A robot cleaner and a control method thereof

Abstract

The present disclosure provides a robot cleaner and a control method of the robot cleaner that efficiently cleans a cleaning area, comprising: a main body in which a dust suction module and motor are accommodated, a pair of rotary plates rotatably disposed on a bottom of the main body and coupled to a mop facing a floor surface on a lower side, and a controller configured to control the motor so that the rotary plates rotate while traveling along a traveling path, wherein the controller is configured to perform at least one scrubbing motion while traveling along the traveling path, and perform forward traveling while traveling along the traveling path, and the scrubbing motion includes backward traveling.

Description

A ROBOT CLEANER AND A CONTROL METHOD THEREOF

[0001] The present disclosure relates to a robot cleaner and a control method thereof.

[0002] Recently, with the development of industrial technology, robot cleaners that drive and clean areas that require cleaning without user intervention are being developed. These robot cleaners are equipped with sensors that can recognize the space to be cleaned, mops that can clean the floor surface, etc., and can drive while wiping the floor surface of the space recognized by the sensor with a mop, etc.

[0003] Among robot cleaners, there is a wet robot cleaner that can wipe the floor surface with a mop containing moisture to effectively remove foreign substances strongly attached to the floor surface. The wet robot cleaner is equipped with a water tank, and the water contained in the water tank is supplied to the mop so that the mop wipes the floor surface in a moist state, effectively removing foreign substances strongly attached to the floor surface.

[0004] The wet robot cleaner is configured so that the mop is formed in a circular shape and can be configured so that it can clean the floor surface by contacting the floor surface while rotating. In addition, the robot cleaner is configured so that it can drive in a specific direction by utilizing the frictional force that multiple mops make contact with the floor surface while rotating.

[0005] On the other hand, the greater the frictional force between the mop and the floor surface, the more strongly the mop can clean the floor surface, so the robot cleaner can effectively clean the floor surface.

[0006] On the other hand, a general mop robot cleaner continuously moves forward until it recognizes an obstacle, and can change direction and drive when an obstacle is detected.

[0007] However, if the floor surface is heavily contaminated and needs to be thoroughly cleaned repeatedly with a mop, there is a limit to how well it can be cleaned.

[0008] For example, in the case of a straight motion, it may not be effective in removing dust or stains that are not easily erased because there is no change in the cleaning motion. The Y motion moves forward in a straight line and then moves backward and rotates slightly to form a Y shape, but has the disadvantage of limited speed and distance control.

[0009] Meanwhile, US registered patent US 11,700,988 B2 discloses a step of moving forward and in a first lateral direction to form a first cleaning path, a step of moving backward to form a second cleaning path, a step of moving forward and in a second lateral direction to form a third cleaning path, and a step of sequentially repeatedly performing the first cleaning path, the second cleaning path, and the third cleaning path.

[0010] However, since this conventional technology is simply repeated cleaning, there is a limitation that if a specific area is severely contaminated, the area cannot be cleaned cleanly.

[0011] The present disclosure provides a robot cleaner and a control method of the robot cleaner that efficiently cleans a cleaning area.

[0012] The present disclosure provides a robot cleaner and a control method of the robot cleaner that solves the problem of inefficient cleaning due to rigid and repetitive movement patterns.

[0013] The present disclosure provides a robot cleaner and a control method of the robot cleaner that can perform both forward traveling, in which dust suction is performed before mopping, and backward traveling, in which mopping is performed before dust suction.

[0014] The present disclosure provides a robot cleaner and a control method of the robot cleaner that can perform continuous cleaning operations without interruption while minimizing the problem of contaminants spreading during the cleaning process through forward and backward motion and backward U motion.

[0015] The present disclosure provides a dry and wet type robot cleaner and a control method of the robot cleaner that can clean the same area more than twice by moving in a straight line or U motion in a backward direction.

[0016] The present disclosure provides a robot cleaner and a control method of the robot cleaner that effectively removes contaminants by moving dust suction and mopping operations in a forward direction as well as a backward direction.

[0017] The present disclosure provides a robot cleaner and a control method of the robot cleaner that effectively removes contaminants such as stains through an efficient mopping motion.

[0018] The purpose of the present disclosure is to improve cleaning efficiency and effectiveness by moving in a manner that mimics the movements of a person when cleaning.

[0019] The robot cleaner according to an embodiment of present disclosure comprises a main body in which a dust suction module and motor are accommodated, a pair of rotary plates rotatably disposed on a bottom of the main body and coupled to a mop facing a floor surface on a lower side, and a controller configured to control the motor so that the rotary plates rotate while traveling along a traveling path, wherein the controller is configured to perform at least one scrubbing motion while traveling along the traveling path, and perform forward traveling while traveling along the traveling path, and the scrubbing motion includes backward traveling.

[0020] The forward traveling is driving in which the dust suction module is ahead of the mop, and the backward traveling is driving in which the mop is ahead of the dust suction module.

[0021] The scrubbing motion includes a forward and backward motion, and the forward and backward motion includes a motion of cleaning each area twice by traveling forward along the traveling path and traveling backward along at least a portion of the same path.

[0022] The scrubbing motion includes a backward U motion, and the backward U motion includes a motion of repeating a straight movement and a U-turn movement as backward traveling within a section set based on a current position.

[0023] The robot cleaner further comprises a sensor configured to detect a stain, and the controller configured to obtain information on the detected stain, and obtain a cleaning pattern consisting of at least one of the forward and backward motion and the backward U motion based on the information on the stain.

[0024] The information on the stain includes at least one of stain size, stain texture, and stain hardness.

[0025] The controller is configured to determine the forward and backward motion by adjusting at least one of a forward distance moving in a forward direction, a backward distance moving in a backward direction, a zigzag width, and a speed based on the information on the stain.

[0026] The controller is configured to determine the forward and backward motion by adjusting the forward distance to be longer, the backward distance to be shorter than the forward distance, the zigzag width to be narrower, and the speed to be slower as the stain size is larger, the stain texture is very rough, and the stain hardness is harder.

[0027] The controller is configured to determine the forward and backward motion by adjusting the forward distance to a third forward length, the backward distance to a first backward length, the zigzag width to a first width, and the speed to a first speed if the stain size is large, the stain texture is very rough, and the stain hardness is hard, determine the forward and backward motion by adjusting the forward distance to a first forward length, the backward distance to a first backward length, the zigzag width to a third width, and the speed to a third speed if the stain size is small, the stain texture is smooth, and the stain hardness is soft, determine the forward and backward motion by adjusting the forward distance to a second forward length, the backward distance to a first backward length, the zigzag width to a second width, and the speed to a second speed if the stain size is medium, the stain texture is rough, and the stain hardness is medium, and the first forward length is the shortest, the third forward length is the longest, and the second forward length is longer than the first forward length and shorter than the third forward length, the first backward length is the shortest, the third backward length is the longest, and the second backward length is longer than the first backward length and shorter than the third backward length, the first width is the narrowest, the third width is the widest, and the second width is wider than the first width and narrower than the third width, the first speed is the slowest, the third speed is the fastest, and the second speed is faster than the first speed and slower than the third speed.

