Robot cleaner, control system of robot cleaner, and control method of robot cleaner

Abstract

This invention relates to a robotic cleaner, a control system for the robotic cleaner, and a control method for the robotic cleaner. The invention includes: a robotic cleaner storing a map including information about traversable areas within a cleaning area, and the robotic cleaner traversing within the cleaning area; and a terminal for inputting cleaning commands to the robotic cleaner. The terminal responds to user input by setting a virtual designated area on the map, and when the terminal sets the designated area, the robotic cleaner moves to the designated area and travels within it, thereby providing the effect of centralized cleaning of any designated area arbitrarily specified by the user.

Description

Technical Field

[0001] Various embodiments of this disclosure relate to a robotic cleaner, a control system for a robotic cleaner, and a control method for a robotic cleaner; more specifically, they relate to a robotic cleaner that cleans a floor surface while moving through a cleaning area on a pre-mapped map, a control system for a robotic cleaner, and a control method for a robotic cleaner. Background Technology

[0002] A cleaner is a device that performs cleaning by sucking in or wiping away dust or foreign objects from the area to be cleaned.

[0003] Such cleaners can be divided into manual cleaners, which perform cleaning while the user moves the cleaner directly, and automatic cleaners, which perform cleaning while moving on their own.

[0004] Here, the robotic cleaner moves autonomously within the area to be cleaned while sucking up foreign objects such as dust from the floor. Furthermore, the robotic cleaner can clean automatically while moving within the cleaning area using obstacle sensors or other sensors installed therein, or it can be controlled to clean manually while moving using a remote controller wirelessly connected to the robotic cleaner.

[0005] Meanwhile, Korean Patent Application Publication No. 10-2018-0085309 discloses a control method for a robotic cleaner that restricts its movement by setting a specific area on the terminal.

[0006] In the control method of the robotic cleaner, a map of the cleaning area that the robotic cleaner can travel through is generated, and virtual walls are set on the map to restrict the entry of the robotic cleaner.

[0007] However, the limitation of the aforementioned robotic cleaner is that it only stores a single map and cleans only a preset area, but cannot store multiple maps to clean different areas depending on the situation.

[0008] Meanwhile, Korean Patent Application Publication No. KR10-2019-0105216A discloses a robotic cleaner that uses artificial intelligence to determine the subordinate spaces of multiple members on a map to determine cleaning priorities.

[0009] In the aforementioned robotic cleaner, artificial intelligence can be used to set up multiple subordinate spaces on a mapped map, and cleaning priorities can be determined for each subordinate space.

[0010] However, while the aforementioned robotic cleaners can distinguish rooms and assign features to members, their limitation lies in not storing multiple maps to select areas to be cleaned based on the situation (regardless of the members). Summary of the Invention

[0011] Technical issues

[0012] One object of this disclosure is to provide a robotic cleaner, a control system for a robotic cleaner, and a control method for a robotic cleaner, which are designed to overcome the problems of conventional robotic cleaners, control systems, and control methods as described above, and are capable of selecting the area to be cleaned and the cleaning sequence as appropriate.

[0013] Another object of this disclosure is to provide a robot cleaner, a control system for a robot cleaner, and a control method for a robot cleaner, which allows users to set and add new situations.

[0014] Technical solution

[0015] To achieve the above objectives, according to embodiments of the present disclosure, a robotic cleaner configured to clean a floor surface while moving within a cleaning area on a pre-mapped map includes: a main body housing a battery and at least one motor; a drive unit configured to move the main body; a cleaning unit configured to clean the floor surface; and a control unit configured to control the drive unit and the cleaning unit, wherein the control unit stores a plurality of maps, each map including information on traversable areas within the cleaning area, and the main body can move along any one of the plurality of maps.

[0016] At this time, the subject can move along any of the multiple preset maps within a preset time.

[0017] Alternatively, the control unit can select any one of multiple maps based on the cleaning command input from the terminal.

[0018] Alternatively, the control unit can select any one of the multiple maps based on the location of the terminal that inputs the cleaning command.

[0019] To achieve the above objectives, according to embodiments of the present disclosure, a control system for a robotic cleaner includes: a robotic cleaner that stores a map including information about traversable areas within a cleaning area and is configured to traverse within the cleaning area; and a terminal configured to input cleaning commands to the robotic cleaner, wherein the terminal displays the map, shows multiple divided areas on the map, and sets the divided area as a designated area in response to user input, and the robotic cleaner stores multiple maps, moves to the designated area of ​​any one of the multiple maps, and can traverse within the designated area.

[0020] At this point, the terminal sets the cleaning order for the divided area, and the robot cleaner can move within the divided area according to the cleaning order set in the terminal.

[0021] To achieve the above objectives, according to embodiments of the present disclosure, a control method for a robotic cleaner includes the steps of: displaying a map stored in the robotic cleaner on a terminal, and storing from the terminal a map corresponding to the map, which sets a designated area for the robotic cleaner to travel; selecting any one of a plurality of maps stored in the robotic cleaner; and traveling in the designated area of ​​the selected map.

[0022] At this point, during the map storage process, multiple divisions can be displayed on the map, and specific areas can be set within these divisions.

[0023] Additionally, in the step of selecting any one of multiple maps, one can select any one of the multiple maps within a preset time.

[0024] Alternatively, in the step of selecting any one of multiple maps, you can select any one of multiple maps based on the location of the terminal.

[0025] Beneficial effects

[0026] As described above, the robot cleaner, the control system of the robot cleaner, and the control method of the robot cleaner disclosed herein store multiple areas that the robot cleaner will travel to, and select one of them according to the situation, thereby providing the effect of performing cleaning in various situations.

[0027] In addition, it provides the convenience of allowing users to set and add new situations. Attached Figure Description

[0028] Figure 1 This is a diagram used to explain the control system of a robotic cleaner according to embodiments of the present disclosure.

[0029] Figure 2 This is a perspective view of a robotic cleaner according to an embodiment of the present disclosure.

[0030] Figure 3 yes Figure 2 Floor plan.

[0031] Figure 4 yes Figure 2 Side view.

[0032] Figure 5 This is a diagram used to explain the control of a robotic cleaner according to an embodiment of the present disclosure.

[0033] Figure 6 This is a block diagram of a terminal according to an embodiment of the present disclosure.

[0034] Figure 7 This is a flowchart illustrating a control method for a robotic cleaner according to an embodiment of the present disclosure.

[0035] Figure 8 This is a diagram showing a map to explain the first case of the control method for a robotic cleaner according to an embodiment of the present disclosure.

[0036] Figure 9 This is a diagram showing a second case in the control method of the robotic cleaner according to an embodiment of the present disclosure.

[0037] Figure 10 This is a diagram showing a third case in the control method of the robotic cleaner according to an embodiment of the present disclosure.

[0038] Figure 11 This is a diagram showing a fourth case in the control method of the robotic cleaner according to an embodiment of the present disclosure. Detailed Implementation

[0039] In the following, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0040] Because this disclosure can be modified in various ways and has various embodiments, specific embodiments will be illustrated in the accompanying drawings and described in detail in the detailed description. However, this is not intended to limit this disclosure to the specific embodiments and should be understood to include all modifications, equivalents, or substitutions that are included within the spirit and technical scope of this disclosure.

[0041] In describing this disclosure, terms such as first, second, etc., may be used to describe various components, but components may not be limited to these terms. These terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of this disclosure, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

[0042] The term “and / or” can include a combination of multiple related listed items or any one of multiple related listed items.

[0043] When a component is referred to as "connected" or "linked" to another component, it is understood that it can be directly connected to or linked to that other component, but other components may exist in between. On the other hand, when a component is referred to as "directly connected" or "directly linked" to another component, it is understood that no other components exist in between.

[0044] The terminology used in this application is for describing particular embodiments only and is not intended to limit this disclosure. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0045] In this application, terms such as “comprising” or “including” are intended to specify the presence of features, quantities, steps, operations, components, parts or combinations thereof described in the specification, and it is understood that they do not preclude the possibility of the presence or addition of one or more other features, quantities, steps, operations, components, parts or combinations thereof.

