Robot Cleaner and Control Method Thereof

This application is a continuation application of U.S. application Ser. No. 18/200,911, filed on May 23, 2023, which is a continuation application of International Application No. PCT/KR2023/006053 designating the United States, filed on May 3, 2023, in the Korean Intellectual Property Receiving Office, which claims priority from Korean Patent Application No. 10-2022-0094110, filed on Jul. 28, 2022, and Korean Patent Application No. 10-2022-0111653, filed on Sep. 2, 2022, in the Korean Intellectual Property Office, the disclosure of each of which is hereby incorporated by reference herein in its entirety.

Embodiments of the disclosure relate to a robot cleaner capable of attaching and detaching a floorcloth and a control method thereof.

A robot cleaner is a device for automatically cleaning a certain cleaning space while travelling throughout the cleaning space without any user's manipulation. In general, a robot cleaner can perform the operation of inhaling foreign substances, such as e.g., dust accumulated on a surface (e.g., a floor surface) to be cleaned or wiping foreign substances, such as e.g., dirt attached to the surface to be cleaned with a floorcloth. Amongst such robot cleaners, a type of robot cleaner is used in which the floorcloth (or damp cloth) is attached to its one end and the floorcloth is rotated to wipe out foreign substances attached to the surface to be cleaned.

Typically, as the cleaning progresses, the floorcloth attached to the robot cleaner may get more and more contaminated, and therefore, its user has to replace the contaminated floorcloth attached to the robot cleaner with a new floorcloth so as to continue an effective cleaning.

According to an embodiment of the present disclosure, a robot cleaner may include a rotation motor. The robot cleaner may include a rotation member that is rotatable by driving of the rotation motor and having a first, a second surface opposite to the first surface, and an opening through the rotation member and penetrating the first surface and the second surface. The robot cleaner may include a floorcloth coupling member disposed on the second surface and having a floorcloth attaching unit insertable into the opening to be detachably coupled to a floorcloth in contact with the first surface. The rotation member and the floorcloth coupling member may be configured to, when the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth in contact with the first surface, and the rotation member rotates in a first state, the floorcloth attaching unit remains coupled to the floorcloth, and when the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth in contact with the first surface, and the rotation member rotates in a second state, the floorcloth attaching unit may exit the opening so that the floorcloth becomes detached from the floorcloth attaching unit.

According to an embodiment of the present disclosure, the rotation member may be configured to rotate in a second direction to detach the floorcloth from the floorcloth attaching unit in the second state. The rotation member may include a first inclined portion which extends ascending from an inner position of the opening toward the second surface along the second direction, at one side of the opening. The floorcloth attaching unit may include a second inclined portion disposed to face the first inclined portion above the first inclined portion, when the floorcloth attaching unit is inserted into the opening. When the rotation member rotates in the second direction in the second state, the second inclined portion of the floorcloth attaching unit may ascend along the first inclined portion of the rotation member to exit the opening.

According to an embodiment of the present disclosure, the rotation member may be configured to rotate in the second direction to detach the floorcloth from the floorcloth attaching unit in the second state and may be configured to rotate in a first direction opposite to the second direction to clean a floor surface in the first state. The rotation member may include a first reverse inclined portion which extends descending from the second surface toward an outside of the opening along the first direction, at one side of the opening. When the floorcloth attaching unit is inserted into the opening, the floorcloth attaching unit may include a second reverse inclined portion disposed to face the first reverse inclined portion underneath the first reverse inclined portion. When the rotation member rotates in the first direction in the first state, the first reverse inclined portion and the second reverse inclined portion may be engaged with each other.

According to an embodiment of the present disclosure, the robot cleaner may include a stopper configured to limit rotation of the floorcloth coupling member, when coupled to the floorcloth coupling member. The floorcloth coupling member may have a stopper coupling capable of coupling with the stopper.

