Method for providing three-dimensional map for cleaning robot, and device therefor

Abstract

Provided are a device for providing a map with respect to a cleaning area and a method for controlling the device. The device may comprise: a display; a communication unit; at least one memory storing one or more instructions; and at least one processor, wherein the at least one processor executes the one or more instructions stored in the memory to: display, through the display, a three-dimensional map including walls and objects in a cleaning space in which a cleaning robot is located; on the basis of receiving a user input for selecting an object, hidden by a wall, as a cleaning area of the cleaning robot; change the wall such that the object is visible; and transmit location information of the object and information on a cleaning function configured for the object to the cleaning robot through the communication unit.

Description

Method for providing a three-dimensional map for a cleaning robot and a device therefor

[0001] Embodiments of the present disclosure relate to a device for providing a three-dimensional map for a cleaning robot, a method for controlling the device, and a computer-readable recording medium storing a computer program for performing the method for controlling the device.

[0002] Cleaning robots can move autonomously, vacuuming dust from the floor or mopping while simultaneously vacuuming. While moving, they can use location sensors to create a map of the cleaning area. Furthermore, they can transmit information about this map to the user's device via a server. With recent advancements in cleaning robot technology, cleaning robots can now create three-dimensional maps of their cleaning areas.

[0003] The user device can display a map of the cleaning robot. Furthermore, the user device can use the map to define an area and receive user input to configure functions for the cleaning robot for the defined area. Furthermore, the user device can provide cleaning results on the map.

[0004] One aspect of one embodiment of the present disclosure may provide a device that provides a map of a cleaning area of ​​a cleaning robot. The device includes a display, a communication unit, at least one memory storing one or more instructions, and at least one processor, wherein the at least one processor is capable of executing one or more instructions stored in the memory. The at least one processor may display, through the display, a three-dimensional map including walls and objects of a cleaning area in which the cleaning robot is located. Furthermore, the at least one processor may change the wall so that the object is visible based on a user input for selecting an object obscured by a wall as a cleaning area of ​​the cleaning robot. The at least one processor may transmit, through the communication unit, information regarding the location of the object and information regarding a cleaning function set for the object to the cleaning robot.

[0005] One aspect of one embodiment of the present disclosure may provide a method for a device to provide a map of a cleaning area of ​​a cleaning robot. The method for providing a map of a cleaning area may include displaying a three-dimensional map including walls and objects of a cleaning space in which the cleaning robot is located. The method for providing a map of a cleaning area may change the wall to make the object visible based on receiving a user input for selecting an object obscured by a wall as a cleaning area of ​​the cleaning robot. The method for providing a map of a cleaning area may include transmitting information about the location of the object and information about a cleaning function set for the object to the cleaning robot.

[0006] One aspect of one embodiment of the present disclosure may provide a computer-readable recording medium having recorded thereon a program for performing a method of providing a map of a cleaning area of ​​a cleaning robot on a computer.

[0007] FIG. 1 illustrates a method for a device to provide a three-dimensional map according to one embodiment of the present disclosure.

[0008] FIG. 2 illustrates a block diagram of a device, a server, and a cleaning robot according to one embodiment of the present disclosure.

[0009] FIG. 3 is a flowchart of a method for a device to provide a three-dimensional map according to one embodiment of the present disclosure.

[0010] FIG. 4 illustrates a method for providing a user interface for a device to set a cleaning area within a three-dimensional map, according to one embodiment of the present disclosure.

[0011] FIG. 5 illustrates a method for a device to provide a user interface for setting a cleaning area around a piece of furniture within a three-dimensional map, according to one embodiment of the present disclosure.

[0012] FIG. 6A is a flowchart of a method for changing only the wall surface around a selected object by a device according to one embodiment of the present disclosure.

[0013] FIG. 6B illustrates a method for a device to determine how to display a wall when an object within a 3D map is selected, according to one embodiment of the present disclosure.

[0014] FIG. 7 illustrates a method for a device to lower only a wall that obscures a selected object within a 3D map, according to one embodiment of the present disclosure.