[0046] Unless otherwise defined, all terms used herein (including technical or scientific terms) may have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms as defined in common dictionaries may be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and unless expressly defined in this application, they may not be interpreted in an idealized or overly formal sense.

[0047] Furthermore, the following embodiments are provided to provide a more complete explanation to those skilled in the art, and for the sake of clarity, the shape, size, etc. of the elements in the accompanying drawings may be exaggerated.

[0048] Figure 1 This is a diagram illustrating the control system of a robotic cleaner according to embodiments of the present disclosure. Figures 2 to 4 This is a diagram illustrating an embodiment of the robotic cleaner according to the present disclosure.

[0049] According to an embodiment of this disclosure, the robotic cleaner 1 is placed on a floor and configured to clean the floor while moving along the floor surface (B). Therefore, in the following description, the vertical direction will be defined and described based on the state in which the robotic cleaner 1 is placed on the floor.

[0050] Furthermore, based on a pair of drive wheels 151, the side to which the agitator 141, described later, is connected will be defined and described as the front side (F).

[0051] The “lowest part” of each component described in the embodiments of this disclosure may be the part located at the bottom of each component when the robotic cleaner 1 according to the embodiments of this disclosure is placed on the floor and used, or it may be the part closest to the floor.

[0052] The robotic cleaner 1 according to an embodiment of the present disclosure includes a main body 110, a dust container 120, a dust separation unit (not shown), a cleaning unit 140, a drive unit 150, a battery (not shown), a suction motor 145, a sensing unit 230, and a control unit 270.

[0053] The main body 110 can form the overall appearance of the robot cleaner 1. Each component forming the robot cleaner 1 can be connected to the main body 110, and some components forming the robot cleaner 1 can be housed inside the main body 110.

[0054] Specifically, the main body 110 may house components of the robotic cleaner 1 within its internal space. As an example, the main body 110 may house a battery (not shown) and at least one motor within its internal space.

[0055] In embodiments of this disclosure, the body 110 may be configured to have a width (or diameter) greater in the horizontal direction (parallel to the X and Y directions) than its height in the vertical direction (parallel to the Z direction). Such a body 110 helps the robotic cleaner 1 to form a stable structure and provides a structure that facilitates obstacle avoidance when the robotic cleaner 1 moves (travels).

[0056] When viewed from above or below, the main body 110 can be formed into various shapes, such as circular, oval, or rectangular shapes.

[0057] The main body 110 can be divided into a lower main body 111 and an upper main body 112, and the lower main body 111 and the upper main body 112 can be connected to form a space therein.

[0058] The lower body 111 is connected to the upper body 112 to form a space capable of accommodating a battery (not shown), at least one sensor, and at least one motor.

[0059] Although not shown, an air intake for introducing air and a hole for receiving a pair of drive wheels 151 may be formed in the lower body 111.

[0060] The suction port can be a channel through which dust from the floor surface is introduced. In addition, the suction port can communicate with a suction flow path (not shown) formed inside the body 110, and the suction flow path can communicate with the internal space of the dust container 120.

[0061] Meanwhile, an exhaust flow path can be further provided in the lower body 111. One side of the exhaust flow path (not shown) can communicate with the internal space of the dust container 120, and the other side can communicate with the exhaust port (not shown). At this time, a filter can be installed at the exhaust port.

[0062] With this configuration, air introduced through the suction port flows into the dust container 120 through the suction flow path, and air passing through the dust separation unit (not shown) can be discharged to the exhaust port through the exhaust flow path.

[0063] The agitator 141, described later, can be rotatably housed in the suction port. With this configuration, dust around the suction port can be guided into the suction port by the rotation of the agitator 141, thereby improving dust suction efficiency.

[0064] Furthermore, at least one auxiliary wheel 111a can be provided on the bottom surface of the lower body 111. For example, an auxiliary wheel 111a can be provided on the front side and a rear side of the bottom surface of the lower body 111. With such a configuration, the auxiliary wheel 111a can minimize the friction between the robot cleaner 1 and the floor surface, and at the same time guide the movement of the robot cleaner 1.

[0065] The upper body 112 can form the upper appearance of the robotic cleaner 1. Although not shown, a display can be provided on the upper body 112.

[0066] Although not shown, the robotic cleaner 1 of this disclosure may include a bumper. The bumper is attached along the edge of the body 110 and configured to move relative to the body 110.

[0067] The buffer can be attached along a portion of the edge of the body 110, or it can be attached along the entire edge of the body 110. At least one elastic member (not shown) can be provided between the buffer and the body 110. With such a configuration, when the buffer comes into contact with an obstacle or the like and moves relative to the center of the body 110, the buffer can return to its original position by the restoring force of the elastic member (not shown), and absorb or disperse the impact applied to the buffer to prevent and reduce the transmission of the impact to the body 110.

[0068] Additionally, the main body 110 of the robot cleaner 1 according to the embodiments of this disclosure may further include a dust container cover 113.

[0069] The dust container lid 113 is rotatably connected to the body 110 via a hinge, and when connected to the dust container 120, it is configured to completely cover the top surface of the dust container 120. The hinge is configured to elastically press the dust container lid 113 upward, such that when not connected to the dust container 120, the dust container lid 113 can be positioned in an upwardly tilted state relative to the top surface of the dust container 120.

[0070] The dust container lid 113 is formed into an elliptical shape that extends in the front-back direction of the main body 110, and when attached to the dust container 120, it can be configured to completely cover the circular dust container 120. The front-back length of the dust container lid 113 corresponding to the front-back direction of the main body 110 can be formed to be longer than the left-right length of the dust container lid 113 corresponding to the left-right direction of the main body 110, and the left-right length can be formed to be equal to or longer than the radius of the dust container lid 113.

[0071] The robotic cleaner 1 may include a dust container 120. The dust container 120 can collect foreign objects such as dust.

[0072] The dust container 120 can be configured to draw in external dust and air and store the dust.

[0073] The dust container 120 can store dust introduced through the suction flow path. A dust inlet communicating with the suction flow path can be formed in the dust container 120, an internal space for storing dust can be formed therein, and an air outlet in which air can be discharged can be formed therein.

[0074] Meanwhile, a dust separation unit (not shown) can be installed inside the dust container 120. The dust separation unit (not shown) separates dust through cyclone flow to collect dust and exhaust air.

[0075] The dust separation unit (not shown) includes a cyclone section (not shown).

[0076] A cyclone (not shown) can separate dust from air through a spiral flow. In other words, the cyclone (not shown) can separate dust from air using centrifugal force applied according to the spiral flow of air.

[0077] The cyclone section (not shown) may include at least one cyclone that can cause a spiral flow of air.

[0078] Therefore, the air and dust drawn into the dust container 120 flow spirally inside the dust separation unit (not shown), so that the dust can be separated and fall.

[0079] The cleaning unit 140 can suck up dust and air from the floor surface to collect the dust.

[0080] The cleaning unit 140 may include an agitator 141 and a suction motor 145.

[0081] The agitator 141 is rotatably equipped with multiple brushes to guide external dust and air into the dust container 120. At this time, at least one gear may be provided in the agitator 141.

[0082] Meanwhile, in the agitator 141 of this embodiment, a separate agitator motor 142 is installed to receive rotational power, and according to the embodiment, the rotational power can be received from a drive motor or from a suction motor 145.

[0083] The suction motor 145 can generate suction that draws in external dust and air through the suction inlet. As an example, the suction motor 145 can be an electric motor. External dust and air can be drawn into the suction inlet by the suction generated by the suction motor 145 and reach the dust container 120 after passing through the suction flow path.

[0084] The drive unit 150 is disposed in the main body 110 and is configured to travel on the floor surface.

[0085] The drive unit 150 may include a drive wheel 151 and an actuator 152. The drive wheel 151 may be accommodated in a hole formed in the lower body 111 and connected to the actuator 152. The actuator 152 may be connected to the body 110.