[0028] The controller is configured to determine the backward U motion by adjusting U-turn radius and zigzag width based on the information on the stain.

[0029] The controller is configured to determine the backward U motion by adjusting the U-turn radius and the zigzag width to be narrower as the stain size increases, the stain texture becomes rougher, and the stain hardness becomes harder.

[0030] The controller is configured to determine the backward U motion by adjusting the U-turn radius to the smallest size and the zigzag width to the smallest width when the stain size is large, the stain texture is very rough, and the stain hardness is hard, and determine the backward U motion by adjusting the U-turn radius to the largest size and the zigzag width to the largest width when the stain size is small, the stain texture is smooth, and the stain hardness is soft.

[0031] The controller is configured to adjust a speed of the scrubbing motion and a zigzag width of the traveling path based on a state of a battery.

[0032] The controller may provide a mop cleaning mode that continuously performs a scrubbing motion including backward traveling with the mop ahead of the dust suction module while driving along the traveling path from the start of the driving.

[0033] The control method of robot cleaner according to an embodiment of present disclosure comprises setting a traveling path, obtaining a cleaning pattern, and traveling along the traveling path based on the cleaning pattern, and wherein the traveling includes performing at least one scrubbing motion while traveling along the traveling path, and perform forward traveling when traveling along the traveling path, and the scrubbing motion includes backward traveling.

[0034] The traveling includes operating as provide a mop cleaning mode that continuously performs a scrubbing motion including backward traveling with the mop ahead of the dust suction module while driving along the traveling path from the start of the driving.

[0035] According to an embodiment of the present disclosure, there is an advantage in that a specific part can be consistently and repeatedly cleaned like a person cleaning through forward and backward motion and backward U motion, and thus a heavily contaminated area can be effectively cleaned without missing any part.

[0036] According to an embodiment of the present disclosure, there is an advantage in that cleaning efficiency can be improved while minimizing battery consumption by delicately adjusting forward and backward motion or backward U motion depending on the condition of the stain.

[0037] According to an embodiment of the present disclosure, in a dusty area, forward traveling is performed, and in a wet contaminated area, etc., backward traveling is performed, so that cleaning suitable for the characteristics of the area can be performed, and thus effective cleaning is possible.

[0038] According to an embodiment of the present disclosure, there is an advantage in that the entire space can be effectively cleaned by providing a mop cleaning mode that performs a mopping operation before a dust suction operation while driving.

[0039] Fig. 1 is a perspective view illustrating a robot cleaner according to an embodiment of the present disclosure.

[0040] Fig. 2 is a drawing showing some components separated from the robot cleaner illustrated in Fig. 1.

[0041] Fig. 3 is a bottom view illustrating a robot cleaner according to an embodiment of the present disclosure.

[0042] Fig. 4 is a drawing for explaining the driving direction of a robot cleaner according to an embodiment of the present disclosure.

[0043] Fig. 5 is a block diagram of the robot cleaner illustrated in Fig. 1.

[0044] Fig. 6 is a drawing for explaining forward and backward motion of a robot cleaner according to an embodiment of the present disclosure.

[0045] Fig. 7 is a drawing for explaining backward U motion of a robot cleaner according to an embodiment of the present disclosure.

[0046] Fig. 8 is a flowchart illustrating an operating method of a robot cleaner according to an embodiment of the present disclosure.

[0047] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the attached drawings.

[0048] The present disclosure may have various modifications and various embodiments, and specific embodiments are illustrated in the drawings and specifically described in the detailed description. This is not intended to limit the present disclosure to specific embodiments, but should be interpreted to include all modifications, equivalents, or substitutes included in the technical scope of the present disclosure.

[0049] The terms used in the present disclosure are used only to describe specific embodiments, and are not intended to limit the present disclosure. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0050] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present disclosure belongs. Terms that are defined in commonly used dictionaries may be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and may not be interpreted in an idealized or overly formal sense, unless expressly defined otherwise in this disclosure.

[0051] Figs. 1 to 3 are structural diagrams for explaining the structure of a robot cleaner according to an embodiment of the present disclosure, Fig. 4 is a diagram for explaining the driving direction of a robot cleaner according to an embodiment of the present disclosure, and Fig. 5 is a block diagram of the robot cleaner illustrated in Fig. 1 of the present disclosure.

[0052] More specifically, Fig. 1 is a perspective view illustrating a robot cleaner (1), Fig. 2 is a diagram showing some components of the robot cleaner (1) separated, Fig. 3 is a bottom view of the robot cleaner (1), Fig. 4 is a diagram illustrating the driving direction of the robot cleaner (1), and Fig. 5 is a control block diagram of the robot cleaner (1).

[0053] Referring to Figs. 1 to 4, the structure of the robot cleaner (1) of the present disclosure will be described as follows.

[0054] The robot cleaner (1) is configured to be placed on the floor and move along the floor surface to clean the floor using a mop. Accordingly, the following description will be made based on the up-down direction when the robot cleaner (1) is placed on the floor.

[0055] And, based on the first rotary plate (10) and the second rotary plate (20), the side where the first lower sensor (123) is coupled will be described as the front.

[0056] The 'lowest part' of each configuration described in the present disclosure may be the part that is located the lowest in each configuration when the robot cleaner (1) is placed on the floor and used, or may be the part closest to the floor.

[0057] The robot cleaner (1) may include a main body (50), a rotary plate (10, 20), a mop (30, 40), and a dust suction module (190). At this time, the rotary plates (10, 20) may be formed as a pair including a first rotary plate (10) and a second rotary plate (20), and the mops (30, 40) may include a first mop (30) and a second mop (40).

[0058] The main body (50) may form the overall outer shape of the robot cleaner (1) or may be formed in a frame shape. The main body (50) may be combined with each component forming the robot cleaner (1), and some components forming the robot cleaner (1) may be accommodated inside the main body (50). For example, components such as a dust suction module (190), a water tank (not shown), and a motor (56, 57) may be provided inside the main body (50). (See Fig. 3)

[0059] The first rotary plate (10) may be rotatably arranged on the bottom surface of the main body (50), and a first mop (30) may be coupled to the lower side.

[0060] The first rotary plate (10) is formed to have a predetermined area, and is formed in the form of a flat plate or a flat frame. This first rotary plate (10) is generally laid horizontally, and accordingly, the horizontal width (or diameter) is formed in a form sufficiently larger than the vertical height. The first rotary plate (10) coupled to the main body (50) may be parallel to the floor surface, or may be inclined with the floor surface. The first rotary plate (10) may be formed in a circular plate shape, and the bottom surface of the first rotary plate (10) may be generally circular, and the first rotary plate (10) may be formed in an overall rotationally symmetrical shape.

[0061] The second rotary plate (20) may be rotatably arranged on the bottom surface of the main body (50), and the second mop (40) may be coupled to the lower side.

