[0211] At this time, the preset distance between the shape of the robot vacuum cleaner (10) and the target object (S) may include the distance calculated to be where the liquid will flow due to the air injection pressure. The preset distance between the shape of the target object (S) may be adjusted according to the air injection pressure.

[0212] The robot vacuum cleaner (10) can continue to spray air toward the target object (S) while driving for a preset distance (e.g., d4 in FIG. 9) from the time it starts spraying air toward the target object (S) (P12). At this time, the distance the robot vacuum cleaner (10) travels while spraying air can be determined so that the robot vacuum cleaner (10) does not come into contact with the pasture object (S). At this time, the processor (91) can control the driving unit (120) to control the driving speed of the robot vacuum cleaner (10) from the time it starts spraying air until the time it ends spraying air, taking into account the distance and speed of the target object (S) moved by the sprayed air.

[0213] The robot vacuum cleaner (10) can stop blowing air toward the target object (S) based on having traveled a preset distance (e.g., d4 in FIG. 9) from the time it started blowing air toward the target object (S) (P13).

[0214] The robot vacuum cleaner (10) can acquire multiple images of the surface to be cleaned based on air being sprayed toward a target object (S). At this time, the multiple images of the surface to be cleaned may include multiple images of the surface to be cleaned in front of the robot vacuum cleaner (10).

[0215] For example, the robot vacuum cleaner (10) can acquire multiple images of the surface to be cleaned before the point in time when air jets toward the target object (S) are initiated and after the point in time when air jets toward the target object (S) are terminated.

[0216] At this time, the robot vacuum cleaner (10) acquiring multiple images of the surface to be cleaned may include acquiring consecutive images of the surface to be cleaned. At this time, the consecutive images may correspond to multiple images acquired for the same object at preset unit time intervals. The consecutive images of the surface to be cleaned may include consecutive images of the surface to be cleaned in front of the robot vacuum cleaner (10).

[0217] For example, a robot vacuum cleaner (10) can acquire a series of images of the surface to be cleaned while air is blown toward the target object (S).

[0218] The robot vacuum cleaner (10) can determine whether the target object (S) corresponds to a liquid based on a plurality of acquired images (i.e., consecutive images). This will be explained below with reference to FIG. 10.

[0219] FIG. 10 is a diagram illustrating a series of images acquired while the robot vacuum cleaner of FIG. 9 sprays air forward.

[0220] Referring to FIG. 10, C1, C2, and C3 correspond to consecutive images obtained at each position (P11, P12, P13) of the robot vacuum cleaner (10) of FIG. 9. That is, C1, C2, and C3 of FIG. 10 illustrate the shape of a target object (S) that has changed while air is being blown by the air blower (190) of the robot vacuum cleaner (10).

[0221] According to one embodiment, the processor (91) can determine that the target object (S) is a liquid based on the change in the shape of the target object (S) included in the consecutive images acquired by the camera (171).

[0222] When a force is applied to a liquid, the contour of the liquid may change due to the fluid dynamic properties of the liquid. The contour of the liquid may be referred to as the outline or boundary of the liquid.

[0223] When the target object (S) corresponds to a liquid, air is sprayed toward the target object (S) by the robot vacuum cleaner (10), pressure is applied to the target object (S) by the sprayed air, and the contour of the target object (S) may change. The contour of the target object may be referred to as the outline or boundary of the target object.

[0224] Accordingly, the processor (91) can determine that the target object (S) is a liquid based on the change in the contour of the target object (S) included in the successive images. In other words, the processor (91) can determine that a liquid exists on the surface to be cleaned based on the change in the contour of the target object (S) included in the successive images.

[0225] When a force is applied to a liquid, the state of the liquid surface can change due to the liquid's surface tension. That is, if the force applied to the liquid surface is greater than the surface tension, ripples or waves may form on the liquid surface.

[0226] When the target object (S) corresponds to a liquid, if air is sprayed toward the target object (S) by the robot vacuum cleaner (10), pressure is applied to the target object (S) by the sprayed air, and the surface condition of the target object (S) may change. For example, when the target object (S) corresponds to a liquid, if air is sprayed toward the target object (S) by the robot vacuum cleaner (10), pressure is applied to the target object (S) by the sprayed air, and accordingly, a wave pattern may form on the surface of the target object (S).

[0227] Accordingly, the processor (91) can determine that the target object (S) is a liquid based on changes in the surface state of the target object (S) included in the successive images. In other words, the processor (91) can determine that liquid is present on the surface to be cleaned based on changes in the surface state of the target object (S) included in the successive images.

[0228] According to various embodiments, the processor (91) may determine whether the shape of the target object changes by employing various methods. For example, the processor (91) may recognize a part where pixel values ​​change rapidly in an image as a contour and determine the change in the shape of the target object by comparing contours between consecutive images.

[0229] According to one embodiment, the processor (91) can control the driving unit (120) to reduce the driving speed of the robot vacuum cleaner (10) based on the determination that the target object (S) is a liquid.

[0230] Additionally, the processor (91) can control the drive unit (150) to perform a preset operation corresponding to the cleaning mode being performed by the robot vacuum cleaner (10) based on the determination that the target object (S) is a liquid. At this time, the cleaning mode of the robot vacuum cleaner (10) may include at least one of a dry mode, a wet mode, and a dry-wet mode.

[0231] Hereinafter, with reference to FIGS. 11 to 14, a preset operation corresponding to the current cleaning mode performed by the robot vacuum cleaner (10) based on the determination that the target object (S) is a liquid will be described.

[0232] FIG. 11 is a diagram illustrating a preset operation of robot cleaning when the robot cleaner is performing cleaning in dry mode when liquid is detected according to one embodiment.

[0233] Referring to FIG. 11, a robot vacuum cleaner (10) is described as driving in the D1 direction over a surface to be cleaned (e.g., F in FIG. 11).

[0234] P14 shows the position of the robot vacuum cleaner (10) and the positions of the brush (130) and the mop (160) when the robot vacuum cleaner (10) does not detect that there is liquid on the front surface to be cleaned.

[0235] P15 shows the position of the robot vacuum cleaner (10) and the positions of the brush (130) and the mop (160) before reaching the location where the liquid is present, after the robot vacuum cleaner (10) detects that there is liquid on the front surface to be cleaned.

[0236] P16 indicates the location where the liquid is present.

[0237] According to one embodiment, the robot vacuum cleaner (10) may perform cleaning in a dry mode when it receives user input regarding the cleaning mode or under preset conditions. In the dry mode, the robot vacuum cleaner (10) may suck up dirt from the surface to be cleaned using the suction force of the suction motor (142) without using water.

[0238] As illustrated in P14, in dry mode, the brush (130) may be positioned in contact with the surface to be cleaned to strike the surface to be cleaned and scatter dirt. Additionally, in dry mode, the mop (160) may be detached or lifted so as not to come into contact with the surface to be cleaned. That is, when the robot vacuum cleaner (10) performs cleaning in dry mode, the processor (91) may control the brush lifting drive unit (1512) so that the brush (130) comes into contact with the surface to be cleaned.

