CLEANING ROBOT AND CONTROL METHOD THEREOF

• US 20140150820A1
• Filed: 11/26/2013
• Published: 06/05/2014
• Est. Priority Date: 11/30/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: SONG, Jeong Gon, YOO, Kyung Hwan, MOON, Joo Sung, Han, Seung II
• Granted Patent: US 9,931,008 B2
• Time in Patent Office: Days
• US Class Current: 134/6
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0633 with retractable brushes, combs, lips or pads
• CPC Class Codes: A47L 9/2847 Surface treating elements
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2889 Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 2201/0203 Cleaning or polishing vehicle

Abstract

A cleaning robot and a control method thereof include a main body traveling on a floor, and a first sub-cleaning tool and a second sub-cleaning tool mounted at left and right sides of the main body so as to be protruded from the inside to the outside of the main body and selectively performing cleaning Insertion of at least one of the first sub-cleaning tool and the second sub-cleaning tool is controlled when the main body is rotated under the condition that an obstacle is detected. Side brushes of the sub-cleaning tools are inserted into the main body according to the rotation direction of the main body when the main body is rotated during traveling, thus preventing collision with the obstacle.

Claims

1. A cleaning robot comprising:

a main body to travel on a floor;

an obstacle detector to detect an obstacle around the main body;

at least one sub-cleaning tool mounted on the main body configured to be protruded from or inserted into the inside of the main body; and

a controller to control operation of the at least one sub-cleaning tool so as to protrude the at least one sub-cleaning tool from the main body when the obstacle is detected, and to control operation of the at least one sub-cleaning tool so as to insert the at least one sub-cleaning tool into the main body when the obstacle is detected and the main body is rotated.

2. The cleaning robot according to claim 1, wherein the controller controls operation a sub-cleaning tool located in a rotation direction of the main body based on the front surface of the main body, among the at least one sub-cleaning tool, so that the sub-cleaning tool located in the rotation direction is inserted into the main body.

3. The cleaning robot according to claim 2, wherein the controller judges whether or not the sub-cleaning tool located in the rotation direction is protruded from the main body, inserts the sub-cleaning tool located in the rotation direction into the main body when the sub-cleaning tool located in the rotation direction is protruded from the main body, and maintains insertion of the sub-cleaning tool located in the rotation direction when the sub-cleaning tool located in the rotation direction is inserted into the main body.

4. The cleaning robot according to claim 1, wherein each of the at least one sub-cleaning tool includes a side arm mounted on the main body so as to be protruded from or inserted into the inside of the main body, an arm motor rotating the side arm, a side brush rotatably mounted on the side arm, and a brush motor to rotate the side brush.

5. The cleaning robot according to claim 4, wherein the at least one sub-cleaning tool includes a first sub-cleaning tool located at the left side of the main body and a second sub-cleaning tool located at the right side of the main body.

6. The cleaning robot according to claim 5, wherein the controller controls the arm motor of the first sub-cleaning tool so that the side arm of the first sub-cleaning tool is inserted into the main body, when the rotation direction of the main body is the leftward direction, and controls the arm motor of the second sub-cleaning tool so that the side arm of the second sub-cleaning tool is inserted into the main body, when the rotation direction of the main body is the rightward direction.

7. The cleaning robot according to claim 5, wherein the controller controls the arm motor of the first sub-cleaning tool and the arm motor of the second sub-cleaning tool so that the first sub-cleaning tool and the second sub-cleaning tool are protruded from the main body, when the obstacle is detected.

8. The cleaning robot according to claim 5, wherein the controller judges the position of the obstacle, controls the arm motor of the first sub-cleaning tool so that the side arm of the first sub-cleaning tool is protruded from the main body, when the position of the obstacle is located at the left of the main body, and controls the arm motor of the second sub-cleaning tool so that the side arm of the second sub-cleaning tool is protruded from the main body, when the position of the obstacle is located at the right of the main body.

9. The cleaning robot according to claim 5, wherein the controller judges the position of the obstacle, and controls the arm motor of the first sub-cleaning tool and the arm motor of the second sub-cleaning tool so that the first sub-cleaning tool and the second sub-cleaning tool are protruded from the main body, when the position of the obstacle is located in front of the main body.