According to an embodiment of the present disclosure, in the first state the stopper may be a state released from the stopper coupling, and in the second state the stopper may be a state that the stopper is coupled to the stopper coupling to limit rotation of the floorcloth coupling member.

According to an embodiment of the present disclosure, the robot cleaner may further include a lifting motor configured to move the rotation member in an axial direction. The second state may occur as the lifting motor drives the rotation member to move toward the stopper to cause the stopper to be coupled to the stopper coupling.

According to an embodiment of the present disclosure, the robot cleaner may further include a stopper moving unit configured to move the stopper toward the stopper coupling or away from the stopper coupling. The second state may occur as the stopper moving unit drives the stopper to move toward the stopper coupling to be coupled to the stopper coupling.

According to an embodiment of this disclosure, the stopper may have an insert that may be inserted into the stopper coupling along a third direction from an upper side of the floorcloth coupling member. The insert may be configured to have at least one inclined surface inclined with respect to the third direction.

According to an embodiment of the present disclosure, the stopper may have an insert that can be inserted into the stopper coupling along the third direction from an upper side of the second surface of the floorcloth coupling member at one end of the insert. The stopper may have an elastic member disposed at an other end of the insert.

According to an embodiment of this disclosure, the rotation motor and the rotation member may be connected via a rotation shaft member, and the rotation shaft member may be disposed to penetrate the floorcloth coupling member.

According to an embodiment of the present disclosure, the robot cleaner may include a rotation member that is rotatable and has a first surface, a second surface opposite to the first surface, and an opening through the rotation member and penetrating the first surface and the second surface. The robot cleaner also includes a floorcloth coupling member disposed on the second surface, and having a floorcloth attaching unit insertable into the opening to be detachably coupled to a floorcloth in contact with the first surface. The robot cleaner also includes a stopper that is coupleable to the floorcloth coupling member and configured to limit rotation of the floorcloth coupling member when coupled to the floorcloth coupling member. The rotation member, the floorcloth coupling member, and the stopper are configured so that (a) when the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth in contact with the first surface, and the rotation member rotates in a first state in which the stopper is uncoupled from the floorcloth coupling member, the floorcloth attaching unit remains coupled to the floorcloth, and (b) when the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth in contact with the first surface, and the rotation member rotates in a second state in which the sopper is coupled to the floorcloth coupling member, the floorcloth attaching unit exits the opening so that the floorcloth becomes detached from the floorcloth attaching unit.

A control method of the robot cleaner may include, with the floorcloth attaching unit inserted into the opening and detachably coupled to the floorcloth in contact with the first surface, determining whether replacement of the floorcloth is required. Based on determining that the replacement of the floorcloth is required, the method may include coupling the stopper to the floorcloth coupling member. The method may include, with the floorcloth attaching unit inserted into the opening and detachably coupled to the floorcloth in contact with the first surface and the stopper coupled to the floorcloth coupling member, rotating the rotation member in the second state so that the floorcloth attaching unit exits the opening and the floorcloth becomes detached from the floorcloth attaching unit.

According to an embodiment of the present disclosure, the robot cleaner may include a lifting motor configured to move the rotation member along an axial direction and the method may include the coupling the stopper to the floorcloth coupling member includes moving the rotation member toward the stopper by driving the lifting motor.

According to an embodiment of the present disclosure, the robot cleaner may further include a stopper moving unit configured to move the stopper in a direction toward the floorcloth coupling member or away from the floorcloth coupling member. The coupling the stopper to the floorcloth coupling member may include moving the stopper toward the stopper coupling by means of the stopper moving unit.

According to an embodiment of the present disclosure, the method may include rotating the rotation member in the second state and then determining whether a new floorcloth is required to be attached to the floorcloth attaching unit. The method may include rotating the rotation member in an opposite direction to a rotation direction in which the rotation member was rotated to detach the floorcloth from the floorcloth attaching unit, in a state that the stopper is coupled to the floorcloth coupling member, when it is determined that a new floorcloth is required to be attached to the floorcloth attaching unit. The method may further include uncoupling the stopper from the floorcloth coupling member.

