US 11,986,137 B2
Mobile robot
Jaewon Jang, Seoul (KR); Seunglok Ham, Seoul (KR); and Yeongjae Lee, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Filed by LG ELECTRONICS INC., Seoul (KR)
Filed on Jul. 31, 2020, as Appl. No. 16/944,210.
Claims priority of application No. 10-2019-0093488 (KR), filed on Jul. 31, 2019.
Prior Publication US 2021/0030234 A1, Feb. 4, 2021
Int. Cl. A47L 11/283 (2006.01); A47L 11/24 (2006.01); A47L 11/40 (2006.01); B25J 11/00 (2006.01)
CPC A47L 11/283 (2013.01) [A47L 11/24 (2013.01); A47L 11/4008 (2013.01); A47L 11/4011 (2013.01); A47L 11/4013 (2013.01); A47L 11/4038 (2013.01); A47L 11/4041 (2013.01); A47L 11/4069 (2013.01); B25J 11/0085 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A mobile robot, comprising:
a body;
a mop module disposed on the body and including:
a pair of spin mops configured to rotate clockwise or counter-clockwise; and
a mop motor configured to provide a driving force to the pair of spin mops;
a sweep module disposed on the body forward of and spaced apart from the mop module, the sweep module including:
a collecting part, including a collecting space to store foreign materials;
a sweeping part configured to introduce foreign materials into the collecting space while rotating; and
a sweeping motor configured to provide a driving force to the sweeping part;
a first floor sensor disposed forward of the sweep module and configured to sense reflectance of light reflected from a floor, wherein the first floor sensor senses a distance from the floor;
a second floor sensor disposed between the sweep module and the pair of spin mops, the second floor sensor being configured to sense the reflectance of the light reflected from the floor;
a first load information sensor configured to sense a load value of the sweeping motor;
a second load information sensor configured to sense a load value of the mop motor; and
a controller configured to:
determine an entry restriction condition based on a first light reflectance value sensed by the first floor sensor, a first load value sensed by the first load information sensor and a second load value sensed by the second load information sensor; and
control the mop motor to perform a motion corresponding to an entry restriction when the entry restriction condition is satisfied.