[0062] The second rotary plate (20) is formed to have a predetermined area, and is formed in the form of a flat plate or a flat frame. This second rotary plate (20) is generally laid horizontally, and accordingly, the horizontal width (or diameter) is formed in a form sufficiently larger than the vertical height. The second rotary plate (20) coupled to the main body (50) may be parallel to the floor surface, or may be inclined with the floor surface. The second rotary plate (20) may be formed in a circular plate shape, the bottom surface of the second rotary plate (20) may be generally circular, and the second rotary plate (20) may be formed in an overall rotationally symmetrical shape.

[0063] In the robot cleaner (1), the second rotary plate (20) may be formed in the same manner as the first rotary plate (10), or may be formed symmetrically. If the first rotary plate (10) is located on the left side of the robot cleaner (1), the second rotary plate (20) may be located on the right side of the robot cleaner (1), and in this case, the first rotary plate (10) and the second rotary plate (20) may be symmetrical to each other.

[0064] The first mop (30) can be coupled to the lower side of the first rotary plate (10) so as to face the floor surface.

[0065] The first mop (30) is formed so that the bottom surface facing the floor has a predetermined area, and the first mop (30) is formed in a flat shape. The first mop (30) is formed in a shape in which the horizontal width (or diameter) is sufficiently larger than the vertical height. When the first mop (30) is coupled to the main body (50), the bottom surface of the first mop (30) can be parallel to the floor surface, or can be inclined with the floor surface.

[0066] The bottom surface of the first mop (30) can be generally circular, and the first mop (30) can be formed in an overall rotationally symmetrical shape. In addition, the first mop (30) can be attached and detached to the bottom surface of the first rotary plate (10), and can be coupled to the first rotary plate (10) and rotated together with the first rotary plate (10).

[0067] The second mop (40) can be coupled to the lower side of the second rotary plate (20) so as to face the floor surface.

[0068] The second mop (40) is formed so that the bottom surface facing the floor has a predetermined area, and the second mop (40) is formed in a flat shape. The second mop (40) is formed in a shape in which the horizontal width (or diameter) is sufficiently larger than the vertical height. When the second mop (40) is coupled to the main body (50), the bottom surface of the second mop (40) can be parallel to the floor surface, or can be inclined with the floor surface.

[0069] The bottom surface of the second mop (40) can be generally circular, and the second mop (40) can be formed in an overall rotationally symmetrical shape. In addition, the second mop (40) can be attached and detached to the bottom surface of the second rotary plate (20), and can be coupled to the second rotary plate (20) and rotated together with the second rotary plate (20).

[0070] When the first rotary plate (10) and the second rotary plate (20) rotate in opposite directions at the same speed, the robot cleaner (1) can move in a straight line and move forward or backward. For example, when viewed from above, when the first rotary plate (10) rotates counterclockwise and the second rotary plate (20) rotates clockwise, the robot cleaner (1) can move forward, i.e., forward traveling. And, when viewed from above, if the first rotary plate (10) rotates clockwise and the second rotary plate (20) rotates counterclockwise, the robot cleaner (1) can move backwards, i.e., backward traveling.

[0071] If only one of the first rotary plate (10) and the second rotary plate (20) rotates, the robot cleaner (1) can change direction and turn.

[0072] If the rotation speeds of the first rotary plate (10) and the second rotary plate (20) are different from each other, or if the first rotary plate (10) and the second rotary plate (20) rotate in the same direction, the robot cleaner (1) can move while changing direction and move in a curved direction.

[0073] The robot cleaner (1) may further include a first lower sensor (123).

[0074] The first lower sensor (123) is formed on the lower side of the main body (50) and is configured to detect the relative distance from the floor. The first lower sensor (123) can be formed in various ways within a range that can detect the relative distance between the point where the first lower sensor (123) is formed and the floor surface.

[0075] If the relative distance from the floor surface (which may be a vertical distance from the floor surface or a sloped distance from the floor surface) detected by the first lower sensor (123) exceeds a predetermined value or a predetermined range, the floor surface may suddenly lower, and accordingly, the first lower sensor (123) may detect a cliff.

[0076] The first lower sensor (123) may be formed by a light sensor and may include a light-emitting unit that irradiates light and a light-receiving unit where reflected light is incident. The first lower sensor (123) may be formed by an infrared sensor.

[0077] The first lower sensor (123) may be referred to as a cliff sensor.

[0078] The robot cleaner (1) may further include a second lower sensor (124) and a third lower sensor (125).

[0079] The second lower sensor (124) and the third lower sensor (125) may be formed on the lower side of the main body (50) on the same side as the first lower sensor (123) based on a connection line (L1), when the imaginary line connecting the center of the first rotary plate (10) and the center of the second rotary plate (20) along the horizontal direction (parallel to the floor surface) is referred to as the connection line (L1), and may be configured to detect a relative distance from the floor. (See Fig. 3)

[0080] The third lower sensor (125) may be formed on the opposite side to the second lower sensor (124) based on the first lower sensor (123).

[0081] Each of the second lower sensor (124) and the third lower sensor (125) can be formed in various ways within a range that can detect a relative distance from the floor surface. Each of the second lower sensor (124) and the third lower sensor (125) can be formed in the same manner as the first lower sensor (123) described above, except for the position where they are formed.

[0082] The robot cleaner (1) may further include a first motor (56), a second motor (57), a battery (135, see Fig. 5), a water tank (not shown), a water supply tube (not shown), and a dust suction module (190).

[0083] The first motor (56) is coupled to the main body (50) to rotate the first rotary plate (10). Specifically, the first motor (56) may be formed as an electric motor coupled to the main body (50), and one or more gears may be connected to transmit rotary power to the first rotary plate (10).

[0084] The second motor (57) is coupled to the main body (50) to rotate the second rotary plate (20). Specifically, the second motor (57) may be formed as an electric motor coupled to the main body (50), and may be connected to one or more gears to transmit rotary power to the second rotary plate (20).

[0085] In this way, in the robot cleaner (1), the first rotary plate (10) and the first mop (30) may rotate by the operation of the first motor (56), and the second rotary plate (20) and the second mop (40) may rotate by the operation of the second motor (57).

[0086] The second motor (57) may be symmetrical (left-right symmetrical) with the first motor (56).

[0087] The battery (135) is coupled to the main body (50) to supply power to other components forming the robot cleaner (1). The battery (135) can supply power to the first motor (56) and the second motor (57).

[0088] The battery (135) can be charged by an external power source, and for this purpose, a charging terminal for charging the battery (135) can be provided on one side of the main body (50) or on the battery (135) itself.

[0089] In the robot cleaner (1), the battery (135) can be connected to the main body (50).

[0090] The water tank (not shown) is formed in the form of a container having an internal space so that a liquid such as water can be stored therein. The water tank (not shown) can be fixedly connected to the main body (50), or can be detachably connected to the main body (50).

[0091] In the robot cleaner (1), the water supply tube (not shown) is formed in the form of a tube or pipe, and is connected to the water tank (not shown) so that the liquid inside the water tank (not shown) can flow through the inside. The water supply tube (not shown) is configured such that the opposite end connected to the water tank (not shown) is positioned on the upper side of the first rotary plate (10) and the second rotary plate (20), thereby allowing the liquid inside the water tank (not shown) to be supplied to the first mop (30) and the second mop (40).