[0086] The drive wheel 151 is disposed in the main body 110 and configured to roll on the floor surface.

[0087] The drive wheel 151 may consist of a first drive wheel and a second drive wheel. In this case, the first drive wheel may be formed identically or symmetrically with the second drive wheel. For example, if the first drive wheel is located on the left side of the robot cleaner 1, the second drive wheel may be located on the right side of the robot cleaner 1, and in this case, the first drive wheel and the second drive wheel may be symmetrical to each other.

[0088] Actuator 152 may include a drive motor and gears. In this case, the drive motor is housed within body 110 and configured to power drive wheel 151. The drive motor may include a first drive motor and a second drive motor.

[0089] The drive motor can be composed of an electric motor. Multiple gears are configured to mesh and rotate with each other, connecting the drive motor and the drive wheel, and transmitting the rotational power of the drive motor to the drive wheel. Therefore, when the drive motor's rotating shaft rotates, the drive wheel can rotate.

[0090] In embodiments of this disclosure, the actuator 152 may be disposed immediately next to the drive wheel 151. With this configuration, the loss of power transmitted from the actuator 152 to the drive wheel 151 can be minimized.

[0091] With this configuration, when the drive motor is operated, the drive wheel rotates, and the main body 110 can travel on the floor surface at a predetermined speed.

[0092] Although not shown, the battery is connected to the main body 110 and configured to power other components forming the robotic cleaner 1. The battery (not shown) can also power the actuator 152.

[0093] In addition, a battery (not shown) can power the suction motor 145. Furthermore, a battery (not shown) can power the sensing unit 230 and the control unit 270.

[0094] In embodiments of this disclosure, the battery (not shown) can be charged by an external power source, and for this purpose, a charging terminal for charging the battery (not shown) can be provided on one side of the body 110 or on the battery (not shown) itself.

[0095] In the robotic cleaner 1 of the embodiments of this disclosure, a battery (not shown) can be connected to the main body 110. Specifically, the battery (not shown) can be housed in an internal space formed by connecting the lower main body 110 and the upper main body 112.

[0096] at the same time, Figure 5 An example of a configuration for controlling a robotic cleaner 1 according to an embodiment of the present disclosure is shown.

[0097] Reference Figure 5 The robot cleaner 1 according to the embodiments of the present disclosure may include at least one or a combination of a communication unit 210, an input unit 220, a sensing unit 230, an output unit 240, a power supply unit 250, a memory 260 and a control unit 270.

[0098] At this time, due to Figure 5 The components illustrated are not essential, let alone the possibility of implementing robotic cleaners with more or fewer components. Each component will be described below.

[0099] First, the power supply unit 250 includes a battery (not shown) that can be charged by an external commercial power source to power the interior of the robotic cleaner. The power supply unit 250 supplies drive power to each component included in the robotic cleaner and can supply the operating power required for the robotic cleaner to move or perform specific functions.

[0100] At this time, the control unit 270 detects the remaining power of the battery (not shown), and when the remaining power is insufficient, controls the movement to a robot station (not shown) connected to an external commercial power source to receive charging current from the robot station (not shown) to charge the battery (not shown). The battery (not shown) is connected to a battery sensing unit to send the remaining battery level and charging status to the control unit 270. The output unit 240 can display the remaining battery level on a screen via the control unit.

[0101] Simultaneously, the input unit 220 receives various control commands for the robotic cleaner from the user. The input unit 220 may include one or more buttons, and for example, it may include a confirmation button, a setting button, etc. The confirmation button is used to receive commands from the user confirming detection information, obstacle information, location information, and map information, and the setting button is used to receive commands from the user to set information.

[0102] In addition, the input unit 220 may include an input reset button for canceling previous user input and receiving user input again, a delete button for deleting preset user input, a button for setting or changing the operation mode, a button for receiving a command to return to the robot station (not shown), etc.

[0103] Furthermore, the input unit 220 can be installed on the upper part of the robot cleaner as a hard key, soft key, touchpad, etc. Additionally, the input unit 220 can be used together with the output unit 240 in the form of a touchscreen.

[0104] Meanwhile, the output unit 240 can be mounted on the upper part of the robotic cleaner. Of course, the mounting location or mounting method can be varied. For example, the output unit 240 can display the battery status or travel plan on the screen.

[0105] Furthermore, the output unit 240 can output internal state information of the robotic cleaner detected by the sensing unit 230, such as the current state of each component included in the robotic cleaner. Additionally, the output unit 240 can display external state information, obstacle information, location information, map information, etc., detected by the sensing unit 230 on a screen. The output unit 240 can be formed from any one of a light-emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light-emitting diode (OLED).

[0106] The output unit 240 may further include a sound output device for acoustically outputting the operation process or result of the robotic cleaner performed by the control unit 270. For example, the output unit 240 may output a warning sound to the outside based on a warning signal generated by the control unit 270.

[0107] At this time, the sound output device can be a device for outputting sound, such as a buzzer or a speaker, and the output unit 240 can use audio data or message data with a predetermined pattern stored in the memory 260 to output to the outside through the sound output device.

[0108] Therefore, the robotic cleaner according to embodiments of this disclosure can output environmental information about the travel area on a screen via output unit 240, or output it as sound. According to another embodiment, the robotic cleaner can send map information or environmental information to a terminal device via communication unit 210, causing the terminal device to output the image or sound to be output via output unit 240.

[0109] Meanwhile, the communication unit 210 is connected to the terminal device and / or another device located in a specific area (in this specification, the term "household appliance" is used interchangeably) via one of the following communication schemes: wired, wireless, and satellite communication, in order to send and receive signals and data.

[0110] The communication unit 210 can send data to and receive data from another device located within a specific area. This other device can be any device that can connect to a network to send and receive data; examples include devices such as air conditioners, heating devices, air purifiers, lights, televisions, and automobiles. Furthermore, the other device can be a device that controls doors, windows, water valves, gas valves, etc. Additionally, the other device can be a sensor that senses temperature, humidity, atmospheric pressure, gas, etc.

[0111] Meanwhile, the memory 260 stores control programs and data used to control or drive the robotic cleaner. The memory 260 can store audio information, image information, obstacle information, location information, map information, etc. Furthermore, the memory 260 can store information related to the travel mode.

[0112] The memory 260 primarily uses non-volatile memory. Here, non-volatile memory (NVM, NVRAM) is a storage device that can maintain stored information even when power is not supplied, and examples include ROM, flash memory, magnetic computer storage devices (e.g., hard disk, disk drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, etc.

[0113] Meanwhile, the sensing unit 230 may include at least one of an external signal sensing sensor, a front sensing sensor, a cliff sensing sensor, a lower camera sensor, and an upper camera sensor.

[0114] External signal sensing sensors can detect external signals from the robotic cleaner. As examples, external signal sensing sensors can be infrared sensors, ultrasonic sensors, radio frequency (RF) sensors, etc.

[0115] The robot cleaner 1 can use an external signal sensing sensor to receive guidance signals generated by a robot station (not shown) to identify the position and orientation of the robot station (not shown). At this time, the robot station (not shown) can send guidance signals indicating direction and distance, enabling the robot cleaner 1 to return. In other words, the robot cleaner 1 can receive signals sent from the robot station (not shown) to determine its current position, set its direction of movement, and return to the robot station (not shown).

[0116] Simultaneously, the front sensing sensor can be installed at regular intervals along the front side of the robot cleaner 1, specifically along the outer peripheral surface of the side of the robot cleaner 1. The front sensing sensor is located on at least one side surface of the robot cleaner 1 to detect obstacles in front, and the front sensing sensor can sense objects, particularly obstacles, present in the direction of movement of the robot cleaner 1, and send the detection information to the control unit 270. That is, the front sensing sensor can sense protrusions, household items, furniture, wall surfaces, wall corners, etc., present in the movement path of the robot cleaner 1, and send its information to the control unit 270.

[0117] As an example, the front sensing sensor can be an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, etc., and the robotic cleaner can use one type of sensor as the front sensing sensor as needed, or use two or more types of sensors together.

