Patent Description:
A robot cleaner is a device that cleans a floor on which the robot cleaner drives while driving by itself. Some of robot cleaners in the related art are provided with a mop for wiping a floor surface with a damp cloth on which the robot cleaner drives.

A user may input control information on a desired driving pattern, time, and the like in advance, and the robot cleaner is operated according to the input control information.

Furthermore, as is well known, the robot cleaner may drive in one direction when a mop is rotated on the floor surface according to a preset pattern. That is, the driving of the robot cleaner and the cleaning of the floor surface may be performed by a unified operation. A driving method of a robot cleaner by the rotation of a mop is disclosed in <CIT>.

In a case where the user lifts the robot cleaner from the floor surface, when the mop continues to rotate, an injury to the user may occur. For example, the user's finger may be sucked between the rotating mops, thereby causing an injury to the user.

In consideration of this point, when the robot cleaner is lifted from the floor surface, it is preferable that the rotation of the mop is stopped.

Prior Art Document (<CIT>) discloses an autonomous driving robot having a structure capable of detecting whether the robot is lifted. Specifically, when a spring is connected to a wheel and the robot is spaced apart from the floor surface, the spring moves a mechanical switch away from a detection part to determine whether the robot is lifted.

However, since a separate wheel rotated by a power module is not provided in a structure in which driving and cleaning are simultaneously performed by the rotation of the mop, detecting whether the wheel is lifted by a wheel structure to which the spring of the Prior Art Document is connected is limited.

Furthermore, the autonomous driving robot disclosed in the Prior Art Document is provided with a cliff sensor, and the cliff sensor detects a distance from the floor surface to determine whether the robot is lifted.

However, the robot cleaner driven by the rotation of the mop may be shaken at the time of starting or stopping to increase a distance detected by the cliff sensor. Accordingly, a problem of being erroneously determined on whether the robot cleaner is lifted during normal cleaning may occur. In addition, even when foreign matter of a predetermined size is put in between the mop and the floor surface such that the robot cleaner is shaken, a problem of being erroneously determined on whether the robot cleaner is lifted may occur.

<CIT> presents a moving robot that comprises: a main body; a sensor portion; a first pattern irradiating portion; a second pattern irradiating portion; an image acquisition portion; and a control portion. In a cleaning area of the front of the main body, a first pattern is irradiated toward the bottom and a second pattern is irradiated upwardly, an obstacle is recognized based on an image in which light of each irradiated pattern incidents on the obstacle, and tilting of the main body is detected to be compensated such that a precise determination with respect to the obstacle can be implemented, and driving possibility can be determined again through slope compensation so as to pass through or avoid the obstacle.

<CIT> provides a cleaning machine and a path control method therefor. In the cleaning machine, at least one set of main motor and fan blade unit is arranged between its upper housing and its middle housing; three groups each including edge wheel motor, edge wheel gear set and edge wheel worm are distributed in a form of a triangle between its middle housing and its lower housing; when the main motor is turned on, the main motor is used for drawing, through the fan blade unit, air from between its chuck and a surface to be cleaned, with the chuck attached to the surface to be cleaned; and when the edge wheel motor is turned on, the edge wheel motor is used for driving, through the edge wheel gear set, its cleaning cloth structure to rotate, so that friction is generated between the cleaning cloth structure and the surface to be cleaned, thereby cleaning the surface to be cleaned.

<CIT> provides a moving object, a cleaning robot, a floor condition determining device, a method of controlling the moving object, and a method of controlling the cleaning robot. The moving object includes a light source configured to irradiate a first light to a floor surface, a plurality of sensors for receiving light reflected from the floor surface at different positions from each other, and a controller configured to determine a condition of the floor surface on the basis of a result sensed by the plurality of sensors.

An object of the present disclosure is to provide a robot cleaner having a structure capable of solving the foregoing problems, a robot cleaner including the same, and a control method thereof.

First, an aspect of the present disclosure is to provide a robot cleaner having a structure capable of effectively detecting whether the robot cleaner is lifted from a floor surface while driving, and a control method thereof.

Another aspect of the present disclosure is to provide a robot cleaner having a structure capable of improving the accuracy of determining whether the robot cleaner is lifted from the floor surface, and a control method thereof.

Still another aspect of the present disclosure is to provide a robot cleaner having a structure capable of suppressing an injury to a user by stopping an operation of the robot cleaner when the robot cleaner is lifted from the floor surface, and a control method thereof.

One or more objects are achieved by the invention set out by the features of the independent claim(s).

In order to achieve the objectives, the present disclosure provides a robot cleaner including a body part to which a spin mop is rotatably coupled; a power module connected to the spin mop, and rotated according to operation information to rotate the spin mop; a sensor part provided in the body part, and configured to detect information on the driving of the body part; and a controller configured to calculate the operation information, electrically connected to the power module to transmit the calculated operation information, and electrically connected to the sensor part to receive the information on the driving of the body part.

The sensor part includes a tilt sensor module configured to detect the tilt information of the body part; a distance sensor module configured to detect distance information from a floor surface on which the body part drives; and a light amount sensor module configured to detect light amount information reflected from the floor surface.

The controller calculates the operation information using at least one of the tilt information, the distance information, and the light amount information.

The distance sensor module and the light amount sensor module are provided on one side surface of the body part facing the floor surface, and the spin mop includes a first spin mop and a second spin mop spaced apart from each other on the one side surface of the body part.

The distance sensor module and the light amount sensor module are disposed with an imaginary line extending through each center point of the first spin mop and the second spin mop therebetween.

Furthermore, the one side surface of the body part may be defined in a circular shape.

Furthermore, the controller may calculate lift information on whether the body part is lifted from the floor surface using at least one of the tilt information, the distance information, and the light amount information.

Furthermore, the controller may calculate the operation information using the lift information.

Furthermore, the power module may include a first power module connected to the first spin mop; and a second power module connected to the second spin mop.

Furthermore, the operation information may include driving information that rotates or stops the first spin mop and the second spin mop.

Furthermore, the controller may calculate the operation information using at least one of the tilt information, the distance information, and the light amount information.

In addition, the present disclosure provides a method of controlling a robot cleaner, and the method includes (a) detecting, by a sensor part, information on an operating state of the robot cleaner; (b) calculating, by a lift information calculation module, lift information on whether the robot cleaner is lifted from a floor surface using the detected information; (c) calculating, by an operation information calculation module, operation information using the calculated lift information; and (d) controlling a power module according to the calculated operation information.

The step (a) of the control method of the robot cleaner includes (a1) detecting, by a tilt sensor module, first tilt information and second tilt information of the robot cleaner; (a2) detecting, by a distance sensor module, distance information on a distance to the floor surface; and (a3) detecting, by a light amount sensor module, light amount information on an amount of light reflected from the floor surface.

The first tilt information is information on an angle at which the robot cleaner is rotated with respect to a preset first axis, and the second tilt information is information on an angle at which the robot cleaner is rotated with respect to a second axis intersecting the first axis.

Furthermore, the step (b) of the control method of the robot cleaner may include (b11) comparing, by a tilt information calculation unit, the first tilt information with a preset first reference tilt value; and (b12) calculating, by the tilt information calculation unit, first temporary lift information when the first tilt information is above the first reference tilt value.

Furthermore, subsequent to the step (b11) of the control method of the robot cleaner, the step (b) may include (b13) comparing, by the tilt information calculation unit, the second tilt information with a preset second reference tilt value when the first tilt information is less than the first reference tilt value: and (b14) calculating, by the tilt information calculation unit, the first temporary lift information when the second tilt information is above the second reference tilt value.

Furthermore, the distance sensor module may be provided in plurality, and the plurality of distance sensor modules may be configured to detect distance information, respectively.

Furthermore, subsequent to the step (b13), the step (b) of the control method of the robot cleaner may include (b15) comparing, by a distance information calculation unit, a number of the distance information above a preset reference distance value from among the plurality of distance information with a preset reference number when the second tilt information is less than the second reference tilt value; and (b16) calculating, by the distance information calculation unit, second temporary lift information when the number of the distance information above the reference distance value from among the plurality of distance information is less than the reference number.

Furthermore, subsequent to the step (b15), the step (b) of the control method of the robot cleaner may include (b17) comparing, by a light amount information calculation unit, the light amount information with a preset reference light amount value when the number of the distance information above the reference distance value from among the plurality of distance information is above the reference number; (b18) calculating, by the light amount information calculation unit, the first temporary lift information when the light amount information is below the reference light amount value; and (b19) calculating, by the light amount information calculation unit, the second temporary lift information when the light amount information exceeds the reference light amount value.

Furthermore, the step (b) of the control method of the robot cleaner may include (b21) comparing, by a time information calculation unit, a time for which the first temporary lift information is maintained with a preset first time when the first temporary lift information is calculated; (b22) calculating, by the time information calculation unit, the lift information such that the robot cleaner is lifted from the floor surface when the time for which the first temporary lift information is maintained is above the first time; and (b23) calculating, by the time information calculation unit, the lift information such that the robot cleaner is not lifted from the floor surface when the time for which the first temporary lift information is maintained is less than the first time.

Furthermore, the step (b) of the control method of the robot cleaner may include (b24) comparing, by a time information calculation unit, a time for which the second temporary lift information is maintained with a preset second time when the second temporary lift information is calculated; (b25) calculating, by the time information calculation unit, the lift information such that the robot cleaner is not lifted from the floor surface when the time for which the second temporary lift information is maintained is above the second time; and (b26) calculating, by the time information calculation unit, the lift information such that the robot cleaner is lifted from the floor surface when the time for which the second temporary lift information is maintained is less than the second time.

Furthermore, the step (c) of the control method of the robot cleaner may include (c1) calculating, by a driving information calculation unit, driving information as driving the power module using the lift information calculated such that the robot cleaner is not lifted from the floor surface; and (c2) calculating, by a driving information calculation unit, driving information as stopping the power module using the lift information calculated such that the robot cleaner is lifted from the floor surface.

Furthermore, the step (d) of the control method of the robot cleaner may include (d1) rotating, by a power module control unit, the power module according to the driving information calculated as driving the power module; and (d2) stopping, by the power module control unit, the power module according to the driving information calculated as stopping the power module.

According to the present disclosure, the following effects can be derived.

First, a robot cleaner detects tilt information, distance information from a floor surface, and light amount information reflected from the floor surface of the robot cleaner.

The controller calculates information on whether the robot cleaner is lifted from a floor using the detected tilt information.

When it is determined by the tilt information that the robot cleaner is not lifted from the floor, the controller calculates information on whether the robot cleaner is lifted from the floor using the detected distance information and the amount of light.