[0092] The robot cleaner (1) may be equipped with a separate water pump (not shown) to move the liquid through the water supply tube (not shown).

[0093] The robot cleaner (1) may further include a bumper (58) and a sensor (122).

[0094] The bumper (58) is coupled along the edge of the main body (50), but is configured to move relative to the main body (50). For example, the bumper (58) may be coupled to the main body (50) so as to be reciprocally movable in a direction approaching the center of the main body (50).

[0095] The bumper (58) may be coupled along a part of the edge of the main body (50), or may be coupled along the entire edge of the main body (50).

[0096] The sensor (122) may be coupled to the main body (50) and configured to detect a relative distance from an obstacle. The sensor (122) may be configured as a distance sensor.

[0097] Meanwhile, the robot cleaner (1) according to the embodiment of the present disclosure may further include a displacement sensor (126).

[0098] The displacement sensor (126) is arranged on the bottom surface (or backside) of the main body (50) and may measure a distance moved along the floor surface.

[0099] For example, the displacement sensor (126) may use an optical flow sensor (OFS) that acquires image information of the floor surface using light. Here, the optical flow sensor (OFS) is configured to include an image sensor that captures an image of the floor surface to acquire image information of the floor surface, and one or more light sources that control the amount of light.

[0100] The operation of the displacement sensor (126) will be described using the optical flow sensor as an example. The optical flow sensor is provided on the bottom surface (or backside) of the robot cleaner (1) and captures a downward image, i.e., the floor surface, while moving. The optical flow sensor converts the downward image input from the image sensor to generate downward image information in a predetermined format.

[0101] With this configuration, the displacement sensor (126) can detect the relative position of a predetermined point and the robot cleaner (1) regardless of slipping. That is, by observing the downward direction of the robot cleaner (1) using an optical flow sensor, position correction due to slipping is possible.

[0102] Meanwhile, in the present disclosure, a virtual connection line (L1) connecting the rotation axes of a pair of rotary plates (10, 20) can be defined. Specifically, the connection line (L1) may mean a virtual line connecting the rotation axis of the first rotary plate (10) and the rotation axis of the second rotary plate (20).

[0103] The connection line (L1) may be a reference for dividing the front and the rear of the robot cleaner (1). For example, the direction in which the sensor (122) is arranged based on the connection line (L1) may be called the front of the robot cleaner (1), and the direction in which the displacement sensor (126) is arranged based on the connection line (L1) may be called the rear of the robot cleaner (1).

[0104] Therefore, the first lower sensor (123), the second lower sensor (124), and the third lower sensor (125) can be placed on the front lower side of the main body (50) based on the connection line (L1), and the sensor (122) can be placed on the front upper side of the main body (50). In addition, the dust suction module (190) can be inserted and connected in a direction perpendicular to the floor surface in the front of the main body (50) based on the connection line (L1). In addition, the displacement sensor (126) can be placed on the rear side of the main body (50) based on the connection line (L1).

[0105] Therefore, the direction in which the sensor (122) and the bumper (58) are located in the main body (50) based on the connection line (L1) can be called the front side of the main body (50), and the direction opposite to the front side of the main body (50) can be called the rear side of the main body (50).

[0106] Therefore, the forward direction of the robot cleaner (1) may mean the direction in which the sensor (122) is facing. Forward traveling of the robot cleaner (1) may mean traveling in a forward direction. Forward traveling of the robot cleaner (1) may mean that the dust suction module (190) travels in a direction ahead of the mop (30, 40).

[0107] In addition, the backward direction of the robot cleaner (1) may mean the opposite direction of the forward direction. Backward traveling of the robot cleaner (1) may mean traveling in a direction opposite to the forward direction. Backward traveling of the robot cleaner (1) may mean that the mop (30, 40) travels in a direction ahead of the dust suction module (190).

[0108] Meanwhile, in the present disclosure, a virtual driving direction line (H) that intersects the connection line (L1) perpendicularly at the midpoint (C) of the connection line (L1) and extends parallel to the floor surface can be defined. Specifically, the driving direction line (H) may include a forward driving direction line (Hf) that extends parallel to the floor surface toward the direction in which the dust suction module (190) is arranged based on the connection line (L1), and a rearward driving direction line (Hb) that extends parallel to the floor surface toward the direction in which the displacement sensor (126) is arranged based on the connection line (L1).

[0109] At this time, the dust suction module (190), the first lower sensor (123), and the sensor (122) may be arranged on the forward driving direction line (Hf), and the displacement sensor (126) may be arranged on the rearward driving direction line (Hb). And the first rotary plate (10) and the second rotary plate (20) can be arranged symmetrically (linearly) with the driving direction line (H) as the center (reference).

[0110] A suction port (191) for sucking dust is formed in the dust suction module (190), and an air suction device (not shown) can be provided inside the main body (110). By driving the air suction device (not shown), external dust is sucked through the suction port (191), and the dust contained in the air sucked through the suction port (191) can be collected by a dust collection unit (not shown).

[0111] Referring to Fig. 5, the robot cleaner (1) can include a controller (110), a sensor module (120), a power supply (130), a water supply (140), a dust suction module (190), a driving part (150), a communicator (160), an output interface (170), and a memory (180). The components illustrated in the block diagram of Fig. 5 are not essential for implementing the robot cleaner (1), so the robot cleaner (1) described in this specification may have more or fewer components than the components listed above.

[0112] First, the controller (110) can be placed inside the main body (50) and can be connected to a control device (not shown) through wireless communication via a communicator (160) to be described later. In this case, the controller (110) can transmit various data about the robot cleaner (1) to the connected control device (not shown). And the controller (110) can receive data from the connected control device and store it. Here, the data input from the control device can be a control signal that controls at least one function of the robot cleaner (1).

[0113] In other words, the robot cleaner (1) can receive a control signal based on a user input from the control device and operate according to the received control signal.

[0114] In addition, the controller (110) can control the overall operation of the robot cleaner. The controller (110) controls the robot cleaner (1) to autonomously drive on the surface to be cleaned and perform a cleaning operation according to the setting information stored in the memory (180) to be described later.

[0115] Meanwhile, the straight control of the controller (110) in the present disclosure will be described later.

[0116] A sensor module (120) may include one or more of a sensor (122), the first lower sensor (123), the second lower sensor (124), the third lower sensor (125), and the displacement sensor (126) of the robot cleaner (1) described above.

[0117] In other words, the sensor module (120) may include a plurality of different sensors capable of detecting the environment around the robot cleaner (1), and information about the environment around the robot cleaner (1) detected by the sensor module (120) may be transmitted to the control device by the controller (110). Here, the information about the surrounding environment may be, for example, whether there is an obstacle, whether a cliff is detected, or whether a collision is detected.

[0118] In addition, based on information from the sensor (122), the controller (110) can control the operation of the first motor (56) and / or the second motor (57) so that the driving direction of the robot cleaner (1) changes or the robot cleaner (1) moves away from the obstacle when the distance between the robot cleaner (1) and the obstacle is less than or equal to a predetermined value.