[0015] FIG. 8 illustrates a method for a device to change a wall covering a selected object within a 3D map to transparent, according to one embodiment of the present disclosure.

[0016] FIG. 9 illustrates a method for a device to change the state of one of an inner wall and an outer wall in a three-dimensional map, according to one embodiment of the present disclosure.

[0017] FIG. 10 illustrates a method for a device to display obstacles detected while a cleaning robot is driving on a three-dimensional map, according to one embodiment of the present disclosure.

[0018] FIG. 11 illustrates a method for a device to obtain a default value of a wall height or wall transparency of a 3D map according to one embodiment of the present disclosure.

[0019] FIG. 12 illustrates a method for a device to indicate the current time of a cleaning robot on a three-dimensional map according to one embodiment of the present disclosure.

[0020] FIG. 13 illustrates a method for a device to indicate the current time of a cleaning robot on a three-dimensional map according to one embodiment of the present disclosure.

[0021] FIG. 14 illustrates a block diagram of a device according to one embodiment of the present disclosure.

[0022] In this disclosure, the expression “at least one of a, b or c” may refer to “a”, “b”, “c”, “a and b”, “a and c”, “b and c”, “all of a, b and c”, or variations thereof.

[0023] Below, with reference to the attached drawings, embodiments of the present disclosure are described in detail so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. Furthermore, in the drawings, parts irrelevant to the description are omitted for clarity of description of the present disclosure, and similar parts are designated with similar reference numerals throughout the specification.

[0024] The terms used in this disclosure are described as currently common terms, taking into account the functions mentioned herein. However, these terms may mean various other terms depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Therefore, the terms used in this disclosure should not be interpreted solely based on their names, but rather based on the meanings of the terms and the overall content of this disclosure.

[0025] Additionally, while terms such as first, second, etc. may be used to describe various components, the components should not be limited by these terms. These terms are used to distinguish one component from another.

[0026] In addition, the terminology used in this disclosure is only used to describe specific embodiments and is not intended to limit the present disclosure. The singular expression includes the plural meaning unless the context clearly indicates the singular. In addition, throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected" but also the case where it is "electrically connected" with another element in between. In addition, when a part is said to "include" a certain component, this does not mean that other components are excluded, but that other components can be further included, unless specifically stated otherwise.

[0027] The phrases “in some embodiments” or “in an embodiment” appearing in various places throughout this specification are not necessarily all referring to the same embodiment.

[0028] Embodiments of the present disclosure provide a device for providing a three-dimensional map of a cleaning robot and a method for controlling the same.

[0029] Embodiments of the present disclosure are directed to providing a device and a control method thereof that provide a user interface for adjusting the height of a wall or the transparency of a wall within a three-dimensional map.

[0030] Embodiments of the present disclosure provide a device and a control method thereof that provide information about the current time within a three-dimensional map.

[0031] FIG. 1 illustrates a method for a device (1000) to provide a three-dimensional map according to one embodiment of the present disclosure.

[0032] Referring to FIG. 1, the device (1000) may provide a three-dimensional map of a cleaning space of a cleaning robot, and may provide a user interface for adjusting the height of a wall or the transparency of a wall within the three-dimensional map. By adjusting the height of a wall or the transparency of a wall within the three-dimensional map, the device (1000) may facilitate user interaction with an area covered by a three-dimensional wall.

[0033] Referring to the left side of FIG. 1, the device (1000) can display a three-dimensional map (10a) regarding the cleaning robot. The three-dimensional map (10a) may include walls of the cleaning space. Additionally, the three-dimensional map may include the room, appliances or furniture (30a or 30b) placed in the cleaning space, or obstacles.

[0034] According to one embodiment of the present disclosure, upon receiving a user input for selecting an object obscured by a wall as a cleaning area of ​​a cleaning robot, the device (1000) may lower the height of the wall so that the object is visible.

[0035] An object may be, but is not limited to, a room in a cleaning space, an area of ​​the floor in a cleaning space, furniture or appliances located in a cleaning space, or an obstacle located in a cleaning space.