[0239] At this time, if the processor (91) determines that liquid is present on the surface to be cleaned, based on the fact that the robot vacuum cleaner (10) is performing cleaning in dry mode, the brush lifting drive unit (1512) can be controlled to lift the brush (130) as shown in P15 before the robot vacuum cleaner (10) reaches the liquid. That is, the brush (130) can be positioned apart from the surface to be cleaned. Accordingly, the robot vacuum cleaner (10) can prevent the brush (130) from being contaminated by the liquid.

[0240] Afterward, the processor (91) can control the driving unit (120) to perform liquid avoidance driving so that the robot vacuum cleaner (10) does not come into contact with the liquid, based on the fact that cleaning is being performed in dry mode. At this time, liquid avoidance driving may include changing the existing driving path (e.g., D1) so that the robot vacuum cleaner (10) travels in a direction that does not come into contact with or pass through the liquid. Accordingly, as shown in P16, the robot vacuum cleaner (10) may not be located at a location where the liquid is present.

[0241] FIG. 12 is a diagram illustrating a preset operation of robot cleaning when the robot cleaner is performing cleaning in wet mode when liquid is detected according to one embodiment.

[0242] Referring to FIG. 12, a robot vacuum cleaner (10) is described as driving in the D1 direction over a surface to be cleaned (e.g., F in FIG. 12).

[0243] P14 shows the position of the robot vacuum cleaner (10) and the positions of the brush (130) and the mop (160) when the robot vacuum cleaner (10) does not detect that there is liquid on the front surface to be cleaned.

[0244] P2 shows the position of the robot vacuum cleaner (10) and the positions of the brush (130) and the mop (160) when the robot vacuum cleaner (10) detects that there is liquid on the front surface to be cleaned and reaches the location where the liquid is present.

[0245] P3 indicates the position of the robot vacuum cleaner (10) after the robot vacuum cleaner (10) has passed the location where the liquid is present, and the positions of the brush (130) and the mop (160).

[0246] According to one embodiment, the robot vacuum cleaner (10) may perform cleaning in a wet mode when it receives user input regarding a cleaning mode or under preset conditions. In the wet mode, the robot vacuum cleaner (10) may remove dirt from the surface to be cleaned by wiping the surface to be cleaned with a wet mop (160) using water or by spraying water onto the surface to be cleaned.

[0247] In wet mode, the brush (130) may be positioned apart from the surface to be cleaned to prevent contamination from contaminated water after removing liquids or dirt. On the other hand, in wet mode, the mop (160) may be positioned in contact with the surface to be cleaned.

[0248] That is, as illustrated in P14, the processor (91) can control the brush lifting drive unit (1512) to lift the brush (130) so that the brush (130) does not come into contact with the surface to be cleaned when the robot vacuum cleaner (10) performs cleaning in wet mode. Additionally, the processor (91) can control the mop lifting drive unit (1522) to bring the mop (160) into contact with the surface to be cleaned when the robot vacuum cleaner (10) performs cleaning in wet mode.

[0249] At this time, if the processor (91) determines that there is liquid on the surface to be cleaned, it can control at least one of the driving unit (120) or the mop rotation drive unit (1521) to perform concentrated cleaning of the liquid when the robot vacuum cleaner (10) reaches the liquid, based on the fact that the robot vacuum cleaner (10) is performing cleaning in wet mode. Accordingly, as shown in P2, when the robot vacuum cleaner (10) reaches the liquid, the brush (130) can be positioned so as to be spaced apart from the surface to be cleaned, and the mop (160) can be positioned so as to be in contact with the surface to be cleaned.

[0250] At this time, the method by which the robot vacuum cleaner (10) performs intensive cleaning of the liquid is described in detail below with reference to FIG. 14.

[0251] Afterward, the processor (91) can control the mop lifting drive unit (1522) to lift the mop (160) so that the mop (160) does not come into contact with the surface to be cleaned after the liquid intensive cleaning is completed, as illustrated in P3. Accordingly, the surface to be cleaned can be prevented from being contaminated by the contaminated mop (160) or the contaminated water contained in the mop (160) after cleaning the liquid.

[0252] After that, the processor (91) can control the driving unit (120) to return the robot vacuum cleaner (10) to the station (20) after completing the liquid intensive cleaning.

[0253] FIG. 13 is a diagram illustrating a preset operation of robot cleaning when the robot cleaner is performing cleaning in a wet / dry mode when liquid is detected according to one embodiment.

[0254] Referring to FIG. 13, a robot vacuum cleaner (10) is described as driving in the D1 direction over a surface to be cleaned (e.g., F in FIG. 13).

[0255] P14 shows the position of the robot vacuum cleaner (10) and the positions of the brush (130) and the mop (160) when the robot vacuum cleaner (10) does not detect that there is liquid on the front surface to be cleaned.

[0256] In P4, after the robot vacuum cleaner (10) detects that there is liquid on the surface to be cleaned in front, the position of the robot vacuum cleaner (10) before reaching the location where the liquid is present, and the positions of the brush (130) and the mop (160) are shown.

[0257] In P5, the robot vacuum cleaner (10) detects that there is liquid on the front surface to be cleaned, and when it reaches the location where the liquid is present, the position of the robot vacuum cleaner (10) and the positions of the brush (130) and the mop (160) are indicated.

[0258] P6 indicates the position of the robot vacuum cleaner (10) after the robot vacuum cleaner (10) has passed the location where the liquid is present, and the positions of the brush (130) and the mop (160).

[0259] According to one embodiment, the robot vacuum cleaner (10) may perform cleaning in a dry-wet mode when it receives user input regarding the cleaning mode or under preset conditions. In the dry-wet mode, the robot vacuum cleaner (10) may remove dirt from the surface to be cleaned by wiping the surface to be cleaned with a wet mop (160) using water or by spraying water onto the surface to be cleaned. Additionally, the robot vacuum cleaner (10) may suck up dirt from the surface to be cleaned using suction power from a suction motor (142) without using water. That is, in the dry-wet mode, the robot vacuum cleaner (10) may perform operations in the dry mode and operations in the wet mode simultaneously. At this time, the robot vacuum cleaner (10) may perform operations in the dry mode and operations in the wet mode simultaneously or separately.

[0260] In the wet / dry mode, the brush (130) can be positioned to come into contact with the surface to be cleaned. Additionally, in the wet / dry mode, the mop (160) can also be positioned to come into contact with the surface to be cleaned.

[0261] That is, as illustrated in P14, the processor (91) can control the brush lifting drive unit (1512) to bring the brush (130) into contact with the surface to be cleaned when the robot vacuum cleaner (10) performs cleaning in a wet / dry mode. Additionally, the processor (91) can control the mop lifting drive unit (1522) to bring the mop (160) into contact with the surface to be cleaned when the robot vacuum cleaner (10) performs cleaning in a wet / dry mode.

[0262] At this time, the processor (91), when it is determined that liquid is present on the surface to be cleaned as shown in P4, can control the brush lifting drive unit (1512) to lift the brush (130) before the robot vacuum cleaner (10) reaches the liquid based on the fact that the robot vacuum cleaner (10) is performing cleaning in a wet / dry mode. That is, the brush (130) can be positioned apart from the surface to be cleaned. Accordingly, the robot vacuum cleaner (10) can prevent the brush (130) from being contaminated by the liquid.