[0119] In addition, based on the distance detected by the first lower sensor (123), the second lower sensor (124), or the third lower sensor (125), the controller (110) can control the operation of the first motor (56) and / or the second motor (57) so that the robot cleaner (1) stops or changes its driving direction.

[0120] In addition, based on the distance detected by the displacement sensor (126), the controller (110) can control the operation of the first motor (56) and / or the second motor (57) so that the robot cleaner (1) changes its driving direction. For example, if the robot cleaner (1) slips and deviates from the input traveling path or driving pattern, the displacement sensor (126) can measure the distance deviated from the input traveling path or driving pattern, and the controller (110) can control the operation of the first motor (56) and / or the second motor (57) to compensate for this.

[0121] The power supply (130) receives external power and internal power under the control of the controller (110) and supplies power required for the operation of each component. The power supply (130) may include the battery (135) of the robot cleaner (1) described above.

[0122] The water supply (140) may include the water tank (141), the water supply tube (142), and the water pump (143) of the robot cleaner (1) described above. The water supply (140) may be configured to control the amount of liquid (water) supplied to the first mop (30) and the second mop (40) during the cleaning operation of the robot cleaner (1) according to the control signal of the controller (110). The controller (110) may control the driving time of the motor that drives the water pump (143) to control the amount of water supplied.

[0123] The dust suction module (190) can suck in external air through a suction port (191). The dust suction module (190) can be configured to include a suction motor (not shown) and a fan (not shown) connected to the rotation shaft of the suction motor to force the flow of air.

[0124] The driving part (150) can include the first motor (56) and the second motor (57) of the robot cleaner (1) described above. The driving part (150) can be formed to allow the robot cleaner (1) to rotate or move in a straight line according to a control signal of the controller (110).

[0125] Meanwhile, the communicator (160) can be placed inside the main body (50) and can include at least one module that enables wireless communication between the robot cleaner (1) and a wireless communication system, or between the robot cleaner (1) and a preset peripheral device, or between the robot cleaner (1) and a preset external server.

[0126] For example, at least one module may include at least one of an IR (Infrared) module for infrared communication, an ultrasonic module for ultrasonic communication, or a short-range communication module such as a WiFi module or a Bluetooth module. Or, the module may be configured to transmit and receive data with a preset device through various wireless technologies such as WLAN (Wireless LAN) and Wi-Fi (Wireless-Fidelity), including a wireless Internet module.

[0127] Meanwhile, the output interface (170) displays information to be provided to the user. For example, the output interface (170) may include a display that displays a screen. At this time, the display may be exposed on the upper surface of the main body (50).

[0128] In addition, the output interface (170) may include a speaker that outputs sound. For example, the speaker may be built into the main body (50). At this time, it is preferable that a hole through which sound can pass is formed in the main body (50) corresponding to the position of the speaker. The source of the sound output by the speaker may be sound data pre-stored in the robot cleaner (1). For example, the pre-stored sound data may be a voice guide corresponding to each function of the robot cleaner (1) or a warning sound indicating an error.

[0129] In addition, the output interface (170) may be formed by any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0130] The memory (180) may include various data for driving and operating the robot cleaner (1). The memory (180) may include an application program for autonomous driving of the robot cleaner (1) and various related data. In addition, the memory (180) can store each data sensed by the sensor (120), and can include setting information for various settings (values) selected or entered by the user (e.g., cleaning reservation time, cleaning mode, water supply amount, LED brightness level, notification sound volume, etc.).

[0131] Meanwhile, the memory (180) can include information on the cleaning surface currently given to the robot cleaner (1). For example, the information on surface to be cleaned can be map information that the robot cleaner (1) has mapped by itself. And the map information, i.e., the map, can include various information set by the user for each area constituting the surface to be cleaned.

[0132] Meanwhile, the robot cleaner according to the embodiment of the present disclosure can perform a scrubbing motion for removing contaminants, etc., while moving along a set traveling path, and performs forward traveling when moving along the traveling path, and the scrubbing motion can include backward traveling.

[0133] The scrubbing motion of the robot cleaner according to the embodiment of the present disclosure can include at least one of forward and backward motion and backward U motion. The robot cleaner according to the embodiment of the present disclosure can provide a cleaning pattern including at least one of forward and backward motion and backward U motion. Hereinafter, the forward and backward motion and the backward U motion will be described with reference to Figs. 6 and 7.

[0134] Fig. 6 is a drawing for explaining the forward and backward motion of the robot cleaner according to the embodiment of the present disclosure.

[0135] The forward and backward motion (forward backward motion) is a technology inspired by a human scrubbing motion. Forward and backward motion is a cleaning motion based on forward and backward movement, variable speed, and variable zigzag width, and is a technology that effectively removes dust particles from various surfaces.

[0136] As illustrated in Fig. 6, the forward and backward motion may include, while moving along a zigzag path from a starting point (P1) to a destination point (P2), moving forward on a region of the floor surface and then moving backward along the same path just moved. That is, repeating the motion of going back and forth while moving along a zigzag path from a starting point (P1) to a destination point (P2). In other words, the forward and backward motion is a cleaning motion that doubles the dust suction motion and mopping motion in a given area.

[0137] A zigzag path may be a path in which, assuming a virtual square shape in which a starting point (P1) and an arrival point (P2) are each arranged in a diagonal direction, a movement is made along a first direction parallel to one side by the length of the side of the square, then a movement is made by rotating 90 degrees toward the arrival point (P2) by a preset zigzag width (W), then a movement is made in a second direction opposite to the first direction by the length of the side of the square, then a movement is made by rotating 90 degrees toward the arrival point (P2) by the zigzag width (W), and this movement is repeated until the arrival point (P2).

[0138] According to one embodiment, in forward and backward motion, a motion of traveling forward in a straight line for a preset forward distance (x) in a forward movement direction and then traveling backward in a straight line for a preset backward distance (y) in an opposite direction may be repeated.

[0139] According to another embodiment, in the forward and backward motion, the motion of traveling forward in a straight line for a preset forward distance (x) in the forward movement direction and then rotating in the opposite direction in the reverse movement direction and traveling forward in a straight line for a preset backward distance (y) can be repeated.

[0140] In forward traveling, dust is first sucked in by the dust suction module (190) and then the floor is cleaned with the mop (30, 40), and in backward traveling, the floor is first cleaned with the mop (30, 40) and then the dust is sucked in by the dust suction module (190).

[0141] The forward traveling appearance may be as shown in (a) of Fig. 7, and the backward traveling appearance may be as shown in (b) of Fig. 7.

[0142] The forward and backward motion is a motion that cleans each area of the floor surface twice while moving forward and backward, so that dust, dirt, stains, etc. are cleaned more thoroughly. The forward and backward motion moves the same point in both directions, so that the first and second mops (30) (40) can scrub the floor similar to a manual mopping motion. The forward and backward motion can more closely control the speed and forward and backward movement distance of the robot cleaner (1) to realize a thorough scrubbing motion.

[0143] Forward and backward motion allows the robot cleaner (1) to apply pressure from different angles while changing the direction of movement, which allows even difficult-to-remove stains to be removed efficiently.