10. The cleaning robot according to claim 4, wherein the controller rotates the arm motor in a first direction by designated angles up to a first target angle during control of protrusion of the at least one sub-cleaning tool, and rotates the arm motor in a second direction by designated angles up to a second target angle during control of insertion of the at least one sub-cleaning tool.

11. The cleaning robot according to claim 9, wherein, during rotation of the main body, the controller confirms a distance to the obstacle corresponding to an obstacle detection signal, and controls insertion of the at least one sub-cleaning tool and adjusts the rotational speed of the main body based on the confirmed distance.

12. The cleaning robot according to claim 1, wherein the controller increases of the rotational speed of a side brush of the at least one protruded sub-cleaning tool during control of protrusion of the at least one sub-cleaning tool.

13. The cleaning robot according to claim 12, further comprising a main cleaning tool mounted on the lower surface of the main body to perform cleaning,

wherein the controller increases the rotational speed of a main brush of the main cleaning tool during increase of the rotational speed of the side brush of the at least one sub-cleaning tool.

14. The cleaning robot according to claim 1, further comprising a communicator to communicate with a virtual guard to guide traveling of the main body,

wherein the controller controls the at least one sub-cleaning tool so that the at least one sub-cleaning tool is inserted into the main body, when the communicator receives a virtual guard signal.

15. The cleaning robot according to claim 1, wherein the controller judges whether or not cleaning has been completed, and inserts a side arm of the at least one sub-cleaning tool into the main body and rotates a side brush of the at least one sub-cleaning tool, when cleaning has been completed.

16. The cleaning robot according to claim 1, further comprising a user interface to receive a command for a test mode to test whether or not the at least one sub-cleaning tool is abnormal and to output results of the test mode,

wherein the controller, when the command for the test mode is input through the user interface, controls at least one of protrusion and insertion of the at least one sub-cleaning tool and judges whether or not the at least one sub-cleaning tool is abnormal based on a signal generated when the at least one sub-cleaning tool is operated.

17. The cleaning robot according to claim 1, wherein the controller performs a test mode to test whether or not the at least one sub-cleaning tool is abnormal before traveling of the main body is started.

18. The cleaning robot according to claim 1, further comprising a switch turned on when the at least one sub-cleaning tool is inserted into the main body and turned off when the at least one sub-cleaning tool is protruded from the main body,

wherein the controller judges whether or not the at least one sub-cleaning tool is abnormal based on an on/off signal transmitted from the switch.

19. The cleaning robot according to claim 1, further comprising a pose detector to detect a movement amount corresponding to a change of the position and pose of the main body,

wherein the controller judges whether or not jam of the obstacle into the at least one sub-cleaning tool occurs by comparing a target movement amount corresponding to traveling of the main body and the detected movement amount under the condition that the obstacle is detected during traveling of the main body, and controls movement of the main body and insertion of the at least one sub-cleaning tool when a jam of the obstacle into the at least one sub-cleaning tool has occurred.

20. A control method of a cleaning robot which has a main body, a main cleaning tool mounted on the lower surface of the main body, and a first sub-cleaning tool and a second sub-cleaning tool mounted on the left and right side surfaces of the main body so as to be protruded from or inserted into the inside of the main body, the control method comprising:

detecting an obstacle;

protruding at least one of the first sub-cleaning tool and the second sub-cleaning tool to the outside of the main body, when the obstacle is detected; and

judging the rotation direction of the main body and inserting the sub-cleaning tool mounted in the judged rotation direction is inserted into the main body, when the obstacle is detected and the main body is rotated.

21. The control method according to claim 20, wherein the insertion of the sub-cleaning tool mounted in the judged rotation direction includes:

when the rotation direction of the main body is the leftward direction, judging whether or not the first sub-cleaning tool is in an inserted state, maintaining insertion of the first sub-cleaning tool when the first sub-cleaning tool is in the inserted state, and inserting the first sub-cleaning tool into the main body when the first sub-cleaning tool is in a protruded state; and

when the rotation direction of the main body is the rightward direction, judging whether or not the second sub-cleaning tool is in the inserted state, maintaining insertion of the second sub-cleaning tool when the second sub-cleaning tool is in the inserted state, and inserting the second sub-cleaning tool into the main body when the second sub-cleaning tool is in the protruded state.