As a result, the accuracy of determining whether the robot cleaner is lifted from the floor may be increased.

That is, even in a case where a user lifts the robot cleaner with one hand and a case where the user lifts the robot cleaner with both hands, the accuracy of determining whether the robot cleaner is lifted from the floor may be increased.

Furthermore, distance information is provided in plurality, and the robot cleaner determines that the robot cleaner moves away from the floor surface when some distance information from among the plurality of distance information is above a reference distance value. Accordingly, even when the user covers some of the plurality of distance sensor modules with his or her hand, it may be determined whether the robot cleaner moves away from the floor surface.

In addition, it is determined whether a front side of the robot cleaner moves away from the floor surface by the distance information, and it is determined whether a rear side of the robot cleaner moves away from the floor surface by the light amount information.

Accordingly, the robot cleaner may be suppressed from being erroneously determined to be lifted from the floor surface.

When the robot cleaner is lifted from the floor surface, the driving of a power module may be stopped by the controller, thereby suppressing an injury to the user by a driving module.

Hereinafter, a robot cleaner according to an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.

In the following description, the description of some components may be omitted to clarify the features of the present disclosure.

The term "floor surface" used below is a surface on which a robot cleaner <NUM> drives, and refers to a surface cleaned by a mop of the robot cleaner <NUM>.

The term "cleaning" used below denotes that the robot cleaner <NUM> wipes a floor surface with a damp cloth.

The term "moving forward" used below refers to an operation in which the robot cleaner <NUM> moves in a specific direction to perform a task.

The term "moving backward" used below refers to an operation in which the robot cleaner <NUM> moves in a direction opposite to the specific direction to perform a task.

The term "electrically connected" used below denotes that one component is electrically connected to another component or is connected to enable information communication.

The electrical connection may be formed by a conductive wire, a communication cable, wireless communication, or the like.

The term "obstacle" used below refers to an object that is located on a driving path of the robot cleaner <NUM> when the robot cleaner <NUM> moves forward to obstruct the movement of the robot cleaner <NUM>. For example, a threshold, a carpet, or the like may correspond to an obstacle.

The terms "front side", "rear side", "left side", "right side", "upper side" and "lower side" used below will be understood with reference to a coordinate system shown in <FIG>.

Referring to <FIG>, the robot cleaner <NUM> according to an embodiment of the present disclosure includes a body part <NUM>, a sensor part <NUM>, a controller <NUM>, and a database part <NUM>.

The body part <NUM> defines a body of the robot cleaner <NUM>. The body part <NUM> includes a housing <NUM>, a driving module <NUM>, and a power module <NUM>.

The housing <NUM> defines an outer side of the body part <NUM>.

The housing <NUM> is preferably formed of a lightweight and highly durable material. In one embodiment, the housing <NUM> may be formed of a synthetic resin such as reinforced plastic.

In one embodiment, an outer surface of the housing <NUM> may be defined in a circular shape. Through this, when a direction of the robot cleaner <NUM> is changed, an outer surface of the housing <NUM> may be suppressed from being caught by an obstacle <NUM> (refer to <FIG>).

A part of the sensor part <NUM> may be provided on one side of the housing <NUM> facing a floor surface.

A predetermined space is defined inside the housing <NUM>. In the space, a portion of the sensor part <NUM>, the controller <NUM>, and the database part <NUM> may be provided.

The driving module <NUM> is provided on one side of the housing <NUM> facing the floor surface.

The driving module <NUM> functions as an element by which the robot cleaner <NUM> can be moved. The driving module <NUM> is connected to the power module <NUM>.

A driving force generated by the power module <NUM> may be transmitted to the driving module <NUM> to move the robot cleaner <NUM> to the front or the rear.

In addition, a plurality of power modules <NUM> may be provided to be independently driven. Accordingly, the driving module <NUM> may be independently driven to change a direction in which the robot cleaner <NUM> is driven.

The driving module <NUM> includes a first mop <NUM> and a second mop <NUM>. The first mop <NUM> is coupled to a first power module <NUM> to receive a driving force from the first power module <NUM>. In addition, the second mop <NUM> is coupled to a second power module <NUM> to receive a driving force from the second power module <NUM>.

In one embodiment, the first mop <NUM> and the second mop <NUM> may be defined in a circular shape that can be coupled to a rotation shaft to rotate.

The first mop <NUM> and the second mop <NUM> are provided on both sides of one side surface of the housing <NUM>. In a shown embodiment, the one side may be defined as a lower side, and the both sides may be defined as left and right sides.

Referring to <FIG>, a first imaginary line L1 extending along a forward direction of the robot cleaner <NUM> to bisect the robot cleaner <NUM> is shown, and a second imaginary line L2 intersecting the first imaginary line L1 to bisect the robot cleaner <NUM> is shown.

A first tilt and a second tilt to be described later may be determined based on the first imaginary line L1 and the second imaginary line L2, respectively.

In one embodiment, a mop imaginary line ML passing through the centers of the first and second mops <NUM>, <NUM> may be located on a rear side of the second imaginary line L2.

In one embodiment, each center of the first mop <NUM> and the second mop <NUM> may be located on a rear side of the second imaginary line L2.

In one embodiment, the first mop <NUM> and the second mop <NUM> may be disposed on left and right sides of the first imaginary line L1, respectively.

The first mop <NUM> and the second mop <NUM> may be defined to be inclined at a predetermined angle with respect to the floor surface. In one embodiment, the first mop <NUM> may be inclined so that the left side is closer to the floor surface compared to the right side. In addition, the second mop <NUM> may be inclined so that the right side is closer to the floor surface compared to the left side.

Then, the left side of the first mop <NUM> and the right side of the second mop <NUM> may be mainly in contact with the floor surface. Thereby, when the first mop <NUM> and the second mop <NUM> are rotated, the left side of the first mop <NUM> and the right side of the second mop <NUM> push the floor surface to move the robot cleaner <NUM>.

In one embodiment, as the first mop <NUM> rotates counterclockwise and the second mop <NUM> rotates clockwise, the robot cleaner <NUM> may move forward.

In one embodiment, as the first mop <NUM> rotates clockwise and the second mop <NUM> rotates counterclockwise, the robot cleaner <NUM> may move backward.

In one embodiment, as the first mop <NUM> rotates counterclockwise and the second mop <NUM> rotates counterclockwise, the robot cleaner <NUM> may rotate to the right.

In one embodiment, as the first mop <NUM> rotates clockwise and the second mop <NUM> rotates clockwise, the robot cleaner <NUM> may be rotated to the left.

The power module <NUM> generates a driving force for rotating the first mop <NUM> and the second mop <NUM>. The power module <NUM> may be electrically connected to the controller <NUM> to receive operation information.

In one embodiment, the power module <NUM> may be provided with a motor. The power module <NUM> may be accommodated in an inner space of the housing <NUM>.

The power module <NUM> may receive power from an outside. In one embodiment, the power module <NUM> may receive power by a battery (not shown) provided in the robot cleaner <NUM>. The power module <NUM> may be electrically connected to the battery (not shown).

As described above, as the power module <NUM> rotates, the robot cleaner <NUM> may move forward or backward. Furthermore, as the power module <NUM> rotates, the robot cleaner <NUM> may rotate to the left or right.

The first power module <NUM> and the second power module <NUM> may be driven independently. That is, the respective rotation directions of the first power module <NUM> and the second power module <NUM> may be controlled independently of each other. To this end, the first power module <NUM> and the second power module <NUM> may be respectively electrically connected to the controller <NUM>.

The sensor part <NUM> detects information on the operating state of the robot cleaner <NUM>. Furthermore, the sensor part <NUM> detects information on the driving of the robot cleaner <NUM>. The information detected by the sensor part <NUM> is transmitted to the controller <NUM>, and is used by the controller <NUM> to generate control information suitable for the situation.

The sensor part <NUM> may be provided in any form capable of detecting information on the operating state of the robot cleaner <NUM>.

The sensor part <NUM> may be electrically connected to a battery (not shown). Power required for the operation of the sensor part <NUM> may be supplied from the battery (not shown) connected thereto.

The sensor part <NUM> includes a tilt sensor module <NUM>, an acceleration sensor module <NUM>, a distance sensor module <NUM>, and a light amount sensor module <NUM>.

The tilt sensor module <NUM> is configured to detect a tilt of the robot cleaner <NUM>. In one embodiment, the tilt sensor module <NUM> may be configured to detect tilt information with respect to a reference line when the robot cleaner <NUM> is lifted from the floor surface.

In one embodiment, the tilt sensor module <NUM> may be provided as a gyro sensor or the like.

The tilt sensor module <NUM> includes a first tilt sensor unit <NUM> and a second tilt sensor unit <NUM>.

The first tilt sensor unit <NUM> and the second tilt sensor unit <NUM> may be respectively configured to detect tilt information with respect to the reference line of the robot cleaner <NUM>.

In one embodiment, the first tilt sensor unit <NUM> may be configured to measure an angle at which the robot cleaner <NUM> is tilted with respect to the first imaginary line L1. In one embodiment, the second tilt sensor unit <NUM> may be configured to measure an angle at which the robot cleaner <NUM> is tilted with respect to the second imaginary line L2.

The first tilt sensor unit <NUM> and the second tilt sensor unit <NUM> are electrically connected to a detection information receiving module <NUM> of the controller <NUM>. The tilt information detected by the first tilt sensor unit <NUM> and the second tilt sensor unit <NUM> is transmitted to a first tilt information receiving unit <NUM> and a second tilt information receiving unit <NUM>, respectively. The transmitted information may be used to calculate operation information.

In one embodiment, the tilt sensor module <NUM> is provided inside the housing <NUM>. The provided tilt sensor module <NUM> detects tilt information of the robot cleaner <NUM> with respect to the reference line based on the provided position.

The acceleration sensor module <NUM> is configured to detect an acceleration change of the robot cleaner <NUM>. That is, the acceleration sensor module <NUM> detects an acceleration change of the robot cleaner <NUM> that is generated while the robot cleaner <NUM> is driving.

The acceleration sensor module <NUM> may be provided in any form capable of detecting an acceleration change of the robot cleaner <NUM>. In one embodiment, an integrated circuit piezoelectric (ICP) type sensor, a capacitance type sensor, a strain gauge type sensor, or the like may be used for the acceleration sensor module <NUM>.

The acceleration sensor module <NUM> is electrically connected to the detection information receiving module <NUM> of the controller <NUM>. Acceleration change information detected by the acceleration sensor module <NUM> may be transmitted to the acceleration change information receiving unit <NUM> and used to calculate operation information.