According to an embodiment of the present disclosure, the method may include determining whether to perform floor cleaning. Based on determining that the floor cleaning is to be performed, the method may further include rotating the rotation member in the first state in which the stopper is uncoupled from the floorcloth coupling member and the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth in contact with the first surface.

According to an embodiment of the present disclosure, the robot cleaner can automatically replace the floorcloth for itself without a need for the user to replace the floorcloth, thereby improving the use's convenience. According to an embodiment of the present disclosure, the robot cleaner can operate to detach a currently mounted floorcloth at a user-designated location, such as near a bathroom or a laundry room, and then enter a docking station to mount a new floorcloth in place of the used one, thereby improving the user's convenience. According to an embodiment of the present disclosure, the robot cleaner can enter the docking station to automatically replace the floorcloth on its own at the docking station, thereby enabling to further enhance the user's convenience.

Hereinafter, various embodiments of the present disclosure will be described with reference to the drawings in such a detailed manner that those having ordinary knowledge in the technical field to which the disclosure pertains can easily implement the disclosed invention. However, the disclosure may be implemented in several different forms and is not limited to the embodiments described herein. In conjunction with the description of the drawings, like or similar reference numerals may be used for such like or similar components throughout the specification and the drawings. Further, in the drawings and their related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and conciseness.

Various embodiments of the present disclosure may have a detachable structure for mounting or detaching a floorcloth used for cleaning, thereby providing a robot cleaner capable of performing automatic replacement of the floorcloth without user's intervention.

The technical problems to be achieved in the present disclosure are not limited to those described above, and other technical challenges not mentioned herein may be derived from the exemplary embodiments of the present disclosure by a person skilled in the art.

The effects that can be obtained from the exemplary embodiments of the present disclosure may be clearly derived and understood by those having ordinary knowledge in the technical field to which the embodiments of the disclosure belong, from the following description. That is to say, any unintended effects according to carrying out the exemplary embodiments of the disclosure may be clearly derived by those having ordinary knowledge in the art, from the exemplary embodiments of the disclosure.

is a perspective view of a robot cleaner according to an embodiment of the disclosure.is a view for explaining an internal configuration of a main body of a robot cleaner according to an embodiment of the disclosure.is a bottom view of a robot cleaner according to an embodiment of the disclosure.

Referring to, in an embodiment, a robot cleanermay in a state that a floorcloth (P) (e.g., a damp floorcloth or a dry floorcloth) capable of being in contact with a surface to be cleaned (e.g., a floor surface) is mounted in a floorcloth unitpositioned in a lower part. The robot cleanercan perform cleaning (or wiping with a floorcloth) to remove foreign substances attached onto the surface to be cleaned using the floorcloth (P) mounted onto the floorcloth unit. The robot cleanermay rotate, for example, the floorcloth (P) in use and remove foreign substances attached onto the floor surface, using a friction force between the floorcloth (P) and the floor surface generated by rotation of the floorcloth (P). The robot cleanermay replace the contaminated floorcloth (P) mounted onto the floorcloth unitfor itself. Hereinafter, the attaching/detaching operation and structure of the floorcloth (P) of the robot cleanerwill be described later.

According to an embodiment, the robot cleanermay include a main body, a control panel, a travelling unit, a floorcloth unit, a battery, a driving unit, and a liquid container.

According to an embodiment, the main bodymay form a substantial appearance of the robot cleaner. In an embodiment, the main bodymay include a cleaner bodyand a cleaner cover. In an embodiment, while the robot cleaneris driven for cleaning, the cleaner bodymay form the appearance of a lower part disposed adjacent to the floor surface (or a surface to be cleaned) and a side part extending upward from corners of the lower part to form a side of the robot cleaner. Although not specifically illustrated, according to an embodiment, the robot cleanermay include a bumper capable of mitigating any external impact onto the side of the cleaner body.