[0263] Additionally, if the processor (91) determines that liquid is present on the surface to be cleaned, it can control at least one of the driving unit (120) or the mop rotation drive unit (1521) to perform concentrated cleaning of the liquid when the robot vacuum cleaner (10) reaches the liquid, based on the fact that the robot vacuum cleaner (10) is performing cleaning in a wet / dry mode. Accordingly, as illustrated in P5, when the robot vacuum cleaner (10) reaches the liquid, the brush (130) can be positioned so as to be spaced apart from the surface to be cleaned, and the mop (160) can be positioned so as to be in contact with the surface to be cleaned.

[0264] At this time, the method by which the robot vacuum cleaner (10) performs intensive cleaning of the liquid is described in detail below with reference to FIG. 14.

[0265] Afterward, the processor (91) can control the mop lifting drive unit (1522) to lift the mop (160) so that the mop (160) does not come into contact with the surface to be cleaned after the liquid intensive cleaning is completed, as illustrated in P6. Accordingly, the surface to be cleaned can be prevented from being contaminated by the contaminated mop (160) or the contaminated water contained in the mop (160) after cleaning the liquid.

[0266] After that, the processor (91) can control the driving unit (120) to return the robot vacuum cleaner (10) to the station (20) after completing the liquid intensive cleaning.

[0267] FIG. 14 is a diagram illustrating a robot vacuum cleaner performing liquid intensive cleaning according to one embodiment.

[0268] Referring to FIG. 14, the robot vacuum cleaner (10) can perform liquid intensive cleaning to remove liquid based on the determination that liquid is present on the surface to be cleaned while performing cleaning in wet mode or dry-wet mode. The following description is given as an example of a series of positions (P14, P2, P3) of the robot vacuum cleaner (10) when the robot vacuum cleaner (10) is performing cleaning in wet mode, but the same cleaning operation can also be performed in liquid intensive cleaning in dry-wet mode.

[0269] According to one embodiment, when the processor (91) determines that liquid is present on the surface to be cleaned, it can control at least one of the driving unit (120) or the mop rotation drive unit (1521) so that the robot vacuum cleaner (10) performs intensive cleaning of the liquid when it reaches the liquid.

[0270] For example, the processor (91) can control the drive unit (120) to move the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning. For example, the processor (91) can move the position of the robot vacuum cleaner (10) from P14 to P2.

[0271] After that, as illustrated in FIG. 14, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) performs a spiral drive or a back-and-forth repetitive drive at a location where liquid is determined to be present. Accordingly, the robot vacuum cleaner (10) can increase the frequency of contact between the liquid and the mop (160) by repeatedly passing through the location where liquid is determined to be present, thereby improving the liquid removal efficiency.

[0272] At this time, the method of driving the robot vacuum cleaner (10) at a location where liquid is determined to be present is not limited to spiral driving or repeated forward and backward driving, and any method that can increase the frequency of contact between the liquid and the mop (160) can be adopted as the driving method of the robot vacuum cleaner (10).

[0273] As another example, the processor (91) can control the mop rotation drive unit (1511) to increase or decrease the rotation speed of the mop (160) based on moving the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning.

[0274] As the rotational speed of the mop (160) increases, the frequency of contact between the liquid and the mop (160) increases, thereby improving the liquid removal efficiency. Additionally, as the frictional force between the mop (160) and the surface to be cleaned increases, viscous liquids can be wiped away, which can further improve the liquid removal efficiency.

[0275] As the rotation speed of the mop (160) decreases, the mop (160) can absorb enough liquid, thereby improving the liquid removal efficiency.

[0276] FIG. 15 is a drawing illustrating a cleaning map and a cleaning area according to one embodiment.

[0277] Referring to FIG. 15, the memory (92) can store a map of the space where the robot vacuum cleaner (10) is to perform cleaning (hereinafter referred to as the 'cleaning map (M)'). The cleaning map (M) may include information about at least one cleaning area (R1, R2, R3, R4, R5), which is a divided area included in the cleaning map and is a range where one cleaning cycle is completed. The memory (92) may store the characteristics of each cleaning area (R1, R2, R3, R4, R5), the cleaning mode of the robot vacuum cleaner (10) pre-set for each cleaning area (R1, R2, R3, R4, R5), the driving speed, and / or the past liquid detection history of each cleaning area (R1, R2, R3, R4, R5). At this time, the characteristics of each cleaning area (R1, R2, R3, R4, R5) may include information about the user's living space (kitchen, room, bathroom, living room, etc.) corresponding to each cleaning area.

[0278] In addition, the cleaning map (M) may further include information regarding the location of walls and doors of the space to be cleaned, information regarding the location of fixed structures (e.g., furniture), and information regarding the nature of the surface to be cleaned of the space to be cleaned (e.g., carpet, marble, wood, etc.).

[0279] The processor (91) can generate or update a cleaning map (M) based on information obtained from the sensor unit (170). For example, it can analyze an image obtained from the camera (171) to obtain information regarding the location of walls, doors, etc., and convert the obtained information into a cleaning map (M). According to various embodiments, the processor (91) can control the communication interface (182) to receive information regarding the cleaning map (M) from an external device (e.g., the server (3) of FIG. 1). The processor (91) can generate or update the cleaning map (M) based on the information regarding the cleaning map (M) received from the external device through the communication interface (182). According to various embodiments, the processor (91) can generate or update the cleaning map (M) based on user input received from the user interface (181).

[0280] A processor (91) according to one embodiment can determine a driving path of a robot vacuum cleaner (10) based on information included in a cleaning map (M). The processor (91) can control a driving unit (120) to move the robot vacuum cleaner (10) based on the determined driving path. Additionally, the processor (91) can control a user interface (181) to display the determined driving path together with the cleaning map (M) and / or information included in the cleaning map (M).

[0281] A processor (91) according to one embodiment can determine the driving speed of a robot vacuum cleaner (10) based on information included in a cleaning map (M). The processor (91) can control a driving unit (120) to move the robot vacuum cleaner (10) based on the determined driving speed. Additionally, the processor (91) can control a user interface (181) to display the determined driving speed together with the cleaning map (M) and / or information included in the cleaning map (M).

[0282] FIG. 16 is a diagram illustrating the path of a robot vacuum cleaner returning to a station after performing liquid intensive cleaning according to one embodiment.

[0283] Referring to FIG. 16, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) returns to the station (20) after performing intensive cleaning of liquid in wet mode or dry-wet mode.

[0284] At this time, the processor (91) can control the mop lifting drive unit (1512) so that the mop (160) is separated from the surface to be cleaned while the robot vacuum cleaner (10) returns to the station (20). Accordingly, the robot vacuum cleaner (10) can prevent the surface to be cleaned from being contaminated by the contaminated mop (160) after performing intensive cleaning of the liquid.

[0285] The processor (91) can determine the shortest distance (e.g., ds1 in FIG. 16) between the current position of the robot vacuum cleaner (10) (i.e., the position where liquid is detected) and the position of the station (20) based on information contained in the cleaning map (M) stored in the memory (92). Accordingly, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) moves along the shortest distance while returning to the station (20).

[0286] FIG. 17 is a diagram illustrating an example of a path in which a robot vacuum cleaner returns to a station to perform mop cleaning and then moves to perform cleaning again, according to one embodiment.