In one embodiment, the acceleration sensor module <NUM> is provided inside the housing <NUM>. The provided acceleration sensor module <NUM> detects an amount of acceleration change of the robot cleaner <NUM>.

In one embodiment, the tilt sensor module <NUM> and the acceleration sensor module <NUM> may be integrally formed.

The distance sensor module <NUM> is configured to detect a distance between one side surface of the robot cleaner <NUM> facing a floor surface and the floor surface. That is, the distance sensor module <NUM> is configured to detect distance information between the floor surface and the robot cleaner <NUM>.

The distance sensor module <NUM> may be provided in any form capable of detecting a distance between any objects. In one embodiment, the distance sensor module <NUM> may be provided as an ultrasonic sensor, an infrared ray (IR) sensor, a light detection and ranging (LiDAR) sensor, a radio detecting and ranging (Radar) sensor, a camera (stereo camera), or the like.

In one embodiment, the distance sensor module <NUM> may be provided as a time-of-flight (TOF) type sensor or the like. When the time-of-flight (TOF) type sensor is used, a time for which light is reflected and returned may be measured to measure a distance (refer to <FIG>).

The distance sensor module <NUM> is electrically connected to the detection information receiving module <NUM> of the controller <NUM>. The distance information detected by the distance sensor module <NUM> may be transmitted to the distance information receiving units <NUM>, <NUM>, <NUM> to be utilized to calculate operation information.

In the shown embodiment, the distance sensor module <NUM> may be located on a front side of the robot cleaner <NUM>. That is, the distance sensor module <NUM> may be located at a side on which the robot cleaner <NUM> moves forward.

In the shown embodiment, the distance sensor module <NUM> may include a first distance sensor part <NUM>, a second distance sensor part <NUM>, and a third distance sensor part <NUM>.

In the shown embodiment, the first distance sensor part <NUM>, the second distance sensor part <NUM>, and the third distance sensor part <NUM> may be disposed along a circular arc on a front side of the housing <NUM>.

In the shown embodiment, the first distance sensor part <NUM> is located on the front side of the housing <NUM>, and the second distance sensor part <NUM> and the third distance sensor part <NUM> may be located on left and right sides of the first distance sensor unit <NUM>, respectively.

This is in consideration of a direction in which the robot cleaner <NUM> may come into contact with the obstacle <NUM> in the process of moving forward. Accordingly, not only when the robot cleaner <NUM> comes into contact with the obstacle <NUM> from a front side, but also when the robot cleaner <NUM> comes into contact with the obstacle <NUM> between the front and the left side or between the front and the right side, distance Information can be detected.

The first distance sensor part <NUM>, the second distance sensor part <NUM>, and the third distance sensor part <NUM> may be located to be recessed by a predetermined depth from a lower surface of the housing <NUM>.

Accordingly, in a stationary state of the robot cleaner <NUM>, a preset reference distance value may be defined between the floor surface and each of the distance sensor units <NUM>, <NUM>, <NUM>.

Referring to <FIG>, each of the distance sensor parts <NUM>, <NUM>, <NUM> is spaced apart from the floor surface by predetermined distances D1, D2, D3, respectively.

When each of the distance sensor parts <NUM>, <NUM>, <NUM> is lifted from the floor surface, distance information measured by each of the distance sensor parts <NUM>, <NUM>, <NUM> is detected to be above the reference distance value.

Referring to <FIG>, as the robot cleaner <NUM> is lifted from the floor surface, the distances D1, D2, D3 between each of the distance sensor parts <NUM>, <NUM>, <NUM> and the floor surface increase to be greater than the reference distance value. Although not shown, the distance D3 between the third distance sensor part <NUM> and the floor surface is the same as the distance D2 between the second distance sensor part <NUM> and the floor surface.

Furthermore, when foreign matter is introduced between each of the distance sensor units <NUM>, <NUM>, <NUM> and the floor surface, or when the robot cleaner <NUM> climbs up the obstacle <NUM>, distance information detected by each of the distance sensor units <NUM>, <NUM>, <NUM> may be detected to be below reference distance value (refer to <FIG>).

In an embodiment not shown, the distance sensor module <NUM> may include four or more distance sensor parts.

The light amount sensor module <NUM> is configured to detect light amount information on an amount of light reflected from the floor surface and entered into the light amount sensor module <NUM>. In an embodiment not shown, a light unit (not shown) that emits light may be provided around the light amount sensor module <NUM>.

The light amount sensor module <NUM> may be provided in any form capable of detecting an amount of light reflected from the floor surface (refer to <FIG>).

The light amount sensor module <NUM> may be located to be recessed by a predetermined depth from a lower surface of the housing <NUM>. Thereby, in a stationary state of the robot cleaner <NUM>, the light amount sensor module <NUM> is located to be spaced apart from the floor surface by a predetermined distance.

When a distance between the light amount sensor module <NUM> and the floor surface increases, an amount of detected light decreases, and when a distance between the light amount sensor module <NUM> and the floor surface increases, an amount of detected light increases.

Referring to <FIG>, as the robot cleaner <NUM> is lifted from the floor surface, a distance D4 between the light amount sensor module <NUM> and the floor surface increases, thereby decreasing an amount of light entered into the light amount sensor module <NUM>.

In one embodiment, the light amount sensor module <NUM> may be provided as an optical flow sensor or the like.

The optical flow sensor is a sensor that detects image information related to the surroundings of the body while moving. A downward image input from an image sensor provided in the optical flow sensor is converted to generate image data in a predetermined format. Using the detected image data, the controller <NUM> may detect the position of the robot cleaner <NUM> regardless of the sliding of the robot cleaner <NUM>.

In order for the optical flow sensor to detect image data, light reflected from the floor surface must be entered into the optical flow sensor, and thus, by using the amount of light that has entered, it may be possible to detect whether the optical flow sensor moves away from or approaches the floor surface.

That is, by using one optical flow sensor, it may be possible to detect not only image data of the floor surface but also proximity to or separation from the floor surface.

That is, it may be determined whether a rear side of the robot cleaner <NUM> is spaced apart from the floor surface without a separate distance sensor.

That is, the accuracy of determining whether the robot cleaner <NUM> is lifted may be improved without any additional configuration.

In the shown embodiment, the light amount sensor module <NUM> may be located on a rear side of the mop imaginary line ML. Accordingly, whether a front side of the robot cleaner <NUM> is spaced apart or close to the floor surface may be detected by the distance sensor module <NUM>, and whether a rear side thereof is spaced apart from or proximate to the floor surface may be detected by the light amount sensor module <NUM>.

In addition, as the light amount sensor module <NUM> is located on the rear side of the robot cleaner <NUM>, the robot cleaner <NUM> may be suppressed from being erroneously determined to be lifted from the floor surface when the robot cleaner <NUM> is on a cliff.

Referring to <FIG>, the rear side of the robot cleaner <NUM> is over a cliff, thereby increasing a distance between the distance sensor module <NUM> and the floor surface than the reference distance value. When whether the robot cleaner <NUM> is lifted is determined only by distance information detected by the distance sensor module <NUM>, there is a possibility that the robot cleaner <NUM> may be erroneously determined to be lifted from the floor surface even though it is located on a cliff.

Since whether the rear side of the robot cleaner <NUM> is spaced apart from the floor surface can be determined by the light amount sensor module <NUM> located on the rear side of the robot cleaner <NUM>, when the robot cleaner <NUM> is on a cliff, the robot cleaner <NUM> may be suppressed from being erroneously determined to be lifted from the floor surface.

The light amount sensor module <NUM> is electrically connected to the detection information receiving module <NUM> of the controller <NUM>. Light amount information detected by the light amount sensor module <NUM> may be transmitted to the light amount information receiving unit <NUM> and used to calculate operation information.

The controller <NUM> receives a control signal from a user, and calculates operation information for operating the robot cleaner <NUM>.

Furthermore, the controller <NUM> may receive various detection information detected by the sensor part <NUM>. To this end, the controller <NUM> is electrically connected to the sensor part <NUM>.

The controller <NUM> may calculate operation information using the received control signal or the transmitted detection information. In addition, the controller <NUM> may control each configuration of the robot cleaner <NUM>, in particular, the power module <NUM> according to the calculated operation information. To this end, the controller <NUM> is electrically connected to the power module <NUM>.

Furthermore, the controller <NUM> is electrically connected to the database part <NUM>.

The control signal input by the user, the detection information detected by the sensor part <NUM>, and various information calculated by the controller <NUM> may be stored in the database part <NUM>.

Various modules and units of the controller <NUM>, which will be described later, may be electrically connected to each other. Accordingly, information input to any one module or unit or information calculated by any one module or unit may be transmitted to another module or unit.

In one embodiment, the controller <NUM> may be provided in any form capable of allowing the input, output, calculation, and the like of information. In one embodiment, the controller <NUM> may be provided with a microprocessor, a central processing unit (CPU), a printed circuit board (PCB), or the like.

The controller <NUM> is located in a predetermined space defined inside the housing <NUM>. The controller <NUM> may be hermetically accommodated in the space so as not to be affected by external moisture or the like.

The controller <NUM> includes a control signal input module <NUM>, an operation information calculation module <NUM>, an operation control module <NUM> and a detection information receiving module <NUM>, a lift information calculation module <NUM>, and an obstacle pass-through information calculation module <NUM>.

A control signal for driving the robot cleaner <NUM> is input to the control signal input module <NUM> by a user. The user may input a control signal through a terminal or the like. In one embodiment, the terminal may be provided as a smart phone or the like.

In another embodiment, the user may input a control signal through an input interface (not shown) provided in the robot cleaner <NUM>.

In the other embodiment, the control signal input module <NUM> may be electrically connected to the input interface (not shown).

The control signal input to the control signal input module <NUM> is transmitted to the operation information calculation module <NUM>. In addition, the control signal input to the control signal input module <NUM> may also be transmitted to and stored in the control signal storage module <NUM> of the database part <NUM>.

The operation information calculation module <NUM> calculates operation information for operating the robot cleaner <NUM>.

The operation information calculation module <NUM> may calculate operation information using the control signal input through the control signal input module <NUM>, and each information calculated by the lift information calculation module <NUM> or the obstacle pass-through information calculation module <NUM>.

In one embodiment, the operation information may include driving information and steering information. The driving information may be defined as operation information related to the operation or stop of the power module <NUM> of the robot cleaner <NUM>. Furthermore, the steering information may be defined as operation information on each rotation direction of the first power module <NUM> and the second power module <NUM>.