[0118] As an example, ultrasonic sensors are typically used primarily to detect obstacles at a distance. An ultrasonic sensor includes a transmitter and a receiver, and the control unit 270 determines the presence or absence of an obstacle based on whether the ultrasonic waves radiated by the transmitter are reflected by an obstacle or the like and received by the receiver. The distance to the obstacle can be calculated using the ultrasonic radiation time and the ultrasonic reception time.

[0119] Furthermore, the control unit 270 compares the ultrasonic waves radiated from the transmitting unit with the ultrasonic waves received by the receiving unit, and can detect information related to the size of the obstacle. For example, the more ultrasonic waves received by the receiving unit, the larger the size of the obstacle can be determined by the control unit 270.

[0120] In one embodiment, multiple (e.g., five) ultrasonic sensors may be mounted along the outer peripheral surface of the front surface of the robotic cleaner. Preferably, the ultrasonic sensors are mounted on the front surface of the robotic cleaner such that the transmitting and receiving portions are arranged alternately.

[0121] In other words, the transmitting units can be arranged to be spaced apart from the front center of the main body to the left and right sides, and one, two, or more transmitting units can be arranged between the receiving units, which form a receiving area for ultrasonic waves from obstacles, etc. Using this arrangement, the receiving area can be expanded while reducing the number of sensors. The transmission angle of the ultrasonic waves can be maintained within a range that does not affect different signals, thus preventing crosstalk. Furthermore, the receiving sensitivities of the receiving units can be set differently from each other.

[0122] Furthermore, the ultrasonic sensor can be mounted upward at a predetermined angle so that the ultrasonic waves emitted from the ultrasonic sensor are output upward, and in this case, a predetermined blocking part can be further included to prevent the ultrasonic waves from radiating downward.

[0123] Furthermore, as mentioned above, the front sensing sensor can use two or more types of sensors together, and therefore, the front sensing sensor can use any type of sensor among infrared sensors, ultrasonic sensors, RF sensors, etc.

[0124] As an example, a front sensing sensor may include an infrared sensor as another type of sensor, in addition to an ultrasonic sensor.

[0125] Infrared sensors can be mounted on the outer surface of the robotic cleaner along with ultrasonic sensors. The infrared sensors can also detect obstacles present in front or to the sides, sending obstacle information to the control unit 270. In other words, the infrared sensors detect protrusions, household items, furniture, wall surfaces, wall corners, etc., present in the robotic cleaner's movement path and send their information to the control unit 270. Therefore, the main body of the robotic cleaner can move within a specific area without colliding with obstacles.

[0126] Meanwhile, cliff sensing sensors (or cliff sensors) can primarily use various types of optical sensors to sense obstacles on the floor supporting the body of the robotic cleaner.

[0127] In other words, the cliff sensing sensor is installed on the bottom surface of the robotic cleaner on the floor, and needless to say, it can be installed in different locations depending on the type of robotic cleaner. The cliff sensing sensor is located on the bottom surface of the robotic cleaner to sense obstacles on the floor, and like obstacle sensing sensors, the cliff sensing sensor can be an infrared sensor, ultrasonic sensor, RF sensor, position sensitive detector (PSD) sensor, etc., with a light-emitting part and a light-receiving part.

[0128] As an example, one of the cliff sensing sensors can be mounted on the front of the robotic cleaner, and the other two cliff sensing sensors can be mounted opposite each other on the rear.

[0129] For example, a cliff sensing sensor can be a PSD sensor, but it can also consist of multiple different types of sensors.

[0130] PSD sensors use a single pn junction that utilizes the surface resistance of a semiconductor to detect the short- and long-range position of incident light. PSD sensors include one-dimensional PSD sensors that detect light only along a single axis and two-dimensional PSD sensors that can detect the position of light on a plane; both can have a pin photodiode structure. PSD sensors are a type of infrared sensor and measure distance using infrared light by emitting infrared radiation and then measuring the angle of the infrared radiation reflected back from an obstacle. In other words, PSD sensors use triangulation to calculate the distance to an obstacle.

[0131] PSD sensors consist of a light-emitting part that emits infrared light toward an obstacle and a light-receiving part that receives infrared light reflected back from the obstacle, and are typically configured as modules. When using a PSD sensor to sense an obstacle, stable measurements can be obtained regardless of the obstacle's reflectivity or color difference.

[0132] Control unit 270 measures the infrared angle between the infrared emission signal emitted by the cliff sensing sensor toward the ground and the reflected signal reflected by the obstacle and received, thereby sensing the cliff and analyzing its depth.

[0133] Simultaneously, the control unit 270 can determine whether to proceed based on the ground conditions of the cliff sensed by the cliff sensing sensor, and determine whether to proceed through the cliff based on the determination result. For example, the control unit 270 determines the presence or absence of the cliff and its depth using the cliff sensing sensor, and then only allows passage through the cliff if a reflected signal is detected by the cliff sensing sensor.

[0134] As another example, the control unit 270 can use cliff sensing sensors to determine the lifting phenomenon of the robotic cleaner 1.

[0135] Simultaneously, a lower camera sensor is positioned on the bottom surface of the robotic cleaner 1 to acquire image information about the downward direction (i.e., the floor surface (or the surface to be cleaned)) during movement. The lower camera sensor can also be referred to as an optical flow sensor. The lower camera sensor converts the image input from the image sensor located within the sensor to generate image data in a predetermined format. The generated image data can be stored in memory 260.

[0136] Furthermore, one or more light sources can be mounted adjacent to the image sensor. These light sources illuminate a predetermined area of ​​the floor surface captured by the image sensor. That is, when the robotic cleaner moves along the floor surface in a specific area, if the floor surface is flat, a constant distance is maintained between the image sensor and the floor surface. On the other hand, when the robotic cleaner moves on a floor surface with unevenness, it moves a predetermined distance or more due to the irregularities and obstacles on the floor surface. In this case, the one or more light sources can be controlled by the control unit 270 to adjust the amount of illumination. The light source can be a light-emitting element capable of adjusting the amount of light, such as a light-emitting diode (LED).

[0137] Using a lower camera sensor, control unit 270 can detect the position of the robotic cleaner regardless of slippage. Control unit 270 compares and analyzes image data captured by the lower camera sensor over time to calculate the distance and direction of movement, and based on this, can calculate the position of the robotic cleaner. By utilizing image information about the downward direction of the robotic cleaner through the lower camera sensor, control unit 270 can perform robust corrections against slippage for positions of the robotic cleaner calculated in other ways.

[0138] Meanwhile, the upper camera sensor can be mounted facing the top or front of the robotic cleaner to capture the surrounding environment of the robotic cleaner. When the robotic cleaner includes multiple upper camera sensors, these camera sensors can be formed on the upper or side surface of the robotic cleaner at a predetermined distance or predetermined angle.

[0139] Meanwhile, the sensing unit 230 can be configured to sense the movement (relative movement) of the buffer relative to the body 110. Such a first sensor 181 can be implemented using a micro switch, an optical interruptor, a tactile switch, etc.

[0140] Meanwhile, the sensing unit 230 may further include a displacement sensor.

[0141] The displacement sensor is mounted on the bottom surface (rear surface) of the main body 110 and is capable of measuring the distance moved along the floor surface.

[0142] Meanwhile, the sensing unit 230 may further include an angle sensor.

[0143] The angle sensor is located inside the main body 110 and is capable of measuring the movement angle of the main body 110.

[0144] As an example, the angle sensor can use a gyroscope sensor that measures the rotational speed of the body 110. The gyroscope sensor can use the rotational speed to detect the orientation of the robotic cleaner 1.

[0145] With this configuration, the angle sensor can detect the angle of the direction of travel of the robot cleaner 1 based on a predetermined virtual line.

[0146] Meanwhile, an accelerometer can be installed in the dust container cover 113. The accelerometer can sense the gravitational acceleration acting on it by dividing it into mutually perpendicular X, Y, and Z vectors.