According to an embodiment, a power buttonmay be disposed on one side of the cleaner body. In an embodiment, the power buttonmay be turned on/off by a user to turn on/off the power of the robot cleaner. The power buttonmay be implemented by, for example, a button switch, but the disclosure is not limited thereto.

According to an embodiment, the cleaner bodymay be formed to open its uppermost side. In an embodiment, an inner space in which various components (e.g., driving unitor liquid container) for operating the robot cleanerare disposed may be formed inside the cleaner body.

According to an embodiment, the cleaner covermay form an upper appearance of the robot cleaner. In an embodiment, the cleaner covermay be coupled to an uppermost side of the cleaner body. In an embodiment, the cleaner covermay be provided to cover an opening of the cleaner body. In an embodiment, the cleaner covermay be detachably coupled to the cleaner body. After removing the cleaner cover, the user may access the components inside the main bodythrough the opening in the upper part of the cleaner body. According to an embodiment, the cleaner bodyand the cleaner covermay be integrally formed.

According to an embodiment, the control panelmay be disposed in an upper part of the robot cleaner. The control panelmay be disposed on the upper surface of the cleaner cover, for example.

According to an embodiment, the control panelmay receive various instructions/commands related to the operation of the robot cleanerfrom a user. In an embodiment, the control panelmay include an input device such as e.g., a button, a switch, or a touch panel. In this context, the robot cleanermay receive a command (e.g., start/stop cleaning, or change cleaning mode) related to the various operation of the robot cleanerfrom the user via the control panel. In an embodiment, the control panelmay include a signal input device for receiving various commands input from the user in the form of an infrared signal via an external remote controller, and the disclosure is not limited to any specific form.

According to an embodiment, the control panelmay provide a current state related to the operation of the robot cleanerto the user. In an embodiment, the control panelmay include a display device such as a display. In this connection, the robot cleanermay visually transmit information (e.g., a current cleaning mode or a battery state) about the current state of the robot cleanerto the user via the display device. In an embodiment, the control panelmay be integrally provided with the input device or the display device, but the disclosure is not limited thereto.

According to an embodiment, the travelling unitmay be disposed on a bottom surface of the cleaner body. In an embodiment, the travelling unitmay be configured to enable free movement of the robot cleaner. The robot cleanermay freely travel throughout a cleaning space, using the travelling unit.

According to an embodiment, the travelling unitmay include one or more wheels connected to the driving unitto receive power for rotation. The travelling unitmay include, for example, a pair of main wheels (e.g., a first main wheeland a second main wheel). In an embodiment, the first main wheeland the second main wheelmay be disposed to maintain a balance of the robot cleaner. The first main wheeland the second main wheelmay be disposed at both edges of the bottom surface of the cleaner body, for example.

According to an embodiment, the travelling unitmay include a first sub-wheelor a second sub-wheel. In an embodiment, the first sub-wheeland the second sub-wheelmay be respectively disposed at a front side (e.g., F direction) and a rear side (e.g., R direction) in a direction orthogonal to a direction in which the first main wheeland the second main wheelare disposed.

The travelling direction of the robot cleanermay be determined according to how the movement of each of the first main wheeland the second main wheelare controlled. The robot cleanermay move forward (e.g., in F direction) or backward (e.g., in R direction), when the first main wheeland the second main wheelare controlled in the same direction and speed. For example, when the first main wheeland the second main wheelare controlled in different directions and/or speeds, the robot cleanermay travel changing the direction of movement corresponding to a preset direction.

In an embodiment, each of the first sub-wheeland the second sub-wheelmay be arranged so that the robot cleaneris kept well-balanced when the robot cleanermoves forward (e.g., in the F direction) or backward (e.g., in the R direction). The first sub-wheelmay be disposed in a front side (e.g., in the F direction) of the bottom surface of the cleaner body. The second sub-wheelmay be disposed at a rear side (e.g., in the R direction) of the bottom surface of the cleaner body.