The operation information calculated by the operation information calculation module <NUM> is transmitted to the operation control module <NUM>. In addition, the operation information calculated by the operation information calculation module <NUM> is transmitted to an operation information storage module <NUM> of the database part <NUM>.

The operation information calculation module <NUM> includes a driving information calculation unit <NUM>, a first steering information calculation unit <NUM>, and a second steering information calculation unit <NUM>.

The driving information calculation unit <NUM> calculates the driving information. The driving information calculation unit <NUM> may calculate driving information using a control signal input through the control signal input module <NUM> or each information calculated by the lift information calculation module <NUM>.

The driving information calculated by the driving information calculation unit <NUM> may include information on the operation and stop of the first power module <NUM> and the second power module <NUM>.

Specifically, when lift information is calculated by the lift information calculation module <NUM> such that the robot cleaner <NUM> is lifted from the floor surface, the operation of the first power module <NUM> and the second power module <NUM> may be stopped.

Furthermore, when the lift information calculation module <NUM> calculates that the robot cleaner <NUM> is not be lifted from the floor surface, the first power module <NUM> and the second power module <NUM> may be operated. In one embodiment, the first power module <NUM> and the second power module <NUM> may be operated in a direction that has been rotated before being stopped.

As described above, the first power module <NUM> and the second power module <NUM> controlled by the driving information may be operated or stopped. Accordingly, the driving information may be classified into first driving information for operating the first power module <NUM> and the second power module <NUM> and second driving information for stopping the first power module <NUM> and the second power module <NUM>.

The first driving information includes control information for stopping the operation of the first power module <NUM> and the second power module <NUM>.

The second driving information includes information for operating the first power module <NUM> and the second power module <NUM>. In one embodiment, when the second driving information is calculated, the first power module <NUM> and the second power module <NUM> may be operated to rotate in a rotation direction before being stopped.

The driving information calculated by the driving information calculation unit <NUM>, specifically, the first driving information and the second driving information is transmitted to the operation control module <NUM> and the operation information storage module <NUM>.

The first steering information calculation unit <NUM> and the second steering information calculation unit <NUM> calculate first steering information and second steering information, respectively. The first steering information calculation unit <NUM> and the second steering information calculation unit <NUM> may calculate first steering information and second steering information, respectively, using a control signal input through the control signal input module <NUM> or each information calculated by the obstacle pass-through information calculation module <NUM>.

The first steering information and the second steering information may include information on a rotation direction and a rotation speed of the first power module <NUM> and the second power module <NUM>, respectively.

That is, the first steering information may include information on the rotation direction of the first power module <NUM>, and the second steering information may include information on the rotation direction and rotation speed of the second power module <NUM>.

In one embodiment, when the first steering information is calculated to rotate the first power module <NUM> counterclockwise, and the second steering information is calculated to rotate the second power module <NUM> clockwise, the robot cleaner <NUM> moves forward.

In the above embodiment, when the rotation speed of the first power module <NUM> is calculated as a value greater than that of the second power module <NUM> by the first steering information and/or the second steering information, the robot cleaner <NUM> may be rotated to the right.

In the above embodiment, when the rotation speed of the first power module <NUM> is calculated as a value smaller than the rotation speed of the second power module <NUM> by the first steering information and/or the second steering information, the robot cleaner <NUM> may be rotated to the left.

In one embodiment, when the first steering information is calculated to rotate the first power module <NUM> clockwise and the second steering information is calculated to rotate the second power module <NUM> clockwise, the robot cleaner <NUM> is rotated to the right.

In one embodiment, when the first steering information is calculated to rotate the first power module <NUM> counterclockwise, and the second steering information is calculated to rotate the second power module <NUM> counterclockwise, the robot cleaner <NUM> may be rotated to the left.

In one embodiment, when the first steering information is calculated to rotate the first power module <NUM> clockwise, and the second steering information is calculated to rotate the second power module <NUM> counterclockwise, the robot cleaner <NUM> may move backward.

When the obstacle pass-through information calculation module <NUM>, which will be described later, calculates the obstacle pass-through information such that the robot cleaner <NUM> is able to pass through the obstacle <NUM> on one side, the first steering information and the second steering information may be calculated to allow the robot cleaner <NUM> to move forward.

When the obstacle pass-through information calculation module <NUM>, which will be described later, calculates the obstacle pass-through information such that the robot cleaner <NUM> is unable to pass through the obstacle <NUM> on one side, the first steering information and the second steering information may be calculated to allow the robot cleaner <NUM> to move forward, rotate to the left or rotate to the right so as to avoid the obstacle <NUM>.

The calculated first steering information and second steering information are transmitted to the operation control module <NUM> and the operation information storage module <NUM>. According to the above-described first and second steering information, the robot cleaner <NUM> may move in various directions.

The operation control module <NUM> controls the power module <NUM> according to operation information calculated by the operation information calculation module <NUM>. The operation control module <NUM> is electrically connected to the operation information calculation module <NUM>.

The operation control module <NUM> includes a power module control unit <NUM>.

The power module control unit <NUM> is configured to control the power module <NUM> according to the calculated operation information.

Specifically, the power module control unit <NUM> may control the first power module <NUM> and the second power module <NUM> according to the calculated first driving information or second driving information.

Furthermore, the power module control unit <NUM> may control the first power module <NUM> according to the calculated first steering information. The power module control unit <NUM> may control the second power module <NUM> according to the calculated second steering information.

The power module control unit <NUM> is electrically connected to the power module <NUM>.

The detection information receiving module <NUM> is configured to receive each information detected by the sensor part <NUM>. The detection information receiving module <NUM> is electrically connected to the sensor part <NUM>.

Each information transmitted to the detection information receiving module <NUM> is transmitted to the lift information calculation module <NUM> and the obstacle pass-through information calculation module <NUM> and used to calculate each information. The detection information receiving module <NUM> is electrically connected to the lift information calculation module <NUM> and the obstacle pass-through information calculation module <NUM>.

The detection information receiving module <NUM> is electrically connected to the database part <NUM>.

Each information detected by the sensor part <NUM> may be transmitted to the database part <NUM> through the detection information receiving module <NUM>.

The detection information receiving module <NUM> includes a first tilt information receiving unit <NUM>, a second tilt information receiving unit <NUM>, an acceleration change information receiving unit <NUM>, a first distance information receiving unit <NUM>, and a second distance information receiving unit <NUM>, a third distance information receiving unit <NUM>, and a light amount information receiving unit <NUM>.

The first tilt information receiving unit <NUM> receives first tilt information detected by the first tilt sensor unit <NUM>. The first tilt information receiving unit <NUM> is electrically connected to the first tilt sensor unit <NUM>.

The first tilt information may be used to calculate whether the robot cleaner <NUM> is lifted from the floor surface.

In addition, in an embodiment of the present disclosure, the first tilt information may be transmitted to a tilt information calculation unit <NUM> of the lift information calculation module <NUM> and used to calculate lift information on whether the robot cleaner <NUM> is lifted from the floor surface. The first tilt information receiving unit <NUM> is electrically connected to the tilt information calculation unit <NUM>.

The first tilt information received by the first tilt information receiving unit <NUM> is transmitted to the detection information storage module <NUM> of the database part <NUM>. The first tilt information receiving unit <NUM> is electrically connected to the tilt information storage unit <NUM>.

The second tilt information receiving unit <NUM> receives the second tilt information detected by the second tilt sensor unit <NUM>. The second tilt information receiving unit <NUM> is electrically connected to the second tilt sensor unit <NUM>.

The second tilt information may be used to calculate whether the robot cleaner <NUM> is lifted from the floor surface.

In addition, in an embodiment of the present disclosure, the second tilt information may be transmitted to the tilt information calculation unit <NUM> of the lift information calculation module <NUM> and used to calculate lift information on whether the robot cleaner <NUM> is lifted from the floor surface. The second tilt information receiving unit <NUM> is electrically connected to the tilt information calculation unit <NUM>.

The second tilt information received by the second tilt information receiving unit <NUM> is transmitted to the detection information storage module <NUM> of the database part <NUM>. The second tilt information receiving unit <NUM> is electrically connected to the tilt information storage unit <NUM>.

The acceleration change information receiving unit <NUM> is configured to receive acceleration change information detected by the acceleration sensor module <NUM>. The acceleration change information receiving unit <NUM> is electrically connected to the acceleration sensor module <NUM>.

The acceleration change information received by the acceleration change information receiving unit <NUM> is utilized to calculate whether there is the obstacle <NUM> on one side of the robot cleaner <NUM>.

In an embodiment of the present disclosure, the acceleration change information may be transmitted to an acceleration change information calculation unit <NUM> of the obstacle pass-through information calculation module <NUM> and utilized to calculate obstacle presence information on whether there is the obstacle <NUM> on one side of the robot cleaner <NUM>. The acceleration change information receiving unit <NUM> is electrically connected to the acceleration change information calculation unit <NUM>.

The first distance information receiving unit <NUM> is configured to receive first distance information detected by the first distance sensor unit <NUM>. The first distance information receiving unit <NUM> is electrically connected to the first distance sensor unit <NUM>.

The first distance information received by the first distance information receiving unit <NUM> is utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface.

Furthermore, the first distance information is transmitted to a first distance information calculation unit <NUM> of the lift information calculation module <NUM> and utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface. The first distance information receiving unit <NUM> is electrically connected to the first distance information calculation unit <NUM>.

The first distance information received by the first distance information receiving unit <NUM> is utilized to calculate whether there is the obstacle <NUM> that can be passed therethrough on one side of the robot cleaner <NUM>.

In addition, the first distance information is transmitted to a second distance information calculation unit <NUM> of the obstacle pass-through information calculation module <NUM> and utilized to calculate whether the obstacle <NUM> that can be passed therethrough is present on one side of the robot cleaner <NUM>. The first distance information receiving unit <NUM> is electrically connected to the second distance information calculation unit <NUM>.

The second distance information receiving unit <NUM> is configured to receive second distance information detected by the second distance sensor unit <NUM>. The second distance information receiving unit <NUM> is electrically connected to the second distance sensor unit <NUM>.

The second distance information received by the second distance information receiving unit <NUM> is utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface.

Furthermore, the second distance information is transmitted to the first distance information calculation unit <NUM> of the lift information calculation module <NUM> and utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface. The second distance information receiving unit <NUM> is electrically connected to the first distance information calculation unit <NUM>.

The second distance information received by the first distance information receiving unit <NUM> is utilized to calculate whether there is the obstacle <NUM> that can be passed therethrough on one side of the robot cleaner <NUM>.