[0287] FIG. 18 is a diagram illustrating another example of a path in which a robot vacuum cleaner returns to a station to perform mop cleaning and then moves to perform cleaning again, according to one embodiment.

[0288] Referring to FIGS. 17 and 18, the processor (91) can determine whether the cleaning process of the mop (160) is completed after the robot vacuum cleaner (10) returns to the station (20). For example, the processor (91) can determine that the cleaning process of the mop (160) is completed based on receiving a signal from the station (20) that the cleaning process of the mop (160) is completed through the communication interface (182).

[0289] A processor (91) according to one embodiment can control a driving unit (120) so that the robot vacuum cleaner (10) can resume cleaning after the cleaning process of the mop (160) is completed.

[0290] For example, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) moves to a location where liquid is determined to be present based on the completion of the cleaning process of the mop (160). At this time, the processor (91) can determine the shortest distance (e.g., ds1 in FIG. 17) between the current location of the robot vacuum cleaner (10) (i.e., the location of the station (20)) and the location where liquid is determined to be present. In other words, the processor (91) can move the robot vacuum cleaner (10) to the location where liquid is determined to be present by moving the shortest distance (ds1) traveled while the robot vacuum cleaner (10) returns to the station (20).

[0291] As another example, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) moves to the cleaning area closest to the station (20) based on the completion of the cleaning process of the mop (160). At this time, the cleaning area closest to the station (20) to which the robot vacuum cleaner (10) moves (e.g., S2 in FIG. 18) may be one of the cleaning areas adjacent to the station (20) excluding the cleaning area (e.g., S1 in FIG. 18) that the robot vacuum cleaner (10) performed cleaning on before returning to the station (20). That is, the processor (91) can control the driving unit (120) so that after the robot vacuum cleaner (10) returns to the station (20) and completes the cleaning of the mop (160), it performs cleaning on a cleaning area other than the cleaning area where liquid was detected (e.g., S1 in FIG. 18) (e.g., S2 in FIG. 18). According to one embodiment, the robot vacuum cleaner (10) can increase cleaning efficiency by reducing unnecessary travel time and power consumption during travel.

[0292] FIG. 19 is a control flowchart of a robot vacuum cleaner according to one embodiment.

[0293] Referring to FIG. 19, the processor (91) can determine whether a target object is detected from an image obtained from a camera (171) (1100). Determining whether a target object is detected from an image obtained from a camera (171) may include determining whether the image obtained from the camera (171) contains the shape of a target object. At this time, the target object may refer to an object present on the surface to be cleaned, which may later be determined to be a liquid.

[0294] The camera (171) can acquire visual information about the surrounding environment of the robot vacuum cleaner (10). For example, the camera (171) can acquire an image of the surface to be cleaned. The image acquired from the camera (171) can be transmitted to the processor (91). The processor (91) can preprocess the image and extract features from the image, and determine whether the shape of the target object is included in the image based on the extracted features.

[0295] At this time, when the processor (91) determines that a target object is detected from an image of the surface to be cleaned, it can obtain location data of the target object (e.g., the target object is located in the kitchen) and / or distance data between the robot vacuum cleaner (10) and the shape of the target object from at least one sensor included in the sensor unit (170).

[0296] When a target object is detected from an image obtained from a camera (171) (e.g., 1100), the processor (91) can control an air injection device (190) to inject air onto a surface to be cleaned for a reference time (1200). At this time, the processor (91) can control a driving unit (120) to move toward the target object and inject air toward the target object.

[0297] The processor (91) can acquire continuous images of the surface to be cleaned during a reference time (1300). At this time, the continuous images may correspond to multiple images acquired for the same object at preset unit time intervals. The continuous images of the surface to be cleaned may include continuous images of the front surface to be cleaned of the robot vacuum cleaner (10).

[0298] The processor (91) can determine whether the shape of the target object in the acquired consecutive images changes (1400). For example, the processor (91) can determine that the target object is a liquid based on the change in the contour of the target object (S) included in the consecutive images. In other words, the processor (91) can determine that liquid is present on the surface to be cleaned based on the change in the contour of the target object (S) included in the consecutive images. As another example, the processor (91) can determine that the target object is a liquid based on the change in the surface condition of the target object (S) included in the consecutive images. In other words, the processor (91) can determine that liquid is present on the surface to be cleaned based on the change in the surface condition of the target object included in the consecutive images.

[0299] The processor (91) can determine that the target object is a liquid (1500) when the shape of the target object in the consecutive images changes (example of 1400).

[0300] Based on the determination that the target object is a liquid, the processor (91) can control the driving unit (120) to reduce the driving speed of the robot vacuum cleaner (10) and control the driving unit (150) to perform a preset operation corresponding to the current cleaning mode. At this time, the cleaning mode of the robot vacuum cleaner (10) may include at least one of a dry mode, a wet mode, and a dry-wet mode.

[0301] FIG. 20 is a control flowchart illustrating preset operations performed according to a cleaning mode after a robot vacuum cleaner according to one embodiment detects liquid.

[0302] Referring to FIG. 20, the processor (91) can determine whether the robot vacuum cleaner (10) is currently performing cleaning in dry mode (1700).

[0303] The processor (91) can control the brush lifting drive unit (1512) to lift the brush (130) before the robot vacuum cleaner (10) reaches the liquid when the robot vacuum cleaner (10) is currently performing cleaning in dry mode (e.g., 1700). That is, the brush (130) can be positioned away from the surface to be cleaned. Accordingly, the robot vacuum cleaner (10) can prevent the brush (130) from being contaminated by the liquid.

[0304] After that, the processor (91) can control the driving unit (120) to perform a liquid avoidance drive so that the robot vacuum cleaner (10) does not come into contact with the liquid (1712). At this time, the liquid avoidance drive may include changing the existing driving path so that the robot vacuum cleaner (10) drives in a direction that does not come into contact with or pass through the liquid. Accordingly, the robot vacuum cleaner (10) may not be located at a location where the liquid is present.

[0305] The processor (91) can determine whether the robot vacuum cleaner (10) is currently performing cleaning in dry mode (1713), if the robot vacuum cleaner (10) is not currently performing cleaning in dry mode (1700 no).

[0306] The processor (91) can control at least one of the driving unit (120) or the mop rotation drive unit (1521) to perform intensive cleaning of the liquid when the robot vacuum cleaner (10) is currently performing cleaning in wet mode (e.g., 1713) and the robot vacuum cleaner (10) reaches the liquid (1714). Accordingly, when the robot vacuum cleaner (10) reaches the liquid, the brush (130) can be positioned so as to be spaced apart from the surface to be cleaned, and the mop (160) can be positioned so as to be in contact with the surface to be cleaned.

[0307] For example, the processor (91) can control the driving unit (120) to move the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning. For example, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) performs spiral driving or back-and-forth repeated driving at a location where liquid is determined to be present. Accordingly, the robot vacuum cleaner (10) can increase the frequency of contact between the liquid and the mop (160) by repeatedly passing through the location where liquid is determined to be present, thereby improving the liquid removal efficiency. As another example, the processor (91) can control the mop rotation drive unit (1511) so that the rotation speed of the mop (160) increases or decreases based on moving the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning.

[0308] As the rotational speed of the mop (160) increases, the frequency of contact between the liquid and the mop (160) increases, thereby improving the liquid removal efficiency. Additionally, as the frictional force between the mop (160) and the surface to be cleaned increases, viscous liquids can be wiped away, which can further improve the liquid removal efficiency.

