US 11,864,697 B2
Robot cleaner and method of controlling the same
Jeongseop Park, Seoul (KR); Jaewon Jang, Seoul (KR); and Donghoon Kim, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Filed by LG ELECTRONICS INC., Seoul (KR)
Filed on Apr. 5, 2021, as Appl. No. 17/222,070.
Application 17/222,070 is a continuation of application No. 16/333,124, granted, now 10,993,598, previously published as PCT/KR2017/007562, filed on Jul. 14, 2017.
Claims priority of provisional application 62/362,358, filed on Jul. 14, 2016.
Prior Publication US 2021/0259497 A1, Aug. 26, 2021
Int. Cl. A47L 9/00 (2006.01); A47L 9/06 (2006.01); A47L 9/28 (2006.01); A47L 11/00 (2006.01); A47L 11/14 (2006.01); A47L 11/06 (2006.01); A47L 11/20 (2006.01); A47L 11/24 (2006.01); A47L 11/282 (2006.01); A47L 11/283 (2006.01); A47L 11/292 (2006.01); A47L 11/293 (2006.01); B08B 3/04 (2006.01); B08B 3/08 (2006.01); A47L 11/40 (2006.01); A47L 11/16 (2006.01); A47L 11/34 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); G05D 1/02 (2020.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 9/12 (2006.01); A47L 13/20 (2006.01); B08B 1/04 (2006.01)
CPC A47L 11/283 (2013.01) [A47L 9/009 (2013.01); A47L 9/0606 (2013.01); A47L 9/2826 (2013.01); A47L 9/2852 (2013.01); A47L 11/14 (2013.01); A47L 11/16 (2013.01); A47L 11/161 (2013.01); A47L 11/20 (2013.01); A47L 11/201 (2013.01); A47L 11/24 (2013.01); A47L 11/282 (2013.01); A47L 11/292 (2013.01); A47L 11/293 (2013.01); A47L 11/34 (2013.01); A47L 11/40 (2013.01); A47L 11/4002 (2013.01); A47L 11/4005 (2013.01); A47L 11/405 (2013.01); A47L 11/408 (2013.01); A47L 11/4011 (2013.01); A47L 11/4013 (2013.01); A47L 11/4038 (2013.01); A47L 11/4041 (2013.01); A47L 11/4058 (2013.01); A47L 11/4061 (2013.01); A47L 11/4066 (2013.01); A47L 11/4069 (2013.01); A47L 11/4072 (2013.01); A47L 11/4083 (2013.01); A47L 11/4088 (2013.01); A47L 13/20 (2013.01); B08B 1/04 (2013.01); B08B 3/041 (2013.01); B08B 3/08 (2013.01); B25J 5/007 (2013.01); B25J 9/0003 (2013.01); B25J 9/126 (2013.01); B25J 9/1664 (2013.01); B25J 9/1666 (2013.01); B25J 11/0085 (2013.01); G05D 1/0223 (2013.01); A47L 11/00 (2013.01); A47L 11/145 (2013.01); A47L 2201/00 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01); B08B 2203/00 (2013.01); G05D 2201/0203 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A robot cleaner comprising:
a spin module including left and right spin mops configured to rotate clockwise or counterclockwise while being in contact with a floor, and a spin drive unit including at least one motor connected to the left and right spin mops and configured to drive the left and right spin mops;
a sensor unit comprising a plurality of sensors; and
a controller configured to:
determine a specific area of the floor to be a contaminated area based on data detected by the sensor unit,
control the robot cleaner to perform a skirting traveling operation wherein the robot cleaner skirts around the contaminated area, or a concentrated cleaning operation wherein the robot cleaner cleans the floor in the specific area, and
determine the specific area to be the contaminated area based on a change in load current of the at least one motor connected to the left and right spin mops.