In addition, the second distance information is transmitted to the second distance information calculation unit <NUM> of the obstacle pass-through information calculation module <NUM> and utilized to calculate whether the obstacle <NUM> that can be passed therethrough is present on one side of the robot cleaner <NUM>. The second distance information receiving unit <NUM> is electrically connected to the second distance information calculation unit <NUM>.

The third distance information receiving unit <NUM> is configured to receive third distance information detected by the third distance sensor unit <NUM>. The third distance information receiving unit <NUM> is electrically connected to the third distance sensor unit <NUM>.

The third distance information received by the third distance information receiving unit <NUM> is utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface.

Furthermore, the third distance information is transmitted to the first distance information calculation unit <NUM> of the lift information calculation module <NUM> and utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface. The third distance information receiving unit <NUM> is electrically connected to the first distance information calculation unit <NUM>.

The third distance information received by the third distance information receiving unit <NUM> is utilized to calculate whether there is the obstacle <NUM> that can be passed therethrough on one side of the robot cleaner <NUM>.

In addition, the second distance information is transmitted to the second distance information calculation unit <NUM> of the obstacle pass-through information calculation module <NUM> and utilized to calculate whether the obstacle <NUM> that can be passed therethrough is present on one side of the robot cleaner <NUM>. The third distance information receiving unit <NUM> is electrically connected to the second distance information calculation unit <NUM>.

The light amount information receiving unit <NUM> is configured to receive light amount information received by the light amount sensor module <NUM>. The light amount information receiving unit <NUM> is electrically connected to the light amount sensor module.

The light amount information received by the light amount information receiving unit <NUM> is utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface.

In addition, the light amount information is transmitted to a light amount information calculation unit <NUM> of the lift information calculation module <NUM> and utilized to calculate whether the robot cleaner <NUM> is lifted from the floor surface. The light amount information receiving unit <NUM> is electrically connected to the light amount information calculation unit <NUM>.

Each information received by the detection information receiving module <NUM> may be transmitted to and stored in the detection information storage module <NUM> of the database part <NUM>. The detection information receiving module <NUM> is electrically connected to the detection information storage module <NUM>.

The lift information calculation module <NUM> is configured to calculate lift information on whether the robot cleaner <NUM> is lifted from the floor surface using each information received from the detection information receiving module <NUM>.

The lift information may be calculated such that the robot cleaner <NUM> is lifted from the floor surface or may be calculated such that the robot cleaner <NUM> is not lifted from the floor surface.

The lift information calculation module <NUM> is electrically connected to the detection information receiving module <NUM>. Each information transmitted from the sensor part <NUM> to the detection information receiving module <NUM> may be transmitted to the lift information calculation module <NUM>.

The lift information calculation module <NUM> is electrically connected to the database part <NUM>. Each information calculated by the lift information calculation module <NUM> may be transmitted to the database part <NUM>.

Each information calculated by the lift information calculation module <NUM> is transmitted to the operation information calculation module <NUM> and utilized to calculate operation information. The lift information calculation module <NUM> is electrically connected to the operation information calculation module <NUM>.

The lift information calculation module <NUM> includes the tilt information calculation unit <NUM>, the first distance information calculation unit <NUM>, the light amount information calculation unit <NUM>, and the first time information calculation unit <NUM>.

The lift information may be defined as information on whether the robot cleaner <NUM> is lifted from the floor surface.

Furthermore, the lift information may be defined by an angle formed by the robot cleaner <NUM> with respect to the floor surface, a distance at which the robot cleaner <NUM> is spaced apart from the floor surface, and the like.

A process in which each of the information calculation units <NUM>, <NUM>, <NUM>, <NUM> described below calculates lift information is described as an example.

The tilt information calculation unit <NUM> may calculate various information for calculating lift information using first tilt information and second tilt information received from the first tilt information receiving unit <NUM> and the second tilt information receiving unit <NUM>.

In one embodiment, the tilt information calculation unit <NUM> receives the first tilt information to compare it with preset reference tilt information. The detailed description thereof will be described later. The first tilt information is information on a tilt A1 formed by the first imaginary line L1 with respect to a floor line CL1 of the floor surface (refer to <FIG>).

In one embodiment, the tilt information calculation unit <NUM> receives the second tilt information to compare it with preset reference tilt information. The detailed description thereof will be described later. The second tilt information is information on a tilt A2 formed by the second imaginary line L2 with respect to the floor line CL1 of the floor surface (refer to <FIG>).

The reference tilt information may be defined as a tilt to the extent that the robot cleaner <NUM> is unable to drive.

In addition, since the robot cleaner <NUM> is tilted when the user holds and lifts the robot cleaner <NUM> with one hand, the reference tilt information may be defined as a tilt of the robot cleaner <NUM> that can be generated when the user holds and lifts the robot cleaner <NUM> with one hand.

In one embodiment, the reference tilt information may be defined as <NUM> degrees.

The tilt information calculation unit <NUM> may compare the first tilt information and the second tilt information with the reference tilt information to calculate first temporary lift information.

When at least one of the first tilt information and the second tilt information is above the reference tilt information, the tilt information calculation unit <NUM> calculates the first temporary lift information.

The first temporary lift information may be defined that the robot cleaner <NUM> is temporarily lifted from the floor surface.

The calculated first temporary lift information is transmitted to the first time information calculation unit <NUM>. The tilt information calculation unit <NUM> and the first time information calculation unit <NUM> are electrically connected to each other.

Furthermore, when both the first tilt information and the second tilt information are below the reference tilt information, the first distance information calculation unit <NUM> receives the first distance information, the second distance information, and the third distance information.

The first distance information calculation unit <NUM> calculates the number of distance information above a preset reference distance value from among the received distance information. The preset reference distance value may be set to a value greater than a distance that may be spaced apart due to shaking that may occur while the robot cleaner <NUM> is driving. In one embodiment, the reference distance value may be <NUM>.

Furthermore, the first distance information calculation unit <NUM> compares the number of distance information above the reference distance value with a preset reference number.

When the user holds and lifts a front side of the robot cleaner <NUM>, some of the distance sensor units <NUM>, <NUM>, <NUM> may be covered by the user's hand. Accordingly, the preset reference number may be set in consideration of a case where the user holds and lifts the front side of the robot cleaner <NUM> at which the distance sensor units <NUM>, <NUM>, <NUM> are located.

In one embodiment, the preset reference number may be set to two.

When the number of distance information above the reference distance value is less than the reference number, the first distance information calculation unit <NUM> calculates second temporary lift information.

The second temporary lift information may be defined that the robot cleaner <NUM> is not to be lifted from the floor surface.

The calculated second temporary lift information is transmitted to the first time information calculation unit <NUM>. The first distance information calculation unit <NUM> is electrically connected to the first time information calculation unit <NUM>.

When the number of distance information above the reference distance is above the reference number, it may be determined that the front side of the robot cleaner <NUM> in which the distance sensor module <NUM> is located has been lifted.

Therefore, when the number of distance information above the reference distance is above the reference number, it is determined whether a rear side of the robot cleaner <NUM> is lifted using information on an amount of light detected from the rear side of the robot cleaner <NUM>.

That is, when the number of distance information above the reference distance is above the reference number, the light amount information calculation unit <NUM> compares the light amount information received from the light amount information receiving unit <NUM> with a preset reference light amount value.

The preset reference light amount value may be set as a light amount value received at a distance greater than a distance that may be spaced apart due to shaking that may occur during the driving of the robot cleaner <NUM>.

When the light amount information is below the reference light amount value, the light amount information calculation unit <NUM> calculates the first temporary lift information.

Furthermore, when the light amount information exceeds the reference light amount value, the light amount information calculation unit <NUM> calculates the second temporary lift information.

The first temporary lift information or the second temporary lift information calculated by the light amount information calculation unit <NUM> is transmitted to the first time information calculation unit <NUM>. The light amount information calculation unit <NUM> is electrically connected with the first time information calculation unit <NUM>.

As described above, the first distance information calculation unit <NUM> calculates information on whether the front side of the robot cleaner <NUM> is lifted from the floor surface, and the light amount information calculation unit <NUM> calculates information on whether the rear side of the robot cleaner <NUM> is lifted from the floor surface.

Accordingly, when the robot cleaner <NUM> is lifted at a tilt less than a reference tilt, it may be determined whether the robot cleaner <NUM> is lifted from the floor surface. That is, when the user lifts the robot cleaner <NUM> with both hands, it may be determined whether the robot cleaner <NUM> is lifted from the floor surface.

When the first temporary lift information is calculated by at least one of the tilt information calculation unit <NUM> and the light amount information calculation unit <NUM>, the calculated first temporary lift information is transmitted to the first time information calculation unit <NUM>.

The first time information calculation unit <NUM> that has received the first temporary lift information calculates a time for which the first temporary lift information lasts, and then compares the calculated time with a preset first time. In one embodiment, the first time may be <NUM> msec.

When the first temporary lift information lasts longer than the first time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner <NUM> is lifted from the floor surface.

When the first temporary lift information lasts for less than the first time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner <NUM> is not lifted from the floor surface.

Furthermore, when the second temporary lift information is calculated by at least one of the tilt information calculation unit <NUM>, the first distance information calculation unit <NUM>, and the light amount information calculation unit <NUM>, the calculated second temporary lift information is transmitted to the first time calculation unit <NUM>.

The first time information calculation unit <NUM> that has received the second temporary lift information calculates a time for which the second temporary lift information lasts, and then compares the calculated time with a preset second time. In one embodiment, the second time may be <NUM> msec.

When the second temporary lift information lasts longer than the second time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner <NUM> is not lifted from the floor surface.

When the second temporary lift information lasts less than the second time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner <NUM> is lifted from the floor surface.

The calculated lift information is transmitted to the operation information calculation module <NUM> and used to calculate operation information.

The obstacle pass-through information calculation module <NUM> determines whether there is the obstacle <NUM> on one side of the robot cleaner <NUM> and whether there is the obstacle <NUM> that can be passed therethrough using each information received from the detection information receiving module <NUM>.

The obstacle pass-through information includes information on whether there is the obstacle <NUM> on one side of the robot cleaner <NUM> and information on whether the robot cleaner <NUM> is able to pass through the obstacle <NUM> on the one side thereof.

In one embodiment, the obstacle pass-through information may be calculated such that there is no obstacle <NUM> on one side of the robot cleaner <NUM>. Furthermore, the obstacle pass-through information may be calculated such that the robot cleaner <NUM> is able to pass through the obstacle <NUM> on one side. In addition, the obstacle pass-through information may be calculated such that the robot cleaner <NUM> is unable to pass through the obstacle <NUM> on one side.