22. The control method according to claim 20, wherein the protrusion of the at least one of the first sub-cleaning tool and the second sub-cleaning tool includes:

judging whether or not the at least one of the first sub-cleaning tool and the second sub-cleaning tool is in a protruded state;

maintaining protrusion of the at least one of the first sub-cleaning tool and the second sub-cleaning tool when the at least one of the first sub-cleaning tool and the second sub-cleaning tool is in the protruded state; and

protruding the at least one of the first sub-cleaning tool and the second sub-cleaning tool from the main body when the at least one of the first sub-cleaning tool and the second sub-cleaning tool is in an inserted state.

23. The control method according to claim 20, wherein the protrusion of the at least one of the first sub-cleaning tool and the second sub-cleaning tool includes rotating an arm motor to rotate a side arm of the at least one of the first sub-cleaning tool and the second sub-cleaning tool in a first direction by a designated angle up to a first target angle.

24. The control method according to claim 23, wherein the insertion of the sub-cleaning tool mounted in the judged rotation direction includes rotating the arm motor to rotate the side arm of the sub-cleaning tool mounted in the judged rotation direction in a second direction by a designated angle up to a second target angle.

25. The control method according to claim 24, wherein the first target angle and the second target angle have the same angle displacement.

26. The control method according to claim 24, further comprising initializing the first target angle and the second target angle when the insertion of the sub-cleaning tool has been completed.

27. The control method according to claim 20, further comprising:

performing obstacle tracing in which the main body traces the obstacle when the obstacle is detected; and

maintaining the protruded state of the first sub-cleaning tool and the second sub-cleaning tool for a predetermined time when obstacle tracing has been completed.

28. The control method according to claim 20, further comprising:

confirming the position of the obstacle;

protruding the first sub-cleaning tool and the second sub-cleaning tool from the main body when it is confirmed that the obstacle is located in front of the main body;

determining an obstacle tracing direction when obstacle tracing in which the main body traces the obstacle has been determined;

determining rotation of the main body so that the main body may travel in the determined obstacle tracing direction;

inserting the sub-cleaning tool located in the rotation direction of the main body into the main body; and

protruding the inserted sub-cleaning tool from the main body when rotation of the main body has been completed.

29. The control method according to claim 20, further comprising inserting side arms of the first sub-cleaning tool and the second sub-cleaning tool into the main body and rotating side brushes of the first sub-cleaning tool and the second sub-cleaning tool, when the obstacle is not detected.

30. The control method according to claim 20, wherein the insertion of the sub-cleaning tool mounted in the judged rotation direction into the main body includes:

detecting a distance to the obstacle based on an obstacle detection signal, when the main body is rotated;

comparing the detected distance with a designated distance;

controlling insertion of the sub-cleaning tool while adjusting the rotational speed of the main body, when the detected distance exceeds the designated distance; and

stopping rotation of the main body, inserting the sub-cleaning tool into the main body, and re-rotating the main body after the insertion of the sub-cleaning tool has been completed, when the detected distance does not exceed the designated distance.

31. The control method according to claim 30, further comprising:

judging whether or not a designated time from a point of time when rotation of the main body has been completed elapses, when rotation of the main body has been completed; and

protruding the inserted sub-cleaning tool from the main body, when the designated time has elapsed.

32. The control method according to claim 20, further comprising increasing the rotational speed of a side brush of the sub-cleaning tool mounted in the opposite direction to the rotation direction.

33. The control method according to claim 32, further comprising increasing the rotational speed of a main brush of the main cleaning tool mounted on the lower surface of the main body.

34. The control method according to claim 32, further comprising returning the rotational speed of the side brush of the sub-cleaning tool to its original speed, when obstacle tracing in which the main body traces the obstacle has been completed.