[0144] The forward and backward motion can evenly distribute the liquid supplied from the water tank (141) across the entire floor by moving back and forth, thereby minimizing the problem of too much or no water touching a specific area.

[0145] In the forward and backward motion, at least one of the forward distance (x) moving in the forward direction, the backward distance (y) moving in the backward direction, the zigzag width (W), and the speed can be adjusted according to information on the stain. The forward distance (x) can be longer than the backward distance (y).

[0146] The forward distance (x) can be adjusted to any one of the first forward length, the second forward length, and the third forward length. The first forward length is the shortest, the third forward length is the longest, and the second forward length can be longer than the first forward length and shorter than the third forward length.

[0147] The backward distance (y) can be adjusted to any one of the first backward length, the second backward length, and the third backward length. The first backward length is the shortest, the third backward length is the longest, and the second backward length can be longer than the first backward length and shorter than the third backward length.

[0148] The forward distance (x) is longer than the backward distance (y). That is, each of the first to third forward lengths can be longer than each of the first to third backward lengths. That is, the first forward length can be short, the second forward length can be medium, and the third forward length can be long, and the first backward length can be very short, the second backward length can be short, and the third backward length can be medium.

[0149] The zigzag width (W) can be adjusted to any one of the first width, the second width, and the third width. The first width can be the narrowest, the third width can be the widest, and the second width can be wider than the first width and narrower than the third width.

[0150] The speed can be adjusted to one of the first speed, the second speed, and the third speed. The first speed can be the slowest, the third speed can be the fastest, and the second speed can be faster than the first speed and slower than the third speed.

[0151] The sensor module (120) can detect a stain. The controller (110) can obtain information on the stain detected by the sensor module (120). The controller (110) can obtain information on the stain by analyzing the stain detected by the sensor (1200).

[0152] The controller (110) can determine the forward and backward motion based on the information on the stain.

[0153] The information on the stain can include at least one of stain size, stain texture, and stain hardness.

[0154] The stain size can be classified into small, medium, and large.

[0155] The stain texture can be classified into smooth, rough, and very rough.

[0156] The stain hardness (hardness of stain) can be classified into soft, medium, and hard.

[0157] Below, various examples are given on how the controller (110) determines forward and backward motion based on the information on the stain.

[0158] If the stain size is large, the stain texture is very rough, and the stain hardness is hard, the controller (110) can adjust the forward distance (x) to the third forward length, the backward distance (y) to the first backward length, the zigzag width (W) to the first width, and the speed to the first speed, in the forward and backward motion.

[0159] If the stain size is small, the stain texture is smooth, and the stain hardness is soft, the controller (110) can adjust the forward distance (x) to the first forward length, the backward distance (y) to the first backward length, the zigzag width (W) to the third width, and the speed to the third speed, in the forward and backward motion.

[0160] If the stain size is medium, the stain texture is rough, and the stain hardness is medium, the controller (110) can adjust the forward distance (x) to the second forward length, the backward distance (y) to the first backward length, the zigzag width (W) to the second width, and the speed to the second speed, in the forward and backward motion.

[0161] In summary, the controller (110) can adjust the forward distance (x) to be short, the backward distance (y) to be very short, the zigzag width (W) to be wide, and the speed to be fast, in the forward and backward motion as the stain size is small, the stain texture is smooth, and the stain hardness is soft. The controller (110) can adjust the forward distance (x) to be long, the backward distance (y) to be medium, the zigzag width (W) to be narrow, and the speed to be slow, in the forward and backward motion as the stain size is large, the stain texture is very rough, and the stain hardness is hard.

[0162] Meanwhile, the controller (110) may consider not only the information on the stain but also the state of the battery (135) when determining the forward and backward motion.

[0163] The state of the battery (135) may be classified as low, medium, and high. The state of the battery (135) may be classified as low if the battery charge rate is less than the first value, high if the battery charge rate exceeds the second value, and medium if the battery charge rate is between the first value and the second value.

[0164] If the state of the battery (135) is low, the controller (110) may adjust the speed of the forward and backward motion to the first speed and the zigzag width (W) of the forward and backward motion to the third width regardless of the information on the stain.

[0165] Meanwhile, if the state of the battery (135) is low, the controller (110) may adjust the forward distance (x) of the forward and backward motion to the third forward length and the backward distance (y) of the forward and backward motion to the first backward length regardless of the information on the stain.

[0166] According to the forward and backward motion, there is an advantage in that the same area can be cleaned twice in the forward and backward direction to remove dust, dirt, and stains more thoroughly. By passing through the same point in both directions, the mop pad can more effectively agitate the floor surface similar to the action of manual mopping, and the robot's speed and forward and backward distance can be more closely controlled to perform a strict scrubbing action and clean effectively. In addition, by changing the direction back and forth, the robot can apply pressure at various angles, so that stubborn stains can be removed more efficiently. In addition, the forward and backward motion evenly distributes the cleaning liquid to the floor, minimizing the problem of a specific area becoming excessively wet or not being touched by the cleaning liquid. In addition, by repeating the forward traveling in which the dust suction module (190) travels before the mop (30, 40) and the backward traveling in which the mop (30, 40) travels before the dust suction module (190), the dust suction motion before mopping and mopping motion before the dust suction can be repeated, and accordingly, there is an advantage in that effective cleaning can be performed regardless of the type of contaminant and the floor condition.

[0167] Fig. 7 is a drawing for explaining the backward U motion of the robot cleaner according to an embodiment of the present disclosure.

[0168] The backward U motion is a technology based on the scrubbing motion of a person. In particular, the backward U motion imitates the motion of mopping back and forth on the same area, and improves the cleaning efficiency and effect to achieve a higher level of cleanliness.

[0169] The backward U motion is a technology for effectively removing dust particles from various surfaces, by a cleaning motion based on a U-pattern movement, variable speed, and variable zigzag width along a cleaning path.

[0170] As illustrated in Fig. 7, the backward U motion may be a motion that includes a U-pattern movement while moving along a zigzag path from a starting point (P1) to an ending point (P2). The U-pattern movement may be a motion that allows each section to be consistently cleaned multiple times.

[0171] The U-pattern movement may be repeated every time a predetermined distance is moved. Alternatively, the U-pattern moving may be performed whenever the contamination satisfies a preset criterion. The preset criterion may be when the contamination size is greater than or equal to a preset size, but this is only an example.

[0172] Meanwhile, only one U-pattern moving operation is illustrated in Fig. 7, but this is an example for convenience of explanation. The U-pattern moving may be performed multiple times along the zigzag path illustrated in Fig. 7. For example, the controller (110) may perform the U-pattern moving whenever the contamination satisfies a preset criterion while moving along the zigzag path.

[0173] The zigzag path is the same as described in Fig. 7.

[0174] The backward U motion is a cleaning operation that allows each section of the floor surface along the zigzag path to be cleaned consistently and repeatedly multiple times. The backward U motion is an operation that allows each section of the floor surface along the zigzag path to be cleaned multiple times from multiple angles. Backward U motion allows the robot cleaner (1) to clean stains and dust from multiple directions, so it can break down and remove stains more effectively than when cleaning in a single direction. Backward U motion dynamically adjusts the path to clean around obstacles and furniture, so it has the advantage of being able to clean a wide area without missing any spots.