The obstacle pass-through information calculation module <NUM> is electrically connected to the detection information receiving module <NUM>. Each information transmitted from the sensor part <NUM> to the detection information receiving module <NUM> may be transmitted to the obstacle pass-through information calculation module <NUM>.

The obstacle pass-through information calculation module <NUM> is electrically connected to the database part <NUM>. Each information calculated by the obstacle pass-through information calculation module <NUM> may be transmitted to the database part <NUM>.

Each information calculated by the obstacle pass-through information calculation module <NUM> is transmitted to the operation information calculation module <NUM> and utilized to calculate operation information. The obstacle pass-through information calculation module <NUM> is electrically connected to the operation information calculation module <NUM>.

The obstacle pass-through information calculation module <NUM> includes the acceleration change information calculation unit <NUM> and the second distance information calculation unit <NUM>.

The obstacle pass-through information may be defined as an acceleration change of the robot cleaner <NUM> and a distance at which the robot cleaner <NUM> is spaced apart from the floor surface, and the like.

A process in which each of the information calculation units <NUM>, <NUM> described below calculates lift information is described as an example.

The acceleration change information calculation unit <NUM> may calculate obstacle presence information using the acceleration change information received from the acceleration change information receiving unit <NUM>. The acceleration change information calculation unit <NUM> is electrically connected to the acceleration change information receiving unit <NUM>.

The obstacle presence information may be defined as information on whether the obstacle <NUM> is present on one side of a driving path of the robot cleaner <NUM>.

The acceleration change information calculation unit <NUM> compares the received acceleration change information with a preset reference acceleration change range.

The preset reference acceleration change range may be an acceleration change range that may be generated when the robot cleaner <NUM> collides with the obstacle <NUM>.

In one embodiment, the reference acceleration change range may be above a preset variance value of the first acceleration change amount and below a preset variance value of the second acceleration change amount.

When the transmitted acceleration change information is included within the reference acceleration change range, the acceleration change information calculation unit <NUM> calculates the obstacle presence information such that the obstacle <NUM> is present on one side of the robot cleaner <NUM>.

When the transmitted acceleration change information is not included within the reference acceleration change range, the acceleration change information calculation unit <NUM> calculates the obstacle presence information such that the obstacle <NUM> is not present on one side of the robot cleaner <NUM>.

When the obstacle presence information is calculated such that the obstacle <NUM> is not present on one side of the robot cleaner <NUM>, the acceleration change information calculation unit <NUM> calculates the obstacle pass-through information such that the obstacle <NUM> is not present on one side of the robot cleaner <NUM>.

When the obstacle presence information is calculated such that the obstacle <NUM> is present on one side of the robot cleaner <NUM>, the second distance information calculation unit <NUM> receives each distance information from each distance information receiving unit <NUM>, <NUM>, <NUM> to calculate obstacle pass-through information.

Specifically, the first distance information, the second distance information, and the third distance information received by the second distance information calculation unit <NUM> are compared with a preset reference distance value.

The preset reference distance value may be a distance value between the first distance sensor unit <NUM>, the second distance sensor unit <NUM>, and the third distance sensor unit <NUM> in a stationary state and the floor surface.

When the front side of the robot cleaner <NUM> climbs up the obstacle <NUM>, at least one distance information of the respective distance information becomes smaller than the reference distance value, and at least another distance information among the respective distance information becomes smaller than the reference distance value.

For example, when the front side of the robot cleaner <NUM> climbs up the obstacle <NUM>, the obstacle <NUM> may be adjacent to the first distance sensor unit <NUM>, and the distance D1 between the first distance sensor unit <NUM> and the obstacle <NUM> may become smaller than the reference distance value. Furthermore, the remaining second distance sensor unit <NUM> and the third distance sensor unit <NUM> are further spaced apart from the floor surface so that the distances D2, D3 between the respective sensor units <NUM>, <NUM> and the obstacle <NUM> may become greater than the reference distance value (refer to <FIG>). In this regard, it will be described in detail later.

In addition, for example, when a portion between the front and left sides of the robot cleaner <NUM> climbs up the obstacle <NUM>, the obstacle <NUM> may be adjacent to the first distance sensor unit <NUM>, and the distance D2 between the first distance sensor unit <NUM> and the obstacle <NUM> may become smaller than the reference distance value. Furthermore, the distances D1, D3 between the remaining first and third distance sensor units <NUM>, <NUM> and the obstacle <NUM> may become greater than the reference distance value (refer to <FIG>). In this regard, it will be described in detail later.

When a result of comparing the first distance information, the second distance information, and the third distance information with the preset reference distance value does not correspond to a preset condition, the second distance information calculation unit <NUM> calculates the obstacle pass-through information such that the robot cleaner is able to pass through the obstacle <NUM> on one side.

The preset condition may be a condition in which at least one of the respective distance information is greater than the reference distance value and at least another one of the respective distance information is smaller than the reference distance value.

When a result of comparing the first distance information, the second distance information, and the third distance information with the preset reference distance value corresponds to the preset condition, the second distance information calculation unit <NUM> compares the maximum value and the minimum value of the respective distance information.

When a difference between the maximum value and the minimum value is less than a preset value, the second distance information calculation unit <NUM> calculates the obstacle pass-through information such that the robot cleaner <NUM> is able to pass through the obstacle <NUM> on one side.

In one embodiment, the preset value may be <NUM>.

When a difference between the maximum value and the minimum value is above a preset value, the second distance information calculation unit <NUM> calculates the obstacle pass-through information such that the robot cleaner <NUM> is unable to pass through the obstacle <NUM> on one side.

Since the robot cleaner <NUM> is moved by the rotation of a mop rather than a wheel, the robot cleaner <NUM> may shake up and down as foreign matter is introduced between the mop and the floor surface. In addition, vertical shaking may occur in the process of starting and stopping the robot cleaner <NUM>. Accordingly, each distance information may be larger or smaller than the reference distance value.

The preset value may be set to be larger than the difference between the maximum value and the minimum value that can be generated by the vertical shaking of the robot cleaner <NUM>, thereby suppressing the obstacle pass-through information from being erroneously determined such that the robot cleaner <NUM> is unable to pass through the obstacle <NUM> on one side by the vertical movement of the robot cleaner <NUM>.

Furthermore, even when a value of the difference between the minimum value and the maximum value generated by the vertical shaking of the robot cleaner <NUM> is greater than the preset value, the obstacle pass-through information may be suppressed from being erroneously determined by the acceleration change information calculation unit <NUM>.

Specifically, when the acceleration change information calculation unit <NUM> calculates the obstacle presence information such that the obstacle <NUM> is present on one side of the robot cleaner <NUM>, the second distance information calculation unit <NUM> starts the calculation, and thus the obstacle pass-through information may be suppressed from being erroneously determined such that the robot cleaner <NUM> is unable to pass through the obstacle <NUM> on one side.

The database part <NUM> stores various information related to the operation of the robot cleaner <NUM>.

The database part <NUM> may be provided in any form capable of inputting, outputting, and storing information. In one embodiment, the database part <NUM> may be provided in the form of an SD card, a micro SD card, a USB memory, or an SSD.

The database part <NUM> is electrically connected to the control signal input module <NUM>.

A control signal input to the control signal input module <NUM> may be transmitted to and stored in the database part <NUM>.

The database part <NUM> is electrically connected to the operation information calculation module <NUM>. Operation information calculated by the operation information calculation module <NUM> may be transmitted to and stored in the database part <NUM>.

The database part <NUM> is electrically connected to the sensor part <NUM> through the detection information receiving module <NUM>. Each detection information sensed by the sensor part <NUM> may be transmitted to and stored in the database part <NUM>.

The database part <NUM> is electrically connected to the lift information calculation module <NUM> and the obstacle pass-through information calculation module <NUM>, respectively. Each information calculated by the lift information calculation module <NUM> and the obstacle pass-through information calculation module <NUM> may be transmitted to and stored in the database part <NUM>.

Each of the stored information may be stored by being mapped to the operating time and environment of the robot cleaner <NUM>. That is, each information on a task performed by the robot cleaner <NUM> and a small area in which the task is performed by the robot cleaner <NUM> at a specific time point may be mapped and stored.

The stored data may be utilized as big data for the robot cleaner <NUM> to efficiently perform a task. Furthermore, the robot cleaner <NUM> may learn the stored information through artificial intelligence (AI) to enable more effective task.

The database part <NUM> includes a control signal storage module <NUM>, an operation information storage module <NUM>, a detection information storage module <NUM>, and a calculation information storage module <NUM>. The respective modules <NUM>, <NUM>, <NUM>, <NUM> may be electrically connected to one another.

The control signal storage module <NUM> stores a control signal input to the control signal input module <NUM>. The control signal storage module <NUM> is electrically connected to the control signal input module <NUM>.

The control signal stored in the control signal storage module <NUM> may be stored by being mapped to environment information in which the robot cleaner <NUM> is operated. Accordingly, the control signal storage module <NUM> may classify and store control signals according to tasks desired by the user according to specific environments.

The operation information storage module <NUM> may store operation information according to a specific control signal. The operation information storage module <NUM> is electrically connected to the control signal storage module <NUM>.

The operation information stored in the operation information storage module <NUM> may be stored by being mapped to environment information in which the robot cleaner <NUM> is operated and control signals. Accordingly, the operation information storage module <NUM> may classify and store operation information on a task to be performed by the robot cleaner <NUM> according to a specific environment and a specific control signal.

The operation information stored in the operation information storage module <NUM> may be utilized when the user wants to automatically perform a task. That is, when an environment or a control signal at a time when the robot cleaner <NUM> is operated is similar to a specific environment or a specific control signal to which the operation information is mapped, the power module <NUM> may be operated according to the corresponding operation information.

Information calculated by the lift information calculation module <NUM> and the obstacle pass-through information calculation module <NUM> may be transmitted to and stored in the calculation information storage module <NUM>. The lift information calculation module <NUM> and the obstacle pass-through information calculation module <NUM> are electrically connected to the calculation information storage module <NUM>.

The above-described detection process of the sensor part <NUM>, the information processing and calculation process of the controller <NUM>, and the storage process in the database part <NUM> may be carried out in real time. Furthermore, the respective processes may be sequentially carried out.

A control method of the robot cleaner <NUM> according to an embodiment of the present disclosure may efficiently control the operation of the robot cleaner <NUM> according to whether the robot cleaner <NUM> is lifted from the floor surface.

That is, when the robot cleaner <NUM> is lifted from the floor surface, operation information for stopping the robot cleaner <NUM> may be calculated. Furthermore, when the robot cleaner <NUM> is placed back on the floor surface, operation information for operating the robot cleaner <NUM> may be calculated.