35. The control method according to claim 20, further comprising:

confirming whether or not a signal from a virtual guide to guide traveling of the main body is received; and

controlling the at least one of the first sub-cleaning tool and the second sub-cleaning tool so that the at least one of the first sub-cleaning tool and the second sub-cleaning tool is inserted into the main body, when the signal from the virtual guide is received.

36. The control method according to claim 20, further comprising:

judging whether or not cleaning has been completed; and

inserting a side arm of the at least one of the first sub-cleaning tool and the second sub-cleaning tool into the main body, when cleaning has been completed;

rotating a side brush of the at least one of the first sub-cleaning tool and the second sub-cleaning tool; and

performing docking of the main body with a charging station.

37. The control method according to claim 36, wherein the performance of docking of the main body with the charging station includes:

confirming an amount of power of a battery;

comparing the confirmed amount of power of the battery with a reference amount;

stopping operation of the main cleaning tool, when the confirmed amount of power of the battery is below the reference amount; and

maintaining operation of the main cleaning tool, when the confirmed amount of power of the battery is not below the reference amount.

38. The control method according to claim 37, further comprising decreasing the rotational speed of the side brush of the at least one of the first sub-cleaning tool and the second sub-cleaning tool, when the confirmed amount of power of the battery is below the reference amount.

39. The control method according to claim 20, further comprising:

judging whether or not a test mode is input to a user interface;

protruding the first sub-cleaning tool and the second sub-cleaning tool from the main body when the test mode is input;

judging whether or not the first sub-cleaning tool and the second sub-cleaning tool are abnormal by confirming analog-digital conversion signals generated when the first sub-cleaning tool and the second sub-cleaning tool are protruded from the main body; and

outputting abnormality or normality of the first sub-cleaning tool and the second sub-cleaning tool to the user interface.

40. The control method according to claim 20, further comprising:

protruding the at least one of the first sub-cleaning tool and the second sub-cleaning tool from the main body before traveling of the main body, when a cleaning command is input to a user interface;

judging whether or not the at least one of the first sub-cleaning tool and the second sub-cleaning tool is abnormal by confirming an analog-digital conversion signal generated when the at least one the first sub-cleaning tool and the second sub-cleaning tool is protruded from the main body; and

outputting abnormality or normality of the at least one of first sub-cleaning tool and the second sub-cleaning tool to the user interface.

41. The control method according to claim 20, further comprising:

protruding the at least one of the first sub-cleaning tool and the second sub-cleaning tool from the main body before traveling of the main body, when a cleaning command is input to a user interface;

judging whether or not the at least one of the first sub-cleaning tool and the second sub-cleaning tool is abnormal by confirming whether or not an off signal is received from a switch provided on the at least one of the first sub-cleaning tool and the second sub-cleaning tool, when the at least one the first sub-cleaning tool and the second sub-cleaning tool is protruded from the main body; and

outputting abnormality or normality of the at least one of first sub-cleaning tool and the second sub-cleaning tool to the user interface.

42. The control method according to claim 20, further comprising:

detecting a movement amount of the main body, when the obstacle is detected;

comparing a target movement amount corresponding to traveling of the main body and the detected movement amount;

judging that a jam of the obstacle into the at least one of the first sub-cleaning tool and the second sub-cleaning tool occurs, when the target movement amount and the detected movement amount are different;

determining the movement direction of the main body based on a direction in which the obstacle is located;

controlling movement of the main body in the determined movement direction; and

inserting the at least one of the first sub-cleaning tool and the second sub-cleaning tool into the main body.

43. The control method according to claim 20, further comprising:

confirming a distance to the obstacle, when the obstacle is detected; and

inserting the first sub-cleaning tool and the second sub-cleaning tool into the main body, when the confirmed distance does not exceed a designated distance.

44. A cleaning robot comprising:

a main body;

an obstacle detector to detect an obstacle around the main body;

sub-cleaning units, each of which includes a side arm mounted on the main body so as to be protruded from the inside to the outside of the main body and a side brush rotatably mounted on the side arm; and

a controller to control protrusion of the side arms of the sub-cleaning units so that the side arms are protruded from the main body and to increase the rotational speed of the side brushes of the sub-cleaning units, when the obstacle is detected.