[0309] As the rotation speed of the mop (160) decreases, the mop (160) can absorb enough liquid, thereby improving the liquid removal efficiency.

[0310] Afterward, the processor (91) can control the mop lifting drive unit (1522) to lift the mop (160) so that the mop (160) does not come into contact with the surface to be cleaned, based on the completion of the liquid intensive cleaning (1715). Accordingly, the surface to be cleaned can be prevented from being contaminated by the contaminated mop (160) or the contaminated water contained in the mop (160) after cleaning the liquid.

[0311] According to various embodiments, the processor (91) may control the robot cleaner (10) to perform an action to determine whether the liquid has been removed by the mop (160) after performing intensive cleaning of the liquid. For example, the processor (91) may determine whether an image obtained from the camera (171) after performing intensive cleaning of the liquid includes the shape of a target object. At this time, the processor (91) may move the robot cleaner (10) by controlling the driving unit (120) to obtain an image of the surface to be cleaned that includes the location where the liquid is determined to be present. If the image obtained after performing intensive cleaning of the liquid does not include the target object, the processor (91) may determine that the liquid has been removed from the surface to be cleaned.

[0312] Afterward, the processor (91) can control the driving unit (120) to return the robot vacuum cleaner (10) to the station (20) after completing liquid intensive cleaning (1720). At this time, the processor (91) can control the driving unit (120) to drive along a path that avoids soft floors while the robot vacuum cleaner (10) returns to the station (20). For example, the processor (91) can determine whether the surface to be cleaned located in front of the robot vacuum cleaner (10) corresponds to a soft floor based on information about the surface to be cleaned obtained from the floor detection sensor (172). If the processor (91) determines that the front surface to be cleaned corresponds to a soft floor, it can control the driving unit (120) to change the path. As another example, the processor (91) can determine a driving path from the current location of the robot vacuum cleaner (10) to the station (20) without passing through a soft floor, based on a cleaning map (M) stored in memory (92) and the nature of the surface to be cleaned in the space to be cleaned included in the cleaning map (M). Accordingly, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) drives based on the determined driving path.

[0313] The processor (91) can determine whether the robot vacuum cleaner (10) is currently performing cleaning in wet mode (1713 no) or whether the robot vacuum cleaner (10) is currently performing cleaning in wet / dry mode (1716).

[0314] When the processor (91) determines that the robot vacuum cleaner (10) is currently performing cleaning in a wet / dry mode (e.g. 1716), the processor (91) can control the brush lifting drive unit (1512) to lift the brush (130) before the robot vacuum cleaner (10) reaches the liquid, based on the fact that the robot vacuum cleaner (10) is performing cleaning in a wet / dry mode (1717). That is, the brush (130) can be positioned apart from the surface to be cleaned. Accordingly, the robot vacuum cleaner (10) can prevent the brush (130) from being contaminated by the liquid.

[0315] Additionally, the processor (91) can control at least one of the driving unit (120) or the mop rotation drive unit (1521) to perform intensive cleaning of the liquid when the robot vacuum cleaner (10) reaches the liquid (1718). Accordingly, when the robot vacuum cleaner (10) reaches the liquid, the brush (130) can be positioned so as to be spaced apart from the surface to be cleaned, and the mop (160) can be positioned so as to be in contact with the surface to be cleaned.

[0316] For example, the processor (91) can control the driving unit (120) to move the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning. For example, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) performs spiral driving or back-and-forth repeated driving at a location where liquid is determined to be present. Accordingly, the robot vacuum cleaner (10) can increase the frequency of contact between the liquid and the mop (160) by repeatedly passing through the location where liquid is determined to be present, thereby improving liquid removal efficiency. As another example, the processor (91) can control the mop rotation drive unit (1511) so that the rotation speed of the mop (160) increases or decreases based on moving the robot vacuum cleaner (10) to a location where liquid is determined to be present in order to perform liquid intensive cleaning. As the rotation speed of the mop (160) increases, the frequency of contact between the liquid and the mop (160) increases, thereby improving liquid removal efficiency. In addition, as the frictional force between the wet cloth (160) and the surface to be cleaned increases, viscous liquid can be wiped away, thereby improving the efficiency of liquid removal.

[0317] As the rotation speed of the mop (160) decreases, the mop (160) can absorb enough liquid, thereby improving the liquid removal efficiency.

[0318] Afterward, the processor (91) can control the mop lifting drive unit (1522) to lift the mop (160) so that the mop (160) does not come into contact with the surface to be cleaned after the liquid intensive cleaning is completed (1719). Accordingly, the surface to be cleaned can be prevented from being contaminated by the contaminated mop (160) or the contaminated water contained in the mop (160) after cleaning the liquid.

[0319] According to various embodiments, the processor (91) may control the robot cleaner (10) to perform an action to determine whether the liquid has been removed by the mop (160) after performing intensive cleaning of the liquid. For example, the processor (91) may determine whether an image obtained from the camera (171) after performing intensive cleaning of the liquid includes the shape of a target object. At this time, the processor (91) may move the robot cleaner (10) by controlling the driving unit (120) to obtain an image of the surface to be cleaned that includes the location where the liquid is determined to be present. If the image obtained after performing intensive cleaning of the liquid does not include the target object, the processor (91) may determine that the liquid has been removed from the surface to be cleaned.

[0320] Afterward, the processor (91) can control the driving unit (120) to return the robot vacuum cleaner (10) to the station (20) after completing liquid intensive cleaning. At this time, the processor (91) can control the driving unit (120) to drive along a path that avoids soft floors while the robot vacuum cleaner (10) returns to the station (20). For example, the processor (91) can determine whether the surface to be cleaned located in front of the robot vacuum cleaner (10) corresponds to a soft floor based on information about the surface to be cleaned obtained from the floor detection sensor (172). If the processor (91) determines that the front surface to be cleaned corresponds to a soft floor, it can control the driving unit (120) to change the path. As another example, the processor (91) can determine a driving path from the current location of the robot vacuum cleaner (10) to the station (20) without passing through a soft floor, based on a cleaning map (M) stored in memory (92) and the nature of the surface to be cleaned in the space to be cleaned included in the cleaning map (M). Accordingly, the processor (91) can control the driving unit (120) so that the robot vacuum cleaner (10) drives based on the determined driving path.

[0321] FIG. 21 is a control flowchart for explaining the operation of a robot vacuum cleaner according to a cleaning area where liquid is detected, according to one embodiment.

[0322] A processor (91) according to one embodiment can control the operation of a robot vacuum cleaner (10) according to the cleaning area where liquid is detected when it is determined that liquid is present on the surface to be cleaned.

[0323] According to one embodiment, the processor (91) can determine whether a liquid is located in a preset intensive cleaning area (1510). In this case, the intensive cleaning area may include a cleaning area where there is a high probability that a liquid is present on the surface to be cleaned due to the nature of the cleaning area (e.g., a bathroom, a kitchen, etc.). The cleaning map (M) may include information regarding the intensive cleaning area.