The control can be achieved by the above-described configurations without separately receiving a control signal by the user.

Hereinafter, an operation method of the robot cleaner <NUM> according to an embodiment of the present disclosure will be described in detail with reference to <FIG>.

This is a step of detecting, by the sensor part <NUM>, information on the operating state of the robot cleaner <NUM>. Hereinafter, this step will be described in detail with reference to <FIG>.

First, each of the tilt sensor modules <NUM>, <NUM> detects information on a degree of tilt of the robot cleaner <NUM> (S110). That is, the first tilt sensor module <NUM> detects the first tilt information of the robot cleaner <NUM>. The second tilt sensor module <NUM> detects the second tilt information of the robot cleaner <NUM>.

The first tilt information may be a tilt A1 formed by the first imaginary line L1 of the robot cleaner <NUM> with respect to the floor line CL1 of the floor surface. Furthermore, the second tilt information may be a tilt A2 formed by the second imaginary line L2 of the robot cleaner <NUM> with respect to the floor line CL1 of the floor surface.

In one embodiment, the first imaginary line L1 and the second imaginary line L2 may cross each other. In one embodiment, the first imaginary line L1 and the second imaginary line L2 may be orthogonal to each other.

Furthermore, the distance sensor module <NUM> detects distance information on a distance to the floor surface (S120). In the above step, the first to third distance sensor units <NUM>, <NUM>, <NUM> may detect first to third distance information, respectively.

In addition, the light amount sensor module <NUM> detects light amount information on an amount of light reflected from the floor surface (S130).

The order of detecting information by the respective sensor modules <NUM>, <NUM>, <NUM>, <NUM> may be changed. Alternatively, each of the sensor modules <NUM>, <NUM>, <NUM>, <NUM> may detect each information at the same time or at different times.

Each information detected by each of the sensor modules <NUM>, <NUM>, <NUM>, <NUM> is transmitted to the detection information receiving module <NUM>.

This is a step of receiving, by the controller <NUM>, each sensed information, and calculating lift information using the received information. Hereinafter, this step will be described in detail with reference to <FIG>.

First, the lift information calculation module <NUM> receives each detected information from the detection information receiving module <NUM>.

The lift information calculation module <NUM> calculates the first temporary lift information or the second temporary lift information using at least one of the detected respective information (S210).

A process of calculating the first temporary lift information or the second temporary lift information by the lift information calculation module <NUM> is as follows.

First, the tilt information calculation unit <NUM> compares the first tilt information with a preset first reference tilt value (S211).

A process of comparing, by the tilt information calculation unit <NUM>, the first tilt information with the preset first reference tilt value is the same as described above.

When the first tilt information is above the first reference tilt value, the tilt information calculation unit <NUM> calculates the first temporary lift information (S212).

On the contrary, when the first tilt information is less than the first reference tilt value, the tilt information calculation unit <NUM> compares the second tilt information with a preset second reference tilt value (S213).

A process of comparing, by the tilt information calculation unit <NUM>, the second tilt information with the preset second reference tilt value is the same as described above.

When the second tilt information is above the second reference tilt value, the tilt information calculation unit <NUM> calculates first temporary lift information (S214).

On the contrary, when the second tilt information is less than the second reference tilt value, the first distance information calculation unit <NUM> compares the number of distance information above a preset reference distance value from among a plurality of distance information with a preset reference number (S215).

A process of comparing, by the first distance information calculation unit <NUM>, the plurality of distance information with a preset reference distance value and a process of comparing the number of distance information above the reference distance value with the preset reference number are the same as described above.

When the number of distance information above the reference distance value from among the plurality of distance information is less than the reference number, the first distance information calculation unit <NUM> calculates second temporary lift information (S216).

On the contrary, when the number of distance information above the reference distance value among the plurality of distance information is above the reference number, the light amount information calculation unit <NUM> compares light amount information with a preset reference light amount value (S217).

A process of comparing, by the light amount information calculation unit <NUM>, light amount information with a preset reference light amount value is the same as described above.

When the light amount information is below the reference light amount value, the light amount information calculation unit <NUM> calculates the first temporary lift information (S218).

On the contrary, when the light amount information exceeds the reference light amount value, the light amount information calculation unit <NUM> calculates the second temporary lift information (S219).

The lift information calculation module <NUM> calculates lift information in a preset method using the calculated first or second temporary lift information (S220).

A process of calculating, by the lift information calculation module <NUM>, the lift information using a preset method is as follows.

First, when the first temporary lift information or the second temporary lift information is calculated by the tilt information calculation unit <NUM>, the first distance information calculation unit <NUM> and the light amount information calculation unit <NUM>, the first temporary lift information or the second temporary lift information is transmitted to the first time information calculation unit <NUM>.

When the first temporary lift information is calculated, the first time information calculation unit <NUM> compares a time for which the first temporary lift information is maintained with a preset first time (S221).

A process of comparing, by the first time information calculation unit <NUM>, a time for which the first temporary lift information is maintained with a preset first time is the same as described above.

When the time for which the first temporary lift information is maintained is above a first time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner <NUM> is lifted from the floor surface (S222).

On the contrary, when the time for which the second temporary lift information is maintained is less than the second time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner <NUM> is not lifted from the floor surface (S223).

When the second temporary lift information is calculated, the first time information calculation unit <NUM> compares the time for which the second temporary lift information is maintained with a preset second time (S224).

A process of comparing, by the first time information calculation unit <NUM>, a time for which the second temporary lift information is maintained with a preset second time is the same as described above.

When the time for which the second temporary lift information is maintained is above a second time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner is not lifted from the floor surface (S225).

On the contrary, when the time for which the second temporary lift information is maintained is less than the second time, the first time information calculation unit <NUM> calculates the lift information such that the robot cleaner <NUM> is lifted from the floor surface (S226).

The order of the calculation processes may be changed. In addition, the calculation process may be performed at the same time or at different times.

The lift information calculated by the lift information calculation module <NUM> is transmitted to the operation information calculation module <NUM>.

This is a step of calculating, by the operation information calculation module <NUM>, operation information for operating the power module <NUM> using the received lift information. Hereinafter, this step will be described in detail with reference to <FIG>.

The operation information calculation module <NUM> receives lift information from the lift information calculation module <NUM>.

Furthermore, the driving information calculation unit <NUM> calculates driving information in a preset method using the lift information.

Specifically, when lift information is calculated such that the robot cleaner <NUM> is not lifted from the floor surface, the driving information calculation unit <NUM> calculates driving information as driving the power module <NUM> using the lift information calculated such that the robot cleaner <NUM> is not lifted from the floor surface (S310).

In addition, when the lift information is calculated such that the robot cleaner <NUM> is lifted from the floor surface, the driving information calculation unit <NUM> calculates driving information as stopping the power module <NUM> using the lift information calculated such that the robot cleaner <NUM> is lifted from the floor surface (S320).

When the driving information is calculated as driving the power module <NUM>, the first power module <NUM> and the second power module <NUM> may be re-driven in a rotation direction and speed prior to stopping.

Each driving information calculated by the driving information calculation unit <NUM> is transmitted to the operation control module <NUM>.

This is a step of operating the power module <NUM> according to operation information calculated by the operation information calculation module <NUM>. Hereinafter, this step will be described in detail with reference to <FIG>.

The power module control unit <NUM> rotates the power module <NUM> according to the calculated driving information (S410).

Specifically, when the driving information is calculated as driving the power module <NUM>, the power module control unit <NUM> rotates the power module <NUM> according to the driving information.

Furthermore, the power module control unit <NUM> stops the power module <NUM> according to the calculated driving information (S420).

Specifically, when the driving information is calculated as stopping the power module <NUM>, the power module control unit <NUM> rotates the power module <NUM> according to the driving information.

A case in which the user lifts the robot cleaner <NUM> may be detected to stop the rotation of the driving module <NUM>, thereby suppressing the user from being injured due to the driving module <NUM>.

A control method of the robot cleaner <NUM> according to another embodiment of the present disclosure may effectively control the operation of the robot cleaner <NUM> depending on whether the obstacle <NUM> is present on one side of a driving path of the robot cleaner <NUM> and whether the robot cleaner <NUM> is able to pass through the obstacle on one side.

That is, when the robot cleaner <NUM> encounters the obstacle <NUM> that cannot be passed thereover, operation information for the robot cleaner <NUM> to avoid the obstacle <NUM> may be calculated.

Thereby, a case where the robot cleaner <NUM> accidentally passes over the obstacle <NUM> to the extent that cannot be passed thereover may be suppressed. That is, the robot cleaner <NUM> may be suppressed from passing over the obstacle <NUM> such as a threshold and then being unable to return to an area that has been cleaned.

Hereinafter, an operation method of the robot cleaner <NUM> according to another embodiment of the present disclosure will be described in detail with reference to <FIG>.

First, the acceleration sensor module <NUM> detects the acceleration change information of the robot cleaner <NUM> (S1100).

Furthermore, the distance sensor module <NUM> detects distance information between the floor surface on which the robot cleaner <NUM> drives and the distance sensor module <NUM> (S1100). In the above step, the first to third distance sensor units <NUM>, <NUM>, <NUM> may detect first to third distance information, respectively.

The order of detecting information by the respective sensor modules <NUM>, <NUM> may be changed. Alternatively, each of the sensor modules <NUM>, <NUM> may detect each information at the same time or at different times.

Each information detected by each of the sensor modules <NUM>, <NUM> is transmitted to the detection information receiving module <NUM>.

Specifically, the acceleration change information detected by the acceleration sensor module <NUM> is transmitted to the acceleration change information receiving unit <NUM>. The distance information detected by the distance sensor module <NUM> is transmitted to the distance information receiving units <NUM>, <NUM>, <NUM>.

This is a step of receiving, by the controller <NUM>, each sensed information and calculating obstacle pass-through information using the received information. Hereinafter, this step will be described in detail with reference to <FIG>.

First, obstacle presence information on whether the obstacle <NUM> is present at one side on which the robot cleaner <NUM> is driving is calculated by using acceleration change information detected by the acceleration change information calculation unit <NUM> (S2100).

A process of calculating obstacle presence information is as follows.

First, the acceleration change information calculation unit <NUM> compares the detected acceleration change information with a preset reference acceleration change range (S2110).

A process of comparing the detected acceleration change information with a preset reference acceleration change range is the same as described above.

When the acceleration change information is not included in the reference acceleration change range, the acceleration change information calculation unit <NUM> calculates the obstacle presence information such that the obstacle <NUM> is not present on one side of the robot cleaner <NUM> (S2120).