[0147] Meanwhile, the control unit 270 can be configured to control the operation of the actuator 152 according to preset information or real-time information. For the control unit 270 to control the robot cleaner 1, a storage medium for storing the application can be provided in the robot cleaner 1, and the control unit 270 can be configured to drive the application according to information input to the robot cleaner 1, information output from the robot cleaner 1, etc., thereby controlling the robot cleaner 1.

[0148] The control unit 270 can control the direction of travel of the robot cleaner 1. That is, it can control the rotational speed of each of the pair of drive motors provided in the actuator 152.

[0149] At this time, the control unit 270 can control the robot cleaner 1 to perform straight-line movement or straight-line reciprocating movement, and can also control the robot cleaner 1 to move in an overlapping manner relative to a predetermined area. In addition, the control unit 270 can control the robot cleaner 1 to move along a preset movement pattern.

[0150] When the buffer of the robotic cleaner 1 comes into contact with an obstacle, the control unit 270 can control the robotic cleaner 1 to perform an obstacle avoidance operation and can be configured to control the operation of the actuator 152 based on information provided by the sensing unit 230. For example, when the buffer comes into contact with an obstacle while the robotic cleaner 1 is moving, the sensing unit 230 can identify the position of the buffer contact, and the control unit 270 can control the operation of the actuator 152 to move away from such a contact position.

[0151] Based on the information provided by the sensing unit 230, when the distance between the robot cleaner 1 and the obstacle is equal to or less than a predetermined value, the control unit 270 can control the operation of the actuator 152 to change the direction of travel of the robot cleaner 1 or to move the robot cleaner 1 away from the obstacle.

[0152] In addition, the control unit 270 can control the operation of the actuator 152 based on the distance sensed by the sensing unit 230, so that the robot cleaner 1 stops or changes its direction of travel.

[0153] The control unit 270 can control the cleaning unit 140. Specifically, the control unit 270 can control the output of the suction motor 145. That is, the control unit 270 can control the rotational speed of the suction motor 145. In addition, the control unit 270 can also control the rotational speed of the agitator 141.

[0154] Furthermore, the control unit 270 can control the output of the suction motor 145 based on the amount of dust on the floor surface. That is, the control unit 270 can sense the amount of dust on the floor surface through the sensing unit 230, and when it is determined that the amount of dust on the floor surface is greater than a predetermined reference value, it can increase the output of the suction motor 145.

[0155] In addition, the control unit 270 can use the X, Y, and Z vector values ​​sensed by the accelerometer to sense whether the dust container cover 113 is open or closed.

[0156] Meanwhile, although not shown, the control system of the robot cleaner 1 according to the embodiments of this disclosure may include a robot station.

[0157] The robot station includes a communication unit capable of transmitting different types of signals, and the communication unit can perform wireless communication with the communication unit 210 of the cleaner 1.

[0158] Based on the signal received from the robot station (not shown) by the communication unit 210, the control unit 270 can control the actuator 152 so that the main body of the cleaner 100 is docked at the robot station (not shown).

[0159] When the remaining capacity of the battery (not shown) drops to equal or below the limit capacity, the control unit 270 can move the main body in a direction toward the robot station (not shown), and when the main body approaches the robot station (not shown), the control unit 270 can control the actuator 152 to initiate the docking function.

[0160] Additionally, the robot station (not shown) may further include a dust collection unit, a dust collection motor, and a flow path.

[0161] The dust collection unit and dust collection motor (not shown) can be housed inside the housing of the robot station (not shown), and the connecting part can be located below the housing of the robot station (not shown). In this case, the connecting part can be exposed to the outside of the robot station (not shown) to form an appearance together with the housing.

[0162] At this point, the connecting part includes a base plate and a dust collection hole. The base plate can be configured to allow the robot cleaner 1 to climb for connection. The inclination of the base plate can be determined according to the shape of the lower body 111 of the robot cleaner 1.

[0163] Therefore, the robot cleaner 1 can be attached to the upper side of the base plate.

[0164] The connecting part may include a dust collection hole provided at a position corresponding to the position of the dust container 120 of the robot cleaner 1 as set according to the connected state of the robot cleaner 1.

[0165] With this configuration, when the suction of the dust collection motor (not shown) is applied through the dust collection hole, the dust stored in the dust container 120 can flow to the dust collection hole through the shortest path, thereby improving the dust collection efficiency.

[0166] Meanwhile, the flow path section can be formed in the connecting section. The flow path section can be configured to communicate with the dust collection hole.

[0167] The dust collection unit may refer to a dust collection bag that collects dust drawn from inside the dust container 120 by a dust collection motor (not shown).

[0168] The dust collection unit can be detachably attached to the housing of the robot station (not shown).

[0169] Therefore, the dust collection unit can be detached from and processed from the robot station (not shown), and a new dust collection unit can be attached to it. In other words, the dust collection unit can be defined as a consumable component.

[0170] The dust bag can be configured to expand in volume and contain dust when suction is generated by a dust collection motor (not shown). For this purpose, the dust bag can be made of a material that allows air to pass through but not foreign matter such as dust. As an example, the dust bag can be made of a non-woven fabric material and can have a hexahedral shape when expanded.

[0171] Therefore, user convenience is improved because users do not need to tie the dust collection bag separately.

[0172] A dust collection motor (not shown) may be installed below the dust collection unit. The dust collection motor (not shown) may apply suction to the flow path. In this way, the dust collection motor (not shown) may provide suction to draw dust from the dust container 120 of the robot cleaner 1.

[0173] The flow path section can connect the dust container 120 of the robot cleaner 1 to the dust collection unit.

[0174] The flow path can be formed backward from the connecting part, bent, and then formed upward.

[0175] Therefore, the dust sucked into the dust container 120 of the robot cleaner 1 can be collected into the dust collection unit through the flow path.

[0176] According to the operation of the robot station (not shown), the dust container 120 of the robot cleaner 1 can be emptied as follows.

[0177] First, the robot cleaner 1 moves and ascends to a base plate connected to a robot station (not shown). At this point, the robot cleaner 1 can determine if it is correctly connected by checking whether the charging terminal of the robot station (not shown) contacts the corresponding terminal of the robot cleaner 1. Alternatively, a separate sensor can be further installed in the robot station (not shown) to confirm the correct connection with the robot cleaner 1.

[0178] When the robot cleaner 1 is connected to the robot station (not shown), the dust collection motor (not shown) operates. The suction force applied by the operation of the dust collection motor (not shown) can be transmitted along the flow path and applied to the dust collection hole.

[0179] Figure 6 This is an internal block diagram of terminal 5 according to an embodiment of the present disclosure.

[0180] Reference Figure 6 According to embodiments of the present disclosure, the terminal 5 may include: a wireless communication unit 510 configured to exchange data with other electronic devices such as a server, a robot cleaner 1, etc.; and a control unit 580 configured to control the screen display of an application for controlling the robot cleaner 1 on a display unit 551 based on user input for executing the application.

[0181] In addition, terminal 5 may further include an audio / video (A / V) input unit 520, a user input unit 530, a sensing unit 540, an output unit 550, a memory 560, an interface unit 570, and a power supply unit 590.

[0182] The application for controlling the robot cleaner 1 may include a control screen capable of receiving user input related to control signals used to control the robot cleaner 1.

[0183] Meanwhile, the wireless communication unit 510 can directly receive location information, status information, etc. from the robot cleaner 1, or receive the location information, status information, etc. of the robot cleaner 1 through a server.

[0184] Meanwhile, the wireless communication unit 510 may include a broadcast receiving module 511, a mobile communication module 513, a wireless internet module 515, a short-range communication module 517, a GPS module 519, etc.

[0185] The broadcast receiving module 511 can receive at least one of a broadcast signal and broadcast-related information from an external broadcast management server via a broadcast channel. In this case, the broadcast channel may include a satellite channel, a terrestrial channel, etc.

[0186] The broadcast signal and / or broadcast-related information received by the broadcast receiving module 511 can be stored in the memory 560.