[0324] The processor (91) can control the driving unit (120) so that the amount of reduction in driving speed increases when the liquid is located in a preset intensive cleaning area (e.g., 1510). Accordingly, the robot vacuum cleaner (10) according to one embodiment can reduce contamination of the robot vacuum cleaner (10) or re-contamination of the surface to be cleaned by the liquid present on the surface to be cleaned.

[0325] FIG. 22 is a control flowchart for explaining the operation of a robot vacuum cleaner according to the nature of the surface to be cleaned, according to one embodiment.

[0326] A processor (91) according to one embodiment can control the operation of a robot cleaner (10) according to the nature of the surface to be cleaned when it determines that there is liquid on the surface to be cleaned.

[0327] According to one embodiment, the processor (91) can determine whether the surface to be cleaned that the robot vacuum cleaner (10) is in contact with corresponds to a soft floor (1520) based on information obtained from the floor detection sensor (172). At this time, the soft floor may include carpets, rugs, or rubber mats. The hard floor may include wooden floors, tile floors, or concrete floors. Examples of soft floors or hard floors are not limited to the examples described above, and a soft and cushioned floor surface may be included in the soft floor, and a floor surface made of a hard and rigid material may be included in the hard floor.

[0328] When the processor (91) determines, based on information obtained from the floor detection sensor (172), that the surface to be cleaned that the robot vacuum cleaner (10) is in contact with does not correspond to a soft floor (No in 1520), it can control the driving unit (120) to reduce the driving speed (1600) and control the driving unit (150) to perform a preset operation corresponding to the current cleaning mode (1700).

[0329] On the other hand, if the processor (91) determines, based on information obtained from the floor detection sensor (172), that the surface to be cleaned that the robot vacuum cleaner (10) is in contact with corresponds to a soft floor (e.g., 1520), the driving unit (120) can be controlled to perform liquid avoidance driving (1521). Liquid avoidance driving may include changing the existing driving path so that the robot vacuum cleaner (10) travels in a direction that does not come into contact with or pass through the liquid. Accordingly, the robot vacuum cleaner (10) may not be located at a location where the liquid is present.

[0330] When performing a concentrated cleaning of liquid on a soft floor such as a carpet using a wet mop (160), the cleaning efficiency of the liquid is low and the contamination may spread, so the contamination can be prevented by avoiding driving.

[0331] Figure 23 is a control flowchart for explaining the operation of a robot vacuum cleaner according to a user behavior pattern.

[0332] A processor (91) according to one embodiment can control the operation of a robot vacuum cleaner (10) based on a user's behavior pattern.

[0333] Liquid may repeatedly fall on the same location or the same cleaning area of ​​the surface to be cleaned due to the user's occupation, lifestyle habits, etc. According to one embodiment, the cleaning map (M) stored in the memory (92) may include information regarding past liquid detection history.

[0334] According to one embodiment, the processor (91) can determine whether the robot vacuum cleaner (10) is approaching a location where liquid was previously detected (2100). For example, the processor (91) can determine whether the robot vacuum cleaner (10) is approaching a location where liquid was previously detected by comparing the stored past liquid detection history and the current location and driving speed of the robot vacuum cleaner (10) based on the cleaning map (M) stored in memory (92).

[0335] The processor (91) can control the driving unit (120) to reduce the driving speed when the robot vacuum cleaner (10) is driving close to a location where liquid was previously detected (e.g., 2100) (2200). Since there is a high probability that liquid is currently present at a location where liquid was previously detected due to the user's behavioral pattern, contamination by liquid can be prevented by reducing the driving speed before determining whether there is liquid on the surface to be cleaned.

[0336] The processor (91) can determine whether there is liquid on the surface to be cleaned (2300). At this time, the method by which the processor (91) determines whether there is liquid on the surface to be cleaned may be the same as the series of steps 1100 to 1500 of FIG. 19.

[0337] The processor (91) can control the driving unit (120) to increase the driving speed (2400) when it determines that there is no liquid on the surface to be cleaned (2300 No).

[0338] On the other hand, if the processor (91) determines that there is liquid on the surface to be cleaned (e.g., 2300), it may perform an action for liquid cleaning (2500). At this time, performing the action for liquid cleaning may include performing a preset operation corresponding to the current cleaning mode. At this time, the preset operation corresponding to each cleaning mode (dry mode, wet mode, dry-wet mode) may include a series of operations described with reference to FIG. 20.

[0339] After that, the processor (91) can determine whether the number of times liquid is detected at the same location is greater than or equal to a reference number (2600). The reference number may be pre-set and stored in memory (92). Additionally, the reference number may be set or changed based on user input received from the user interface (181).

[0340] The processor (91) may initialize the liquid detection locations and counts stored in memory (92) when the number of times liquid is detected at the same location is greater than or equal to a reference number (e.g., 2600). Initializing the liquid detection locations and counts stored in memory (92) may include deleting information regarding past liquid detection locations or information regarding the number of times liquid is detected at each location from memory (92). That is, since the robot vacuum cleaner (10) is highly likely to perform a liquid cleaning process to remove the liquid when it is determined that there is liquid on the surface to be cleaned, if liquid is detected for a predetermined number of times at a location with a liquid detection history, it may determine that the liquid cleaning is complete and initialize the stored liquid detection locations and counts.

[0341] A cleaning device according to one embodiment comprises: a robot vacuum cleaner including a brush that strikes a surface to be cleaned to scatter dirt and a mop that contacts the surface to be cleaned to clean the surface to be cleaned; and a station provided for the robot vacuum cleaner to be mounted thereon. The robot vacuum cleaner may further include an air injection device that sprays air onto the surface to be cleaned, a camera that acquires an image of the surface to be cleaned, and a processor that determines to spray the air onto the surface to be cleaned through the air injection device based on the image of the surface to be cleaned acquired from the camera, and determines that the target object is a liquid based on the change in the shape of the target object included in the continuous images acquired by the camera while the air is sprayed from the air injection device onto the surface to be cleaned.

[0342] The robot vacuum cleaner further includes a driving unit that moves the robot vacuum cleaner, and the processor can control the driving unit to reduce the driving speed of the robot vacuum cleaner based on the determination that the target object is the liquid.

[0343] The robot vacuum cleaner further includes a drive unit comprising a brush lifting drive unit for raising or lowering the brush, a brush rotation drive unit for rotating the brush, a mop lifting drive unit for raising or lowering the mop, and a mop rotation drive unit for rotating the mop, and the processor controls the drive unit to perform a preset operation corresponding to a cleaning mode being performed by the robot vacuum cleaner, and the cleaning mode may include at least one of a dry mode, a wet mode, and a dry-wet mode.

[0344] The processor can control the brush lifting drive unit to lift the brush before the robot vacuum cleaner reaches the liquid, based on the fact that cleaning is being performed in the dry mode.

[0345] The processor can control the driving unit to perform avoidance driving of the liquid so that the robot vacuum cleaner does not reach the liquid, based on the fact that cleaning is being performed in the dry mode.

[0346] The processor can control at least one of the driving unit or the mop rotation drive unit so that the robot vacuum cleaner performs intensive cleaning of the liquid based on the fact that cleaning is being performed in the wet mode.

[0347] The processor can move the robot vacuum cleaner to a location where the liquid is determined to be present in order to perform intensive cleaning of the liquid, and control the driving unit so that the robot vacuum cleaner performs spiral driving or repeated forward and backward driving at the location where the liquid is determined to be present.