On the contrary, when the acceleration change information is not included in the reference acceleration range, the acceleration change information calculation unit <NUM> calculates the obstacle presence information such that the obstacle <NUM> is present on one side of the robot cleaner <NUM> (S2130).

Through the above-described process, information on whether the obstacle <NUM> is present on one side of the robot cleaner <NUM> while driving may be calculated.

The calculated obstacle presence information is transmitted to the second distance information calculation unit <NUM>.

The second distance information calculation unit <NUM> calculates obstacle pass-through information on whether the robot cleaner <NUM> is able to pass through the obstacle <NUM> on one side while driving using the transmitted obstacle presence information (S2200).

A process of calculating, by the second distance information calculation unit <NUM>, obstacle pass-through information is as follows.

First, when the acceleration change information calculation unit <NUM> calculates the obstacle presence information such that the obstacle <NUM> is present on one side of the robot cleaner <NUM>, a plurality of distance information detected by the second distance information calculation unit <NUM> are compared with a preset reference distance value (S2210).

A process of comparing the plurality of detected distance information with the preset reference distance value is the same as described above.

When a result of the comparison does not correspond to a preset condition, the second distance information calculation unit <NUM> calculates the obstacle pass-through information such that the robot cleaner <NUM> is able to pass through the obstacle <NUM> on one side (S2220).

In one embodiment, the preset condition may be a case where at least one of the plurality of distance information is greater than the reference distance value and at least another one of the plurality of distance information is smaller than the reference distance value.

When a result of the comparison corresponds to a preset condition, the second distance information calculation unit <NUM> compares the maximum value and the minimum value of the plurality of distance information (S2230).

A process of comparing the maximum and minimum values of the plurality of distance information is the same as described above.

When a difference between the maximum and minimum values is less than a preset value, the second distance information calculation unit <NUM> calculates the obstacle pass-through information such that the robot cleaner <NUM> is able to pass through the obstacle <NUM> on one side (S2240).

On the contrary, when a difference between the maximum and minimum value is above a preset value, the second distance information calculation unit <NUM> calculates the obstacle pass-through information such that the robot cleaner <NUM> is unable to pass through the obstacle <NUM> on one side.

The obstacle pass-through information calculated by the obstacle pass-through information calculation module <NUM> is transmitted to the operation information calculation module <NUM>.

This is a step of calculating, by the operation information calculation module <NUM>, operation information for operating the power module <NUM> using the received obstacle pass-through information. Hereinafter, this step will be described in detail with reference to <FIG>.

The operation information calculation module <NUM> receives obstacle pass-through information from the obstacle pass-through information calculation module <NUM>.

Furthermore, the first steering information calculation unit <NUM> calculates first steering information for a rotation direction of the first power module <NUM> using the obstacle pass-through information (S3100).

In addition, the second steering information calculation unit <NUM> calculates second steering information for a rotation direction of the second power module <NUM> using the obstacle pass-through information (S3200).

When the obstacle pass-through information is calculated such that the robot cleaner <NUM> is unable to pass through an obstacle on one side, the first steering information calculation unit <NUM> and the second steering information calculation unit <NUM> calculate operation information such that the robot cleaner <NUM> rotates to the left, rotates to the right or moves backward to avoid the obstacle.

For example, when the robot cleaner <NUM> moves backward to avoid an obstacle, the first steering information calculation unit <NUM> calculates first steering information such that the first mop <NUM> rotates clockwise, and the second steering information calculation unit <NUM> calculates second steering information such that the second mop <NUM> rotates counterclockwise.

The rotation directions and rotation speeds of the first and second mops <NUM> and <NUM> for the robot cleaner <NUM> to rotate to the left, rotate to the right, or to move backward have been described above, and a detailed description thereof will be replaced therewith.

When the obstacle pass-through information is calculated such that the robot cleaner <NUM> is able to pass through an obstacle on one side thereof, the first and second steering information calculation units <NUM>, <NUM> calculate operation information such that the first and second power modules <NUM>, <NUM> maintain the existing operation state.

The order of the calculation processes of the first steering information and the second steering information may be changed. Furthermore, the order of calculating the first steering information and the second steering information may be performed at the same time or at different times.

The first and second steering information calculated by the respective steering information calculation units <NUM>, <NUM> are transmitted to the operation control module <NUM>.

The power module control unit <NUM> rotates the first power module <NUM> and the second power module <NUM> according to the calculated first and second steering information (S4100).

That is, the power module control unit <NUM> rotates the first power module <NUM> and the second power module <NUM> according to the first and second steering information calculated by the respective steering information calculation units <NUM>, <NUM>.

Accordingly, it may be possible to perform a cleaning task by avoiding an obstacle through which the robot cleaner <NUM> cannot pass.

Hereinafter, a process of operating the robot cleaner <NUM> to perform a task according to each configuration of the robot cleaner <NUM> and a control method of the robot cleaner <NUM> described above with reference to <FIG> will be described in detail.

Referring to <FIG>, a process of performing, by the robot cleaner <NUM>, cleaning while moving straight on the floor surface is shown. When the robot cleaner <NUM> moves forward, the first mop <NUM> rotates counterclockwise and the second mop <NUM> rotates clockwise.

When the obstacle <NUM> is present on a driving path of the robot cleaner <NUM>, the robot cleaner <NUM> moves forward to collide with the obstacle <NUM>.

Although not shown, the robot cleaner <NUM> may have a function of moving backward when a front side surface of the robot cleaner <NUM> collides with the obstacle <NUM>.

However, when a height of the obstacle <NUM> is not so high enough to collide with the front side surface of the robot cleaner <NUM>, the front side of the robot cleaner <NUM> may climb up the obstacle <NUM>.

Referring to <FIG>, the front side of the robot cleaner <NUM> may climb up the obstacle <NUM>.

Here, after the robot cleaner <NUM> completely climbs over the obstacle <NUM> and leaves the cleaning area, there may be a problem in that the robot cleaner <NUM> is unable to return to an original cleaning area again. For example, there may be a problem in that the robot cleaner <NUM> climbs over the threshold to leave the cleaning area.

Furthermore, when the robot cleaner <NUM> climbs up a carpet to drive on the carpet, a problem of contamination of the carpet may occur.

In consideration of such a problem, as described above, whether the robot cleaner <NUM> is able to pass through an obstacle on one side of a driving path thereof is calculated by the obstacle pass-through information calculation module <NUM>.

When it is calculated by the obstacle pass-through information calculation module <NUM> that the robot cleaner <NUM> is unable to pass through the obstacle on one side, the robot cleaner <NUM> moves backward, rotates to the left or rotates to the right to avoid the obstacle <NUM>.

Referring to <FIG>, a path on which the robot cleaner <NUM> moves backward after colliding with the obstacle <NUM> is shown.

The first mop <NUM> is controlled to rotate clockwise, and the second mop <NUM> is controlled to rotate counterclockwise by the power module control unit <NUM> that has received the first steering information and the second steering information. Thereby, the robot cleaner <NUM> may move backward to avoid the obstacle <NUM>.

Referring to <FIG>, a path on which the robot cleaner <NUM> avoids the obstacle <NUM> to the left after colliding with the obstacle <NUM> is shown.

The first and second mops <NUM>, <NUM> are controlled by the power module control unit <NUM> that has received the first steering information and the second steering information. Accordingly, the robot cleaner <NUM> may be rotated to the left to avoid the obstacle <NUM>.

In one embodiment, both the first mop <NUM> and the second mop <NUM> may be rotated clockwise. Accordingly, the robot cleaner <NUM> may be rotated to the left to avoid the obstacle <NUM>.

Furthermore, in one embodiment, a rotation speed of the second mop <NUM> may be controlled to be greater than that of the first mop <NUM> while at the same time, the first mop <NUM> is rotated counterclockwise and the second mop <NUM> is rotated clockwise. Accordingly, the robot cleaner <NUM> may be rotated to the left to avoid the obstacle <NUM>.

Referring the power <FIG>, a path on which the robot cleaner <NUM> avoids the obstacle <NUM> to the right after colliding with the obstacle <NUM> is shown.

The first and second mops <NUM>, <NUM> are controlled by the power module control unit <NUM> that has received the first steering information and the second steering information. Accordingly, the robot cleaner <NUM> may be rotated to the right to avoid the obstacle <NUM>.

In one embodiment, both the first mop <NUM> and the second mop <NUM> may be rotated counterclockwise. Accordingly, the robot cleaner <NUM> may be rotated to the right to avoid the obstacle <NUM>.

Furthermore, in one embodiment, a rotation speed of the first mop <NUM> may be controlled to be greater than that of the second mop <NUM> while at the same time, the first mop <NUM> is rotated counterclockwise and the second mop <NUM> is rotated clockwise. Accordingly, the robot cleaner <NUM> may be rotated to the right to avoid the obstacle <NUM>.

Accordingly, the robot cleaner <NUM> may be suppressed from leaving the cleaning area not to return again, or from contaminating a carpet or the like.

Claim 1:
A robot cleaner comprising:
a body part (<NUM>);
a spin mop (<NUM>, <NUM>) rotatably coupled to the body part (<NUM>);
a power module (<NUM>) connected to the spin mop, and configured to be rotated according to operation information to rotate the spin mop;
a sensor part (<NUM>) provided in the body part (<NUM>), and configured to detect information on the driving of the body part (<NUM>); and
a controller (<NUM>) configured to calculate the operation information, and being electrically connected to the power module (<NUM>) to transmit the calculated operation information, and electrically connected to the sensor part (<NUM>) to receive the information on the driving of the body part (<NUM>),
wherein the sensor part (<NUM>) comprises:
a tilt sensor module (<NUM>) configured to detect the tilt information of the body part (<NUM>);
a distance sensor module (<NUM>) configured to detect distance information from a floor surface on which the body part (<NUM>) drives; and
a light amount sensor module (<NUM>) configured to detect light amount information reflected from the floor surface, and
wherein the controller (<NUM>) is configured to calculate the operation information using at least one of the tilt information, the distance information, and the light amount information;
wherein the distance sensor module (<NUM>) and the light amount sensor module (<NUM>) are provided on one side surface of the body part (<NUM>) facing the floor surface, and
wherein the spin mop comprises:
a first spin mop (<NUM>) and a second spin mop (<NUM>) spaced apart from each other on the one side surface of the body part (<NUM>), and
wherein the distance sensor module (<NUM>) and the light amount sensor module (<NUM>) are disposed with an imaginary line extending through each center point of the first spin mop (<NUM>) and the second spin mop (<NUM>) therebetween.