According to an embodiment, the floorcloth unitmay be disposed in the lowermost part of the robot cleaner. The floorcloth unitmay be disposed on the bottom surface of the cleaner body, for example. In an embodiment, the floorcloth unitmay be disposed in front side of the bottom surface (e.g., in the F direction) of the cleaner body, but the disclosure is not limited thereto. The floorcloth (P) (e.g., a damp floorcloth or a dry floorcloth) for wiping the surface to be cleaned, such as a floor surface, may be detachably coupled to the floorcloth unit.

In an embodiment, the floorcloth unitmay rotate clockwise or counterclockwise together with the floorcloth (P) mounted onto the floorcloth unit. When the floorcloth unitrotates together with the floorcloth (P) coupled thereto, friction may occur between the floorcloth (P) and the floor surface, with which the robot cleanercan remove foreign substances attached onto the floor surface.

In an embodiment, the floorcloth unitmay ascend or descend within a predetermined range in a height direction (or a direction perpendicular to the ground) of the robot cleaner(e.g., U or D direction of).

In an embodiment, the floorcloth unitmay include a first floorcloth unitor a second floorcloth unit. The first floorcloth unitand the second floorcloth unitmay be configured to correspond to each other in terms of their operation, structure, and shape.

In an embodiment, the floorcloth unit(e.g., the first floorcloth unitand the second floorcloth unit) may include a rotation member (e.g., a first rotation memberor a second rotation member), and a floorcloth coupling member (e.g., a first floorcloth coupling memberand a second floorcloth coupling member), respectively. In, the rotation members (and) and the floorcloth coupling members (and) are shown to be covered by the floorcloth (P) coupled to the respective floorcloth unit, and for better illustration of this arrangement, each of the rotation members (and) and the floorcloth coupling members (and) is illustrated in a dotted line.

In an embodiment, the first and second rotation membersandmay have a disk shape as a whole, but the present disclosure is not limited thereto. According to an embodiment, a diameter of the first rotation membermay be set to be substantially the same as or smaller than a diameter of the floorcloth (P), but the present disclosure is not limited thereto. Likewise, a diameter of the second rotation membermay be set to be substantially the same as or smaller than a diameter of the floorcloth (P), but the present disclosure is not limited thereto.

In an embodiment, one or more attachment members (e.g., an attachment memberof) to be described later may be disposed in each of the first and second floorcloth coupling membersand. According to an embodiment, each of the attachment membersdisposed in each of the first and second floorcloth coupling membersandmay come into contact with and be coupled to the floorcloth (P) disposed underneath the first and second rotation membersandthrough an opening (e.g., an openingof) provided in the first and second rotation membersand. Hereinafter, a detailed structure of the floorcloth unitwill be described in more detail with reference toand its subsequent drawings.

According to an embodiment, a batterymay be disposed in a lower part of the robot cleaner. In an embodiment, the batterymay be provided in a bottom surface of the cleaner bodyto be detachable from the lower side, but the present disclosure is not limited thereto. The batteryis electrically connected to the driving unitand may supply electric power to the driving unit. The batterymay be a rechargeable type of secondary battery, but the disclosure is not limited thereto.

According to an embodiment, the driving unitmay be provided inside the main bodyof the robot cleaner. The driving unitmay be, for example, disposed in an inner accommodation space formed by the cleaner body. The driving unitmay include, for example, a motor and/or an actuator, and may have a plurality of components for supplying power to each of the travelling unitor the floorcloth unit. In an embodiment, the driving unitmay include a travelling driver, a rotation driver, or an up/down driver.

In an embodiment, the travelling drivermay include a pair of travelling driversand. Although not specifically illustrated, in an embodiment, each of the pair of travelling driversandmay include a configuration of a motor and an actuator, and may be connected to each of the travelling units, for example, the first and second main wheelsand, to provide power required to move the robot cleaner.