[0348] The processor can control the mop rotation drive unit to increase or decrease the rotation speed of the mop based on moving the robot vacuum cleaner to a location where the liquid is determined to be present in order to perform intensive cleaning of the liquid.

[0349] The processor can control the driving unit to return the robot vacuum cleaner to the station after completing the intensive cleaning of the liquid.

[0350] The processor may control the brush lifting drive unit to lift the brush before the robot vacuum cleaner reaches the liquid based on the fact that cleaning is being performed in the wet / dry mode, control at least one of the driving unit or the mop rotation drive unit to perform intensive cleaning of the liquid, and control the driving unit to return the robot vacuum cleaner to the station after performing intensive cleaning of the liquid.

[0351] The robot vacuum cleaner further includes a memory that stores information about at least one cleaning area, which is a range in which one cleaning cycle is completed, such as a cleaning map and a separated area included in the cleaning map, and the processor can determine whether the cleaning process of the mop is completed after the robot vacuum cleaner returns to the station, and control the driving unit so that the robot vacuum cleaner moves to a location where the liquid is determined to be present or to the cleaning area located closest to the station based on whether the cleaning process of the mop is completed.

[0352] The robot vacuum cleaner further includes a drive unit comprising a brush lifting drive unit for raising or lowering the brush, a brush rotation drive unit for rotating the brush, a mop lifting drive unit for raising or lowering the mop, and a mop rotation drive unit for rotating the mop, and further includes a floor detection sensor for acquiring information regarding the nature of the surface to be cleaned that the robot vacuum cleaner is in contact with, and the processor determines whether the surface to be cleaned that the robot vacuum cleaner is in contact with corresponds to a soft floor based on the information acquired from the floor detection sensor, and can control the driving unit to perform a drive to avoid the liquid so that the robot vacuum cleaner does not reach the liquid based on the determination that the surface to be cleaned corresponds to the soft floor.

[0353] A cleaning device according to one embodiment comprises: a robot vacuum cleaner including a brush that strikes a surface to be cleaned to scatter dirt and a mop that contacts the surface to be cleaned to clean the surface to be cleaned; and a station provided for the robot vacuum cleaner to be mounted thereon. The robot vacuum cleaner may further include an air injection device that sprays air onto the surface to be cleaned, a camera that acquires an image of the surface to be cleaned, and a processor that determines that the target object is a liquid based on the change in the shape of the target object included in the images acquired from the camera before the air injection from the air injection device onto the surface to be cleaned is initiated and after the air injection is terminated.

[0354] A control method for a cleaning device according to one embodiment, comprising: a robot vacuum cleaner including a brush that strikes a surface to be cleaned to scatter dirt, a mop that contacts the surface to be cleaned to clean and cleans the surface to be cleaned, an air spraying device that sprays air onto the surface to be cleaned, and a camera that acquires an image of the surface to be cleaned; and a station provided for mounting the robot vacuum cleaner, wherein the method may include determining to spray air onto the surface to be cleaned through the air spraying device based on the image of the surface to be cleaned acquired from the camera, spraying air onto the surface to be cleaned by the air spraying device, acquiring continuous images of the surface to be cleaned by the camera while spraying air onto the surface to be cleaned, and determining that the target object is a liquid based on the change in the shape of the target object included in the continuous images acquired from the camera.

[0355] The robot vacuum cleaner further includes a driving unit that moves the robot vacuum cleaner, and the control method of the cleaning device may further include controlling the driving unit to reduce the driving speed of the robot vacuum cleaner based on the determination that the target object is the liquid.

[0356] The robot vacuum cleaner further comprises a drive unit including a brush lifting drive unit for raising or lowering the brush, a brush rotation drive unit for rotating the brush, a mop lifting drive unit for raising or lowering the mop, and a mop rotation drive unit for rotating the mop, and the control method of the cleaning device further comprises controlling the drive unit to perform a preset operation corresponding to a cleaning mode being performed by the robot vacuum cleaner, and the cleaning mode may include at least one of a dry mode, a wet mode, and a dry-wet mode.

[0357] Controlling the drive unit to perform a preset operation corresponding to the cleaning mode being performed by the robot vacuum cleaner may include controlling the brush lifting drive unit to lift the brush before the robot vacuum cleaner reaches the liquid based on the fact that cleaning is being performed in the dry mode.

[0358] Controlling the drive unit to perform a preset operation corresponding to the cleaning mode being performed by the robot vacuum cleaner may further include controlling the drive unit to perform a drive avoiding the liquid so that the robot vacuum cleaner does not reach the liquid, based on the fact that cleaning is being performed in the dry mode.

[0359] Controlling the drive unit to perform a preset operation corresponding to the cleaning mode being performed by the robot vacuum cleaner may include controlling at least one of the driving unit or the mop rotation drive unit so that the robot vacuum cleaner performs intensive cleaning of the liquid based on the fact that cleaning is being performed in the wet mode.

[0360] Controlling the drive unit to perform a preset operation corresponding to the cleaning mode being performed by the robot vacuum cleaner may further include controlling the driving unit to return the robot vacuum cleaner to the station after completing the intensive cleaning of the liquid.

[0361] Controlling the drive unit to perform a preset operation corresponding to the cleaning mode being performed by the robot vacuum cleaner may include controlling the brush lifting drive unit to lift the brush before the robot vacuum cleaner reaches the liquid based on the fact that cleaning is being performed in the wet / dry mode, controlling at least one of the driving unit or the mop rotation drive unit to perform intensive cleaning of the liquid, and controlling the driving unit to return the robot vacuum cleaner to the station after performing intensive cleaning of the liquid.

[0362] The disclosed cleaning device and control method can improve the liquid detection performance present on the surface to be cleaned.

[0363] The disclosed cleaning device and control method can accurately detect liquid present on a surface to be cleaned and control the components of a robot vacuum cleaner according to the current cleaning mode to improve cleaning efficiency and prevent re-contamination by liquid.

[0364] The disclosed cleaning device and control method can improve cleaning efficiency and prevent re-contamination by liquid by controlling the components of a robot vacuum cleaner according to the characteristics of the cleaning area where cleaning is performed, user characteristics, or the characteristics of the surface to be cleaned.

[0365] The technical problems to be solved in this document are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this invention belongs from the description below.

[0366] Meanwhile, the disclosed embodiments may be implemented in the form of a storage medium that stores instructions executable by a computer. The instructions may be stored in the form of program code, and when executed by a processor, they may generate a program module to perform the operation of the disclosed embodiments.

[0367] A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory storage medium' simply means that it is a tangible device and does not contain a signal (e.g., electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily. For example, a 'non-transitory storage medium' may include a buffer in which data is stored temporarily.

[0368] Methods according to the various embodiments disclosed in this document may be provided as part of a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., downloadable app) may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0369] It will be understood that various embodiments of the present disclosure according to the claims and the description in the specification may be implemented in the form of hardware, software, or a combination of hardware and software.

[0370] Such software may be stored on a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores one or more computer programs (software modules), and the one or more computer programs include computer execution instructions that cause the electronic device to perform the method of the present disclosure when executed by one or more processors of the electronic device.