45. The cleaning robot according to claim 44, wherein:

the sub-cleaning tools include a first sub-cleaning tool located at the left side of the main body and a second sub-cleaning tool located at the right side of the main body; and

the controller confirms the position of the obstacle and increases the rotational speed of the side brush of the sub-cleaning tool mounted at the confirmed position of the obstacle, when the obstacle is detected.

46. The cleaning robot according to claim 44, wherein, when the obstacle is detected and the main body is rotated, the controller confirms the rotation direction of the main body, controls insertion of the sub-cleaning tool mounted in the confirmed rotation direction, controls protrusion of the sub-cleaning tool mounted in the opposite direction to the confirmed rotation direction, and increases the rotational speed of the side brush of the side arm of the protruded sub-cleaning tool.

47. A cleaning robot comprising:

a main body;

sub-cleaning units, each of which includes a side arm mounted on the main body so as to be protruded from the inside to the outside of the main body and a side brush rotatably mounted on the side arm; and

a controller to judge whether or not cleaning has been completed, and to control insertion of the side arms of the sub-cleaning units, to decrease the rotational speed of the side brushes of the sub-cleaning units, and to control docking of the main body, when cleaning has been completed.

48. The cleaning robot according to claim 47, wherein the controller confirms an amount of power of a battery, and decreases the rotational speed of the side brushes when the confirmed amount of power of the battery is below a reference amount.

49. The cleaning robot according to claim 48, further comprising a main cleaning tool mounted on the lower surface of the main body,

wherein the controller maintains operation of the main cleaning tool when the confirmed amount of power of the battery is not below the reference amount, and stops operation of the main cleaning tool when the confirmed amount of power of the battery is below the reference amount.

50. A cleaning robot comprising:

a main body;

a detector to detect an obstacle and a moving amount of the main body;

sub-cleaning units mounted on the main body so as to be protruded from the inside to the outside of the main body; and

a controller to judge whether or not jam of the obstacle into the sub-cleaning tools occurs by comparing a target moving amount corresponding to traveling of the main body and the detected moving amount when the obstacle is detected, and to control the sub-cleaning units and a traveling direction of the main body when jam of the obstacle into the sub-cleaning tools has occurred.

51. The cleaning robot according to claim 50, wherein:

the detector detects the obstacle located in front of or at the left or right of the main body; and

the controller judges the position of the obstacle when a distance to the obstacle is below a designated distance, controls insertion of the sub-cleaning tools and then changes the traveling direction of the main body when the obstacle is located in front of the main body, and changes the traveling direction of the main body and then controls insertion of the sub-cleaning tools when the obstacle is located at the left or right of the main body.

52. A control method of a cleaning robot which has a main body, a main cleaning tool mounted on the lower surface of the main body to perform cleaning, and a first sub-cleaning tool and a second sub-cleaning tool mounted at the left and right side surfaces of the main body so as to be protruded from or inserted into the inside of the main body and to perform cleaning, the control method comprising:

detecting an obstacle;

protruding a side arm provided on the first sub-cleaning tool and a side arm provided on the second sub-cleaning tool, when the obstacle is detected; and

increasing the rotational speed of at least one of a side brush provided on the first sub-cleaning tool and a side brush provided on the second sub-cleaning tool.

53. The control method according to claim 52, wherein the increase of rotational speed of the at least one of the side brushes includes:

confirming the position of the obstacle; and

increasing the rotational speed of the side brush of the sub-cleaning tool corresponding to the confirmed position of the obstacle.

54. The control method according to claim 52, further comprising:

judging whether or not the main body is rotated, when the obstacle is detected;

confirming the rotating direction of the main body when the main body is rotated;

controlling insertion of the side arm of the sub-cleaning tool mounted in the confirmed rotating direction;

controlling protrusion of the side arm of the sub-cleaning tool mounted in the opposite direction to the confirmed rotating direction; and

increasing the rotational speed of the side brush mounted on the protruded side arm.