[0187] The mobile communication module 513 transmits and receives wireless signals on a mobile communication network with at least one of a base station, an external terminal, and a server. Here, the wireless signals may include various forms of data transmitted and received based on voice call signals, video call signals, or text / multimedia messages.

[0188] The wireless internet module 515 refers to a module for wireless internet access, and the wireless internet module 515 can be built into or externally installed on the terminal 5 that controls the robot cleaner 1. For example, the wireless internet module 515 can perform Wi-Fi-based wireless communication or Wi-Fi Direct-based wireless communication.

[0189] The short-range communication module 517 is used for short-range communication and can support short-range communication using at least one of the following technologies: Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), Wi-Fi, Wi-Fi Direct, and Wireless Universal Serial Bus (Wireless USB).

[0190] Such a short-range communication module 517 can support wireless communication between the terminal 5 controlling the robot cleaner 1 and the wireless communication system, between the terminal 5 and the control device of another robot cleaner, or between the terminal 5 and the network where another mobile terminal or external server is located, via a wireless local area network. This wireless local area network can be a wireless personal area network (WLAN).

[0191] The Global Positioning System (GPS) module 519 can receive location information from multiple GPS satellites.

[0192] Meanwhile, the wireless communication unit 510 can use one or more communication modules to exchange data with the server.

[0193] The wireless communication unit 510 may include an antenna 505 for wireless communication, and in addition to an antenna for calling, it may also include an antenna for receiving broadcast signals.

[0194] The audio / video (A / V) input unit 520 is used to input audio signals or video signals, and may include a camera 521, a microphone 523, etc.

[0195] The user input unit 530 generates key input data input by the user for operation control of the terminal 5. For this purpose, the user input unit 530 may consist of a keyboard, a dome switch, a touchpad (resistive / capacitive), etc. In particular, when the touchpad and the display unit 551 form an interlayer structure, it can be referred to as a touchscreen.

[0196] The sensing unit 540 can sense the current state of the terminal 5, such as the open / closed state of the terminal 5, the location of the terminal 5, the presence or absence of user contact, etc., in order to generate sensing signals for controlling the operation of the terminal 5.

[0197] The sensing unit 540 may include a detection sensor 541, a pressure sensor 543, a motion sensor 545, etc. The motion sensor 545 may use an accelerometer, a gyroscope, a gravity sensor, etc., to sense the movement and position of the terminal 5. In particular, the gyroscope is a sensor that measures angular velocity and can sense the direction (angle) of rotation relative to a reference direction.

[0198] The output unit 550 may include a display unit 551, an audio output module 553, an alarm unit 555, a tactile module 557, etc.

[0199] Meanwhile, when the display unit 551 and the touchpad form an interlayer structure to constitute a touch screen, the display unit 551 can be used as an input device that allows users to input information through touch, in addition to being used as an output device.

[0200] In this case, the display unit 551 can display a screen showing the setting values ​​related to receiving control signals from the user to control the robot cleaner 1, and can display and output information processed in the terminal 5, such as switching the screen and displaying it on another screen according to the user input.

[0201] In other words, the display unit 551 is used to receive information via user touch input, and can also be used to display information that will be processed in the control unit 580, which will be described later.

[0202] The audio output module 553 outputs audio data received from the wireless communication unit 510 or stored in the memory 560. Such an audio output module 553 may include a speaker, a buzzer, etc.

[0203] The alarm unit 555 outputs a signal to notify terminal 5 of an event that has occurred. For example, the signal can be output in the form of vibration.

[0204] The haptic module 557 generates various haptic effects that the user can perceive. A representative example of the haptic effects generated by the haptic module 557 is a vibration effect.

[0205] The memory 560 may store programs for processing and control of the control unit 580, or perform functions for temporarily storing input or output data (e.g., phone books, messages, still images, videos, etc.).

[0206] Interface unit 570 serves as an interface to all external devices connected to terminal 5. Interface unit 570 receives data or power from such external devices and transmits it to each component inside terminal 5, and enables data inside terminal 5 to be transmitted to external devices (e.g., robotic cleaner 1).

[0207] The control unit 580 typically controls the overall operation of the terminal 5 by controlling the operation of the aforementioned units. For example, it can perform control and processing related to voice calls, data communication, and video calls. Furthermore, the control unit 580 may include a multimedia playback module 581 for multimedia playback. The multimedia playback module 581 can be configured as hardware within the control unit 580 or as software separate from the control unit 580.

[0208] In addition, the control unit 580 can display a control screen for controlling the robot cleaner 1 on the display unit 551, control the switching of the control screen according to the user's touch input, and send control signals for controlling the robot cleaner 1 to the robot cleaner 1 based on the user input input through the display unit 551.

[0209] The power supply unit 590 receives external or internal power under the control of the control unit 580 to supply the power required for the operation of each component.

[0210] at the same time, Figure 4 The block diagram of terminal 5 shown is a block diagram for embodiments of this disclosure. Each component in the block diagram may be integrated, added, or omitted depending on the specifications of the actual control device being implemented.

[0211] In other words, two or more components can be combined into one component, or one component can be subdivided into two or more components as needed. Furthermore, the functions performed in each box are for illustrating embodiments of this disclosure, and their specific operations or apparatus do not limit the scope of this disclosure.

[0212] Figure 7 A flowchart illustrating a control method for a robotic cleaner according to an embodiment of the present disclosure is shown. Figure 8 This is a diagram showing a map to explain the first case in the control method of the robotic cleaner according to an embodiment of the present disclosure. Figure 9 This is a diagram showing a map to explain the second case in the control method of the robotic cleaner according to an embodiment of the present disclosure. Figure 10This is a diagram showing a map to explain a third case in the control method of the robotic cleaner according to an embodiment of this disclosure, and Figure 11 This is a diagram showing a fourth case in the control method of the robotic cleaner according to an embodiment of the present disclosure.

[0213] Reference Figures 7 to 11 The following describes a control method for a robotic cleaner according to embodiments of the present disclosure.

[0214] As a premise of this disclosure, the robotic cleaner 1 may include information about the surface to be cleaned. That is, a map of the area to be cleaned may be stored in the memory 260 of the robotic cleaner 1. As an example, the information about the surface to be cleaned may be map information mapped by the robotic cleaner 1 itself.

[0215] Conversely, when the robot cleaner 1 does not store a map for the cleaning area, or when a new map needs to be drawn, a map can be generated (mapped) by navigating the cleaning area using methods such as wall tracking. Furthermore, the robot cleaner 1 can generate a map even without a physical map, by acquiring obstacle information while cleaning the area.

[0216] Meanwhile, various known schemes can be applied as a method for generating maps by the robot cleaner 1, and their detailed descriptions will be omitted.

[0217] Furthermore, the map mapped by the robotic cleaner 1 can include multiple subdivided areas A1 to A8. In this case, the robotic cleaner 1 can assign attributes of the areas to each subdivided area using artificial intelligence. For example, the robotic cleaner 1 can acquire information about obstacles present in each subdivided area, or acquire voice information of the main active person, thereby assigning attributes to the areas. Assigning area attributes via artificial intelligence is a known technique, and its detailed description will be omitted.

[0218] As an example, refer to Figures 8 to 11 In the map shown, area A1 can be a dressing room, area A2 can be a master bedroom, area A3 can be a kitchen, area A4 can be a common space, area A5 can be a living room, area A6 can be a study, area A7 can be a hallway, and area A8 can be a children's room.

[0219] At this point, the attributes of a region can be displayed on terminal 5, and regions with the same attributes can be displayed in the same color. Furthermore, information about specific obstacles can be displayed on the map in the form of images, icons, emoticons, special characters, etc.

[0220] The control method of the robot cleaner 1 according to the present disclosure may include step S10: displaying a map stored in the robot cleaner 1 on a terminal 5, and storing a map corresponding to the map, which sets the designated area AD that the robot cleaner 1 will travel in.

[0221] Specifically, the map generated by the robot cleaner 1 is stored in the memory 260 and can be sent to an external device such as a remote controller, terminal 5 or other controller via the communication unit 210.