[0371] Such software may be stored in the form of a storage device, for example, read-only memory (ROM), regardless of whether it is erasable or rewritable; or in the form of memory, for example, random access memory (RAM), memory chips, devices, or integrated circuits; or in the form of an optically or magnetically readable medium, for example, a compact disc (CD), a digital video disc (DVD), a magnetic disc, a magnetic tape, etc. It will be understood that the storage device and the storage medium are various embodiments of a non-transient machine-readable storage medium suitable for storing a computer program or a plurality of computer programs that include instructions for implementing various embodiments of the present disclosure at execution. Accordingly, various embodiments provide a program including code for implementing an apparatus or method described in any claim of the present specification, and a non-transient machine-readable storage medium for storing said program.

[0372] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively.

Claims

1. A robot vacuum cleaner comprising a brush that strikes a surface to be cleaned to scatter dirt, and a mop that contacts the surface to be cleaned to clean the surface to be cleaned; and A station provided for mounting the above-mentioned robot vacuum cleaner; including The above-mentioned robot vacuum cleaner; is, An air injection device that sprays air onto the above-mentioned surface to be cleaned, A camera for acquiring an image of the surface to be cleaned and A cleaning device further comprising a processor that determines to spray air onto the surface to be cleaned through the air injection device based on an image of the surface to be cleaned acquired from the camera, and determines that the target object is a liquid based on the change in the shape of the target object included in the continuous images acquired by the camera while air is sprayed from the air injection device onto the surface to be cleaned.

2. In Paragraph 1, The above robot vacuum cleaner is, It further includes a driving unit that moves the above-mentioned robot vacuum cleaner, and The above processor is, A cleaning device that controls the driving unit to reduce the driving speed of the robot vacuum cleaner based on the determination that the above target object is the liquid.

3. In Paragraph 2, The above robot vacuum cleaner is, The apparatus further includes a driving unit comprising a brush lifting driving unit for raising or lowering the brush, a brush rotation driving unit for rotating the brush, a mop lifting driving unit for raising or lowering the mop, and a mop rotation driving unit for rotating the mop. The above processor is, The drive unit is controlled to perform a preset operation corresponding to the cleaning mode currently being performed by the robot vacuum cleaner, and The above cleaning mode is, A cleaning device comprising at least one of a dry mode, a wet mode, and a dry-wet mode.

4. In Paragraph 3, The above processor is, A cleaning device that controls the brush lifting drive unit to lift the brush before the robot vacuum cleaner reaches the liquid, based on the fact that cleaning is being performed in the dry mode.

5. In Paragraph 4, The above processor is, A cleaning device that controls the driving unit to perform avoidance driving of the liquid so that the robot vacuum cleaner does not reach the liquid, based on the fact that cleaning is being performed in the above dry mode.

6. In Paragraph 3, The above processor is, A cleaning device that controls at least one of the driving unit or the mop rotation drive unit so that the robot vacuum cleaner performs intensive cleaning of the liquid based on the fact that it is performing cleaning in the above wet mode.

7. In Paragraph 6, The above processor A cleaning device that moves the robot vacuum cleaner to a location where the liquid is determined to be present in order to perform intensive cleaning of the liquid, and controls the driving unit so that the robot vacuum cleaner performs spiral driving or repeated forward and backward driving at the location where the liquid is determined to be present.

8. In Paragraph 7, The above processor A cleaning device that controls the mop rotation drive unit to increase the rotation speed of the mop based on moving the robot vacuum cleaner to a location where the liquid is determined to be present in order to perform intensive cleaning of the liquid.

9. In Paragraph 6, The above processor A cleaning device that controls the driving unit to return the robot vacuum cleaner to the station after completing intensive cleaning of the above liquid.

10. In Paragraph 3, The above processor is, Based on the fact that cleaning is being performed in the above wet / dry mode, the brush lifting drive unit is controlled so that the robot vacuum cleaner lifts the brush before reaching the liquid, and Control at least one of the driving unit or the mop rotation drive unit so that the robot vacuum cleaner performs intensive cleaning of the liquid, and A cleaning device that controls the driving unit to return the robot vacuum cleaner to the station after performing intensive cleaning of the above liquid.

11. In Paragraph 9 or 10, The above robot vacuum cleaner is, It further includes a memory that stores information about at least one cleaning area, which is a range in which one cleaning cycle is completed, such that the cleaning map and the separated area included in the cleaning map are further included. The above processor is, After the robot vacuum cleaner returns to the station, it determines whether the cleaning process of the mop is completed, and A cleaning device that controls the driving unit so that the robot vacuum moves to a location where the liquid is determined to be present or to a cleaning area located closest to the station, based on the completion of the cleaning process of the above-mentioned mop.

12. In Paragraph 2, The above robot vacuum cleaner is, The apparatus further includes a driving unit comprising a brush lifting driving unit for raising or lowering the brush, a brush rotation driving unit for rotating the brush, a mop lifting driving unit for raising or lowering the mop, and a mop rotation driving unit for rotating the mop. It further includes a floor detection sensor that acquires information regarding the nature of the surface to be cleaned that the robot vacuum cleaner is in contact with, and The above processor is, Based on information obtained from the floor detection sensor, it is determined whether the surface to be cleaned that the robot vacuum cleaner is in contact with corresponds to a soft floor, and A cleaning device that controls the driving unit to perform avoidance driving of the liquid so that the robot vacuum cleaner does not reach the liquid, based on the determination that the surface to be cleaned corresponds to the soft floor.

13. A robot vacuum cleaner comprising a brush that strikes a surface to be cleaned to scatter dirt, and a mop that contacts the surface to be cleaned to clean the surface to be cleaned; and A station provided for mounting the above-mentioned robot vacuum cleaner; including The above-mentioned robot vacuum cleaner; is, An air injection device that sprays air onto the above-mentioned surface to be cleaned, A camera for acquiring an image of the surface to be cleaned and A cleaning device further comprising a processor that determines that air is sprayed onto the surface to be cleaned through the air injection device based on an image of the surface to be cleaned obtained from the camera, and determines that the target object is a liquid based on changes in the shape of the target object included in the images obtained from the camera before the air injection from the air injection device onto the surface to be cleaned is initiated and after the air injection is terminated.

14. A robot vacuum cleaner comprising a brush that strikes a surface to be cleaned to scatter dirt, a mop that contacts the surface to be cleaned to clean the surface to be cleaned, an air spraying device that sprays air onto the surface to be cleaned, and a camera that acquires an image of the surface to be cleaned; and a station provided for mounting the robot vacuum cleaner; wherein a control method for a cleaning device It is determined to spray the air onto the surface to be cleaned through the air injection device based on the image of the surface to be cleaned obtained from the camera, and Air is sprayed onto the surface to be cleaned by the above air injection device, and While air is sprayed onto the surface to be cleaned, continuous images of the surface to be cleaned are acquired by a camera, and A control method for a cleaning device comprising determining that a target object is a liquid based on changes in the shape of the target object included in the continuous images acquired from the camera.

15. In Paragraph 14, The above robot vacuum cleaner is, It further includes a driving unit that moves the above-mentioned robot vacuum cleaner, and The control method of the above cleaning device is, A method for controlling a cleaning device, further comprising controlling the driving unit to reduce the driving speed of the robot vacuum cleaner based on the determination that the target object is the liquid.

Images