55. The control method according to claim 54, further comprising:

maintaining an inserted state of the side arms provided on the sub-cleaning tools for a designated time when rotation of the main body has been completed; and

protruding the inserted side arms of the sub-cleaning tools after the designated time has elapsed.

56. The control method according to claim 52, further comprising:

maintaining a protruded state of the side arms for a designated time when the obstacle is not detected during obstacle tracing;

inserting the side arms into the main body after the designated time has elapsed.

57. The control method according to claim 52, further comprising:

counting a number of protrusions of the first sub-cleaning tool and a number of protrusions of the second sub-cleaning tool within a designated region; and

inserting the first sub-cleaning tool and the second sub-cleaning tool into the main body when the counted number of protrusions of the first sub-cleaning tool or the counted number of protrusions of the first sub-cleaning tool is a designated number or more.

58. The control method according to claim 52, further comprising:

counting a number of protrusions of the first sub-cleaning tool and a number of protrusions of the second sub-cleaning tool for a reference time; and

inserting the first sub-cleaning tool and the second sub-cleaning tool into the main body when the counted number of protrusions of the first sub-cleaning tool or the counted number of protrusions of the first sub-cleaning tool is a designated number or more.

59. A control method of a cleaning robot which has a main body, a main cleaning tool mounted on the lower surface of the main body to perform cleaning, and sub-cleaning tools mounted on the side surfaces of the main body so as to be protruded from the inside to the outside of the main body, the control method comprising:

judging whether or not cleaning has been completed; and

controlling insertion of side arms of the sub-cleaning tools into the main body, when cleaning has been completed;

decreasing the rotational speeds of side brushes of the sub-cleaning tools; and

performing docking of the main body with a charging station.

60. The control method according to claim 59, further comprising:

confirming an amount of power of a battery;

comparing the confirmed amount of power of the battery with a reference amount;

maintaining operation of the main cleaning tool, when the confirmed amount of power of the battery is not below the reference amount; and

stopping operation of the main cleaning tool and additionally decreasing the rotational speed of the side brushes, when the confirmed amount of power of the battery is below the reference amount.

61. A control method of a cleaning robot which has a main body, a main cleaning tool mounted on the lower surface of the main body to perform cleaning, and sub-cleaning tools mounted on the side surfaces of the main body so as to be protruded from the inside to the outside of the main body, the control method comprising:

detecting an obstacle while performing traveling of the main body;

detecting a movement amount of the main body, when the obstacle is detected;

comparing a target movement amount corresponding to traveling of the main body and the detected movement amount;

judging that a jam of the obstacle into the sub-cleaning tools occurs, when the target movement amount and the detected movement amount are different;

inserting the sub-cleaning tools into the main body when jam of the obstacle into the sub-cleaning tools has occurred; and

controlling traveling of the main body.

62. The control method according to claim 61, further comprising:

judging the position of the obstacle when a distance to the obstacle is below a designated distance;

controlling insertion of the sub-cleaning tools and then changing the traveling direction of the main body when the obstacle is located in front of the main body;

changing the traveling direction of the main body to the rightward direction and then inserting the sub-cleaning tools into the main body when the obstacle is located at the left of the main body; and

changing the traveling direction of the main body to the leftward direction and then inserting the sub-cleaning tools into the main body when the obstacle is located at the right of the main body.

63. The control method according to claim 62, wherein the detection of the movement amount of the main body includes detecting movement displacement corresponding to the position and pose of the robot using a gyro sensor.

64. The control method according to claim 62, wherein the detection of the movement amount of the main body includes detecting movement displacement of the main body using images detected through an image detector.

65. A cleaning robot comprising:

a main body;

at least one sub-cleaning tool mounted on the main body configured to be protruded from or inserted into the inside of the main body;

a user interface to receive a command for a test mode to test whether or not the at least one sub-cleaning tool is abnormal and to output results of the test mode; and

a controller to control operation of the at least one sub-cleaning tool,

wherein the controller, when the command for the test mode is input through the user interface, controls at least one of protrusion and insertion of the at least one sub-cleaning tool and judges whether or not the at least one sub-cleaning tool is abnormal based on a signal generated when the at least one sub-cleaning tool is operated.