[0175] The backward U motion may include the robot cleaner (1) moving along a U shape.

[0176] The controller (110) can move along a zigzag path and perform a backward U-pattern movement, and the backward U-pattern movement can be an operation that repeats straight movement and U-turn movement within a section set based on the current position. That is, the controller (110) may perform U pattern moving while moving along a zigzag path, and the U pattern moving may be a motion of performing straight movement in a forward direction, then performing a U turn to perform straight movement in a reverse direction, and then performing a U turn again to repeat straight movement in the forward direction within a section set based on the current position.

[0177] Referring to the example of Fig. 6, the controller (110) may perform backward U motion by performing U pattern moving at least once while moving along a zigzag path from the current position to the target position. The backward U motion may include U pattern moving at least once.

[0178] When performing U-pattern moving, the controller (110) can control to travel backward by a first distance in the first direction, which is a lateral direction based on the driving direction. Then, the controller (110) can repeat the first movement operation of rotating in the driving direction, traveling backward by a second distance, and then moving along a U shape (U-turn), and the second movement operation of traveling backward by a second distance in the opposite direction to the driving direction and then moving again in a U shape (U-turn). The controller (110) can repeat the first movement operation and the second movement operation, and when it arrives at a point that is a first distance from the starting point of the backward U motion in the second direction, which is the opposite direction to the first direction, it can return to the starting point of the backward U motion and then end the backward U motion. Here, the first distance and the second distance can be the same.

[0179] The controller (110) can travel forward while moving along a zigzag path, and travel backward while performing the backward U motion. The forward traveling appearance may be as shown in (a) of Fig. 7, and the backward traveling appearance may be as shown in (b) of Fig. 7.

[0180] In this case, the robot cleaner (1) cleans by sucking in dust before mopping, and when the contamination is severe, it has the advantage of effectively removing contaminants in heavily contaminated areas by mopping before sucking in dust through backward U motion.

[0181] In the backward U motion, the robot cleaner (1) can move in an arc alternately by 180 degrees in each of the clockwise and counterclockwise directions.

[0182] In the backward U motion, at least one of the U-turn radius (R) and the zigzag width (W) can be adjusted according to information on the stain. In the backward U motion, the first distance and the second distance can also be adjusted according to information on the stain.

[0183] The U-turn radius (R) can be adjusted to any one of the first size, the second size, the third size, the fourth size, and the fifth size. The first size can be the smallest, and the size can be increased as it goes to the fifth size. The first size can be very small, the second size can be small, the third size can be medium, the fourth size can be large, and the fifth size can be very large.

[0184] The zigzag width (W) can be adjusted to any one of the first width, the second width, and the third width. The first width can be the narrowest, the third width can be the widest, and the second width can be wider than the first width and narrower than the third width. The first width can be narrow, the second width can be medium, and the third width can be wide.

[0185] The sensor module (120) can detect a stain. The controller (110) can obtain information on the stain detected by the sensor module (120). The controller (110) can obtain information on the stain by analyzing the stain detected by the sensor module (120).

[0186] The controller (110) can determine backward U motion based on the information on the stain.

[0187] The information on the stain is the same as described in Fig. 6.

[0188] Hereinafter, various examples are provided to explain how the controller (110) determines the backward U motion based on the information on the stain.

[0189] If the stain size is large, the stain texture is very rough, and the stain hardness is hard, the controller (110) can adjust the U-turn radius (R) to the first size and the zigzag width (W) to the first width, in the backward U motion.

[0190] If the stain size is large, but the stain texture is smooth or the stain hardness is soft, the controller (110) can adjust the U-turn radius (R) of the backward U motion to the second size.

[0191] If the stain size is small, the stain texture is smooth, and the stain hardness is soft, the controller (110) can adjust the U-turn radius (R) to the fifth size and the zigzag width (W) to the third width, in the backward U motion.

[0192] If the stain size is small, the stain texture is very rough, or the stain hardness is hard, the controller (110) can adjust the U-turn radius (R) of the backward U motion to the fourth size.

[0193] If the stain size is medium, the stain texture is rough, and the stain hardness is medium, the controller (110) can adjust the U-turn radius (R) of the backward U motion to the third size and the zigzag width (W) to the second width.

[0194] In summary, the controller (110) can determine the backward U motion so that the U-turn radius (R) is large and the zigzag width (W) is wide as the stain size is small, the stain texture is smooth, and the stain hardness is soft. The controller (110) can determine the backward U motion so that the U-turn radius (R) is narrow and the zigzag width (W) is narrow as the stain size is large, the stain texture is very rough, and the stain hardness is hard.

[0195] Meanwhile, the controller (110) may consider not only the information on the stain but also the state of the battery (135) when determining the backward U motion.

[0196] The state of the battery (135) may be the same as described in Fig. 6.

[0197] If the status of the battery (135) is low, the controller (110) can adjust the U-turn radius (R) of the backward U motion to the fifth size and the zigzag width (W) to the third width regardless of the information on the stain.

[0198] According to the backward U motion, the cleaning path is designed to overlap more consistently so that each section of the floor is covered multiple times from different angles, thereby removing all the dust and debris on the floor. In addition, by adjusting the radius and zigzag width according to the stain, the time required to clean a given area can be reduced, thereby increasing energy efficiency and securing the user's time.

[0199] Fig. 8 is a flowchart illustrating an operation method of a robot cleaner according to an embodiment of the present disclosure.

[0200] The controller (110) can perform driving preparation (S5).

[0201] In the step of driving preparation (S5), the controller (110) can set a starting point (P1), an arrival point (P2), and a traveling path.

[0202] For example, in the step of driving preparation (S5), the user can input coordinates of a specific location or a specific structure in the cleaning area through a terminal (not shown), etc. At this time, the user can input a starting point (P1) where the robot cleaner (1) will start driving and an arrival point (P2) where driving will end through the terminal, etc.

[0203] The traveling path can be set as a zigzag path from the starting point (P1) to the arrival point (P2).

[0204] When the driving preparation is completed, the controller (110) can move along the traveling path.

[0205] The controller (110) can detect a stain (S10).

[0206] The controller (110) can detect a stain in the step of driving preparation (S5), or can detect a stain while driving. Alternatively, the controller (110) can detect a stain in both the step of driving preparation (S5) and a step of driving.

[0207] The controller (110) can control the sensor module (120) to detect a stain.

[0208] The controller (110) can obtain the information on the detected stain (S20).

[0209] The controller (110) can obtain the information on the stain through image processing of the detected stain, etc.

[0210] The controller (110) can obtain a cleaning pattern composed of at least one of forward and backward motion and backward U motion based on the information on the stain (S30).

[0211] The controller (110) can obtain a cleaning pattern composed of forward and backward motion based on the information on the stain. Alternatively, the controller (110) can obtain a cleaning pattern composed of backward U motion based on the information on the stain. Alternatively, the controller (110) can obtain a cleaning pattern composed of a combination of forward and backward motion and backward U motion based on the information on the stain.