[0222] Terminal 5 executes a program or application for controlling the robot cleaner 1, and can display a map received and stored from the robot cleaner 1 on the screen.

[0223] When a cleaning command is entered into the displayed map, terminal 5 can send the entered cleaning command to robot cleaner 1.

[0224] On the map, such as Figures 8 to 11 As shown, multiple subdivisions A1 to A8 can be displayed differently from each other, and can be displayed with different colors or names based on their attributes. Furthermore, region attributes can be displayed, and regions with the same attributes can be displayed in the same color. Additionally, information about specific obstacles can be displayed on the map in the form of images, icons, emoticons, special characters, etc.

[0225] In addition, the location of the robot station of robot cleaner 1 can be displayed on the map.

[0226] The map can be subdivided into regions to additionally set other regions, and regions can also be modified by terminal 5.

[0227] Robot cleaner 1 and terminal 5 store the same map, and when the map is changed on either side, the changed data is sent to the other side so that the map can be updated.

[0228] In the control method of the robot cleaner according to the embodiments of the present disclosure, when it is necessary to add cleaning conditions, step S10 of storing the map is performed.

[0229] In step S10 of storing the map, a virtual designated area AD corresponding to the user input can be set on the map.

[0230] Terminal 5 responds to user input involving touch on a specific point, dragging after a touch, and multi-touch (e.g., touch input) by setting a designated area AD based on the number of touch points, the number of touches, the drag direction, and the drag shape.

[0231] For example, in step S10 of storing the map, a designated area AD can be set among the multiple division areas A1 to A8 on the terminal 5.

[0232] Terminal 5 can set at least one of the multiple partitioned regions A1 to A8 as a designated region AD corresponding to the user input. At this time, among the multiple partitioned regions A1 to A8, the region set as the designated region AD can be displayed differently from the regions that are not set, and can display different colors or different names for the regions.

[0233] Meanwhile, when there are two or more user inputs, for example, in response to touch, drag after touch, or multiple touches of two or more of the multiple division areas A1 to A8, the terminal 5 can set two or more of the multiple division areas A1 to A8 as the designated area AD.

[0234] At this time, terminal 5 can set the cleaning sequence for multiple divided areas A1 to A8.

[0235] When the user input contains a sequence, for example, terminal 5 can sequentially set two or more of the multiple partitioned regions A1 to A8. In this case, among the multiple partitioned regions A1 to A8, the regions set as the specified region AD can be displayed in the order they are set (see [link to documentation]). Figure 8 ).

[0236] When a designated area AD is set on the map, terminal 5 sends data about the designated area AD to robot cleaner 1.

[0237] Meanwhile, when multiple areas are set as designated areas in step S10 of storing the map, terminal 5 can set a travel mode for each designated area. This can vary depending on the usage environment, obstacle environment, and floor environment of each designated area.

[0238] As an example, the map of robot cleaner 1 may include data on the location of obstacles in the cleaning area, data on the material of the floor surface, etc. Furthermore, robot cleaner 1 can determine a suitable movement pattern by referring to the usage environment within the designated area AD, the location of obstacles, the material of the floor surface, etc. In addition, robot cleaner 1 can send such determination results to terminal 5 for display on the screen of terminal 5.

[0239] At the same time, when each movement pattern is set in the designated area AD, the shape of the movement pattern can be additionally displayed in the designated area AD on the map of terminal 5.

[0240] Subsequently, the robot cleaner 1 matches the data about the designated area AD received from the terminal 5 with the map to determine the location of the designated area AD, and can set this location as the target location for travel. In other words, the robot cleaner 1 calculates the location of the designated area AD as coordinates based on the designated area AD received from the terminal 5, determines the location on the map and the location in the actual cleaning area, and sets the designated area (target location for travel) of the robot cleaner 1.

[0241] Subsequently, in step S10 of storing the map, the control unit 270 of the robot cleaner 1 sets the designated area AD, the order of the designated area and the travel mode on the mapped map, and at the same time, the application of the map can be set.

[0242] At this point, in step S10 of storing the maps, multiple maps are stored in the robot cleaner 1.

[0243] As an example, such as Figure 8 As shown, in step S10 of storing the map, a map showing the first scenario where the child is sleeping can be stored.

[0244] In the first scenario, control unit 270 can exclude children's room A8 from the designated area on the map and set the remaining areas A1 to A7 as the designated areas. Furthermore, control unit 270 can set the cleaning sequence to begin from the area on the map furthest from children's room A8. Figure 8 (1 to 7 in the table). Furthermore, the control unit 270 can be set to a mode for rapid movement within a designated area. In this mode, the output of the suction motor 145 of the robot cleaner 1 can be reduced to below a preset output (turbo off). Simultaneously, the operation of the dust collection motor of the cleaner station (not shown) can be disabled.

[0245] Simultaneously, when the preset time is reached, the control unit 270 can determine that the first situation has occurred. At this time, the control unit 270 can receive information about the current time through the communication unit 210, or calculate information about the current time through its own timer, etc.

[0246] As another example, such as Figure 9 As shown, in step S10 of storing the map, a map showing the second scenario after the guest leaves can be stored.

[0247] In the second scenario, the control unit 270 can designate the areas primarily used by guests (kitchen A3, living room A5, and corridor A7) as designated areas. Furthermore, the control unit 270 can set a mode for repeatedly cleaning the designated areas, ensuring thorough cleaning. In this case, the output of the suction motor 145 of the robotic cleaner 1 can be increased to equal or greater than the preset output for cleaning (powerful activation).

[0248] At the same time, when the number of people detected by the camera sensor or other means increases to a preset number or more and then decreases, the control unit 270 can determine that a second situation has occurred.

[0249] As another example, such as Figure 10 As shown, in step S10 of storing the map, a map containing a third scenario where residents are away from home can be stored.

[0250] In the third scenario, the control unit 270 sets all cleaning areas A1 to A8 as designated areas, but the master bedroom A2, kitchen A3, and living room A5, which are mainly used by the residents, can be set as areas to be cleaned in a concentrated manner. In this case, the areas mainly used by the residents can be set individually for each resident. Furthermore, the control unit 270 can set a mode for repeatedly cleaning the areas to be cleaned in a concentrated manner. At this time, the output of the suction motor 145 of the robot cleaner 1 can be increased to be equal to or greater than the preset output for cleaning (powerful activation).

[0251] Meanwhile, when terminal 5 leaves home via its GPS module 519, control unit 270 can determine that a third situation has occurred.

[0252] Alternatively, when there are periods when residents regularly go out (e.g., weekday daytime), the aforementioned time period conditions can be set in the control unit 270, and when the time period conditions are met, it can be determined that a third situation has occurred.

[0253] As another example, such as Figure 11 As shown, in step S10 of storing the map, a map in which the fourth case of the presence of a pet is set can be stored.

[0254] In the fourth scenario, the control unit 270 sets all cleaning areas A1 to A8 as designated areas, but can be configured to avoid cleaning preset specific locations P1 to P2 (such as the pet's food bowl and sleeping area). Furthermore, preset specific locations P3, such as the pet's toilet, can be set as points to be cleaned intensively. Additionally, the control unit 270 can be configured to repeatedly clean the points to be cleaned intensively. In this case, the output of the suction motor 145 of the robot cleaner 1 can be reduced to below a preset output for cleaning to reduce stress on the pet (forceful shutdown). Simultaneously, the robot cleaner 1 identifies the pet via the sensing unit 230, and when the distance to the pet is equal to or less than a preset distance, the robot cleaner 1 can be configured to reduce the output of the suction motor 145.

[0255] At the same time, the control unit 270 can determine that a fourth condition has occurred within a preset date range at preset time intervals. This is for repeating cleaning according to the pet's molting cycle.

[0256] In addition, in step S10 of storing the map, the user can set the specified area AD, the order of the specified area and the travel mode according to possible situations, and at the same time, set the conditions for applying the map to additionally store the map.

[0257] Therefore, according to this disclosure, it has the effect of providing users with the convenience of setting and adding new situations.