[0212] The forward and backward motion or backward U motion forming the cleaning pattern can be determined based on information on the stain. The method by which the forward and backward motion or backward U motion is determined based on information on the stain is as described in Figs. 6 and 7.

[0213] The controller (110) can control the sensor module (120), water supply (140), and driving part (150), etc. to drive the traveling path according to the acquired cleaning pattern (S40).

[0214] The robot cleaner (1) can drive the traveling path according to the acquired cleaning pattern.

[0215] According to the forward and backward motion and backward U motion, it imitates the delicate movements of a person when cleaning, so it has the advantage of resolving the difficulty of not being able to thoroughly clean specific surfaces such as carpets and rugs due to the existing limited motion function. In addition, it has the advantage of being able to efficiently clean without missing any part due to the rigid and repetitive movement pattern of the existing robot cleaner. In other words, the forward and backward motion has the advantage of providing excellent cleaning performance by minimizing the possibility of overlooking difficult-to-access parts.

[0216] Meanwhile, in FIG. 8, it is described that the scrubbing motion is performed according to the detected stain, but this is only one embodiment.

[0217] According to another embodiment of the present disclosure, the robot cleaner (1) may provide a mop cleaning mode in which the scrubbing motion is performed throughout the driving regardless of the stain detection. That is, the controller (11) may provide a mop cleaning mode that continuously performs a scrubbing motion including backward traveling with the mop (30, 40) ahead of the dust suction module (190) while driving along the traveling path from the start of the driving.

[0218] The above description is merely an example of the technical idea of the present disclosure, and those skilled in the art to which the present disclosure belongs can make various modifications and variations without departing from the essential characteristics of the present disclosure.

[0219] Therefore, the embodiments disclosed in the present disclosure are not intended to limit the technical idea of the present disclosure but to explain it, and the scope of the technical idea of the present disclosure is not limited by these embodiments.

[0220] The protection scope of the present disclosure should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the rights of the present disclosure.

Claims

1.A robot cleaner comprising:a main body in which a dust suction module and motor are accommodated;a pair of rotary plates rotatably disposed on a bottom of the main body and coupled to a mop facing a floor surface on a lower side; anda controller configured to control the motor so that the rotary plates rotate while traveling along a traveling path,wherein the controller is configured to:perform at least one scrubbing motion while traveling along the traveling path, andperform forward traveling while traveling along the traveling path, and the scrubbing motion includes backward traveling.2.The robot cleaner of claim 1, wherein the forward traveling is driving in which the dust suction module is ahead of the mop, and the backward traveling is driving in which the mop is ahead of the dust suction module.3.The robot cleaner of claim 1, wherein the scrubbing motion includes a forward and backward motion, andthe forward and backward motion includes a motion of cleaning each area twice by traveling forward along the traveling path and traveling backward along at least a portion of the same path.4.The robot cleaner of claim 1, wherein the scrubbing motion includes a backward U motion, andthe backward U motion includes a motion of repeating a straight movement and a U-turn movement as backward traveling within a section set based on a current position.5.The robot cleaner of claim 1, further comprising a sensor configured to detect a stain, andthe controller configured to:obtain information on the detected stain, and obtain a cleaning pattern consisting of at least one of the forward and backward motion and the backward U motion based on the information on the stain.6.The robot cleaner of claim 5, wherein the information on the stain includes at least one of stain size, stain texture, and stain hardness.7.The robot cleaner of claim 6, wherein the controller is configured to determine the forward and backward motion by adjusting at least one of a forward distance moving in a forward direction, a backward distance moving in a backward direction, a zigzag width, and a speed based on the information on the stain.8.The robot cleaner of claim 7, wherein the controller is configured to determine the forward and backward motion by adjusting the forward distance to be longer, the backward distance to be shorter than the forward distance, the zigzag width to be narrower, and the speed to be slower as the stain size is larger, the stain texture is very rough, and the stain hardness is harder.9.The robot cleaner of claim 8, wherein the controller is configured to:determine the forward and backward motion by adjusting the forward distance to a third forward length, the backward distance to a first backward length, the zigzag width to a first width, and the speed to a first speed if the stain size is large, the stain texture is very rough, and the stain hardness is hard,determine the forward and backward motion by adjusting the forward distance to a first forward length, the backward distance to a first backward length, the zigzag width to a third width, and the speed to a third speed if the stain size is small, the stain texture is smooth, and the stain hardness is soft,determine the forward and backward motion by adjusting the forward distance to a second forward length, the backward distance to a first backward length, the zigzag width to a second width, and the speed to a second speed if the stain size is medium, the stain texture is rough, and the stain hardness is medium, andthe first forward length is the shortest, the third forward length is the longest, and the second forward length is longer than the first forward length and shorter than the third forward length,the first backward length is the shortest, the third backward length is the longest, and the second backward length is longer than the first backward length and shorter than the third backward length,the first width is the narrowest, the third width is the widest, and the second width is wider than the first width and narrower than the third width,the first speed is the slowest, the third speed is the fastest, and the second speed is faster than the first speed and slower than the third speed.10.The robot cleaner of claim 6, wherein the controller is configured to determine the backward U motion by adjusting U-turn radius and zigzag width based on the information on the stain.11.The robot cleaner of claim 10, wherein the controller is configured to determine the backward U motion by adjusting the U-turn radius and the zigzag width to be narrower as the stain size increases, the stain texture becomes rougher, and the stain hardness becomes harder.12.The robot cleaner of claim 11, wherein the controller is configured to:determine the backward U motion by adjusting the U-turn radius to the smallest size and the zigzag width to the smallest width when the stain size is large, the stain texture is very rough, and the stain hardness is hard, anddetermine the backward U motion by adjusting the U-turn radius to the largest size and the zigzag width to the largest width when the stain size is small, the stain texture is smooth, and the stain hardness is soft.13.The robot cleaner of claim 11, wherein the controller is configured to adjust a speed of the scrubbing motion and a zigzag width of the traveling path based on a state of a battery.14.The robot cleaner of claim 1, wherein the controller is configured to provide a mop cleaning mode that continuously performs a scrubbing motion including backward traveling with the mop ahead of the dust suction module while driving along the traveling path from the start of the driving.15.A control method for a robot cleaner which includes a pair of rotary plates with a mop facing the floor surface coupled to a lower side and a dust suction module, and which travels by rotating the pair of rotary plates, comprising:setting a traveling path;obtaining a cleaning pattern; andtraveling along the traveling path based on the cleaning pattern, andwherein the traveling includes performing at least one scrubbing motion while traveling along the traveling path, andperform forward traveling when traveling along the traveling path, and the scrubbing motion includes backward traveling.16.The control method for a robot cleaner of claim 15, wherein the forward traveling is driving in which the dust suction module is ahead of the mop, and the backward traveling is driving in which the mop is ahead of the dust suction module.17.The control method for a robot cleaner of claim 15, wherein the traveling includes operating as provide a mop cleaning mode that continuously performs a scrubbing motion including backward traveling with the mop ahead of the dust suction module while driving along the traveling path from the start of the driving.

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