[0258] The control method of the robot cleaner according to the embodiments of the present disclosure includes step S20: selecting any one of a plurality of maps stored in the robot cleaner 1.

[0259] In step S20, which involves selecting any one of multiple maps, the user can select any one of the multiple maps by inputting their own information.

[0260] Specifically, the user can select any one of the multiple stored maps through terminal 5. For example, the user can select the map corresponding to any one of the first to fourth scenarios through terminal 5.

[0261] For example, in step S20 of selecting any one of multiple maps, when it is determined that any one of the first to fourth situations has occurred, the control unit 270 can notify the user through the terminal 5 that any one of the first to fourth situations has occurred and recommend the selection of the map according to the corresponding situation.

[0262] As an example, when the preset time is reached, the control unit 270 determines that the first situation has occurred, and can recommend to the user to select a map based on the first situation through the terminal 5.

[0263] As another example, when the number of people detected by the camera sensor or the like increases to a preset number or more and then decreases, the control unit 270 determines that a second situation has occurred and can recommend to the user, via the terminal 5, a map based on the second situation.

[0264] As another example, when the terminal 5 leaves home via the GPS module 519, or when it is time for residents to go out regularly (e.g., during weekdays), the control unit 270 determines that a third situation has occurred and can recommend a map based on the third situation to the user via the terminal 5.

[0265] As another example, the control unit 270 determines that a fourth situation has occurred within a preset date range at preset time intervals, and can recommend to the user, via the terminal 5, a map based on the fourth situation.

[0266] Meanwhile, the map selection recommendation made by terminal 5 can be made through output unit 550.

[0267] Meanwhile, in step S20 of selecting any one of multiple maps, when a preset condition occurs, the control unit 270 can select any one of the multiple maps.

[0268] For example, in step S20 of selecting any one of multiple maps, when it is determined that any one of the first to fourth situations has occurred, the control unit 270 can select the map according to the corresponding situation.

[0269] As an example, when a preset time is reached, the control unit 270 can select a map based on the first situation.

[0270] Alternatively, when the number of people detected by the camera sensor or the like increases to a preset number or more and then decreases, the control unit 270 can select a map based on the second situation.

[0271] Alternatively, when terminal 5 leaves home via GPS module 519, or when it is time for residents to go out regularly (e.g., during weekdays), control unit 270 can select a map based on a third scenario.

[0272] Alternatively, the control unit 270 can select a map based on the fourth scenario at preset time intervals within a preset date range.

[0273] Furthermore, even when a preset condition occurs, the control unit 270 can prioritize the user's selection when user input is present. Additionally, the control unit 270 can notify the user that a preset condition has occurred, and simultaneously provide information about the currently selected map. This allows the user to change the map being applied.

[0274] The control method for a robotic cleaner according to an embodiment of the present disclosure includes step S30: traveling within a designated area of ​​a selected map.

[0275] In step S30, which involves moving within a designated area, the robot cleaner 1 moves to a designated area of ​​any one of the multiple maps selected, and can move within that designated area. Therefore, the main body 110 of the robot cleaner 1 can move along any one of the multiple maps.

[0276] At this time, the robot cleaner 1 can travel along the travel pattern set within the designated area AD. The robot cleaner 1 can perform various travel actions along the set travel pattern, such as straight travel, rotating travel, and turning travel.

[0277] Meanwhile, when multiple designated areas are sequentially set in step S10 of storing the map, the robot cleaner 1 can move within the designated areas according to the set cleaning order. At this time, when a movement mode is set for each designated area, the robot cleaner 1 can move according to each set movement mode.

[0278] For example, when the map based on the first scenario is selected, robot cleaner 1 travels through areas A1 to A7 to perform cleaning. Furthermore, robot cleaner 1 can proceed in order away from the children's room A8 (…). Figure 8 (Sequence 1 to 7) Travel and clean. Furthermore, the robotic cleaner 1 can travel primarily in a zigzag or straight-line pattern to move quickly within a designated area. At this time, the suction motor 145 of the robotic cleaner 1 can operate below a preset output. Simultaneously, the operation of the dust collection motor of the cleaner station (not shown) can be disabled.

[0279] Alternatively, when the map according to the second scenario is selected, the robot cleaner 1 moves through the kitchen A3, living room A5, and hallway A7 to perform cleaning. Furthermore, the robot cleaner 1 can repeatedly clean designated areas. In this case, the output of the suction motor 145 of the robot cleaner 1 can be operated by increasing the output to equal or greater than the preset output (powerful activation).

[0280] Alternatively, when the map according to the third scenario is selected, the robot cleaner 1 travels and cleans all cleaning areas, but cleaning can be performed by repeatedly cleaning the master bedroom A2, kitchen A3, and living room A5. In this case, the output of the suction motor 145 of the robot cleaner 1 can be operated by increasing the output to be equal to or greater than the preset output (powerful activation).

[0281] Alternatively, when the map according to the fourth scenario is selected, the robot cleaner 1 travels and cleans in all cleaning areas, but can clean while avoiding positions P1 to P2. Furthermore, cleaning position P3 can be repeated. At this time, the output of the suction motor 145 of the robot cleaner 1 can be reduced to less than a preset output (forced shutdown). Simultaneously, when the distance to the pet is equal to or less than a preset distance, the robot cleaner 1 can reduce the output of the suction motor 145.

[0282] Although the present disclosure has been described in detail above with reference to specific embodiments, this is intended to describe the present disclosure in detail, and the present disclosure is not limited thereto. Modifications or improvements may be apparent to those skilled in the art within the technical spirit of the present disclosure.

[0283] Simple modifications or variations to this disclosure fall within the scope of this disclosure, and the specific scope of protection of this disclosure will be defined by the appended claims.

Claims

1. A robotic cleaner that cleans a floor surface while traversing a cleaning area on a pre-mapped map, the robotic cleaner comprising: The main body, wherein the battery and at least one motor are housed; A drive unit that moves the main body; A cleaning unit that cleans the floor surface; as well as The control unit controls the drive unit and the cleaning unit. The control unit stores multiple maps, each map including information on traversable areas within the cleaning area. The subject moves along any one of the plurality of maps.

2. The robotic cleaner according to claim 1, wherein, The subject moves along any one of a plurality of preset maps at a preset time.

3. The robotic cleaner according to claim 1, wherein, The control unit selects any one of the plurality of maps based on the cleaning command input from the terminal.

4. The robotic cleaner according to claim 1, wherein, The control unit selects any one of the multiple maps based on the location of the terminal that inputs the cleaning command.

5. A control system for a robotic cleaner, the control system comprising: A robotic cleaner that stores a map including information about traversable areas within a cleaning area and travels within the cleaning area; as well as The terminal inputs cleaning commands to the robotic cleaner. The terminal displays the map, which shows multiple divided regions, and in response to user input, sets a divided region as a specified region. The robotic cleaner stores multiple maps, moves to a designated area in any one of the multiple maps, and travels within the designated area.

6. The control system for a robotic cleaner according to claim 5, wherein, The terminal is configured with a cleaning order for the divided areas, and The robotic cleaner travels within the designated area according to the cleaning sequence set in the terminal.

7. A control method for a robotic cleaner, the control method comprising: The steps include displaying a map stored in the robot cleaner on a terminal, and storing from the terminal a map corresponding to the map, which sets the designated area that the robot cleaner will travel in. The step of selecting any one of the multiple maps stored in the robotic cleaner; as well as The steps to take in a specified area of ​​the selected map.

8. The control method for a robotic cleaner according to claim 7, wherein, The steps of storing the map include displaying multiple subdivided regions on the map and setting the designated region within the subdivided regions.

9. The control method for a robotic cleaner according to claim 7, wherein, The step of selecting any one of the plurality of maps includes selecting any one of the plurality of maps within a preset time.

10. The control method for a robotic cleaner according to claim 7, wherein, The step of selecting any one of the plurality of maps includes selecting any one of the plurality of maps based on the location of the terminal.

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