[0036] For example, upon receiving a user input for selecting a menu for setting a cleaning area, the device (1000) may lower the height of a wall to the floor, as shown in the three-dimensional map (10b) at the upper right of Fig. 1. By lowering the height of the wall, the floor previously obscured by the wall may be easily visible, and the device (1000) may display a user interface (20) for setting a cleaning area on the three-dimensional map (10b) in which the floor is visible.

[0037] According to one embodiment of the present disclosure, upon receiving a user input to select an object obscured by a wall, the device (1000) may increase the transparency of the wall to make the object visible.

[0038] For example, the device (1000) may increase the transparency of a wall, as shown in the three-dimensional map (10c) at the lower right of Fig. 1, based on receiving a user input selecting a piece of furniture (30b) for intensive cleaning around the piece of furniture. By increasing the transparency of the wall, the piece of furniture (30b) previously obscured by the wall can be easily seen, and the user can easily select the piece of furniture (30b).

[0039] The cleaning robot can transmit information about the location of an object and information about the cleaning function set for the object to the cleaning robot through the server.

[0040] According to one embodiment of the present disclosure, the device (1000) may indicate the current time of the cleaning robot on the 3D map by changing the color of at least one wall or floor within the 3D map over time. For example, the device (1000) may provide information about the current time of the cleaning robot by displaying a 3D map with a dark color tone at night.

[0041] According to one embodiment of the present disclosure, the device (1000) can display the current time of the cleaning robot on the 3D map by changing the length of the shadow of the wall in the 3D map over time.

[0042] According to one embodiment of the present disclosure, the device (1000) can receive a user input setting a default value for the height or transparency of a wall, and display a 3D map based on the default value. Accordingly, the user can generate a 3D map of a desired shape.

[0043] According to one embodiment of the present disclosure, when displaying an obstacle detected while a cleaning robot is driving on a three-dimensional map, the device (1000) can accurately indicate the location of the obstacle by increasing the transparency of a wall that obscures the obstacle.

[0044] According to one embodiment of the present disclosure, the device (1000) can change the height or transparency of one of the inner and outer walls in the three-dimensional map.

[0045] A 3D map of a cleaning space can more intuitively display the cleaning space and facilitate user interaction with the space under furniture. Furthermore, the 3D map allows users to intuitively identify furniture or appliances even without their names, through the 3D shapes of the furniture or appliances. However, the 3D map has a problem in that it is difficult to identify the edge of the floor obscured by a wall or the location of furniture lower than the height of the wall. According to an embodiment of the present disclosure, the device (1000) can easily display the location of the floor or furniture obscured by a wall without the user having to zoom in, out, adjust the view angle, or rotate the 3D map by adjusting the height or transparency of the wall according to a setting menu or an object selection.

[0046] FIG. 2 illustrates a block diagram of a device (1000), a cleaning robot (2000), and a server (3000) according to one embodiment of the present disclosure.

[0047] Referring to FIG. 2, the device (1000) may include a processor (1100), a communication module (1300), a memory (1400), and a display (1610).

[0048] The processor (1100) can typically control the overall operation of the device (1000). The processor (1100) can control the communication module (1300) and the display (1610) by executing programs stored in the memory (1400).

[0049] The device (1000) may include, but is not limited to, a mobile device (1000), a refrigerator, a laptop, a desktop PC, or a tablet PC.

[0050] Additionally, referring to FIG. 2, the cleaning robot (2000) may include a processor (2100), a communication module (2300), a memory (2400), a sensor (2700), a driving module (2800), and a cleaning module (2900).

[0051] The processor (2100) of the cleaning robot (2000) can typically control the overall operation of the cleaning robot (2000). The processor (2100) of the cleaning robot (2000) can control the sensor (2700), the communication module (2300), the driving module (2800), and the cleaning module (2900) by executing programs stored in the memory (2400).

[0052] Cleaning robots (2000) may include, but are not limited to, suction-type cleaning robots, mop-type cleaning robots, and suction-mop combined cleaning robots.

[0053] The communication module (2300) can transmit and receive information according to a protocol with an external device or server (3000) under the control of the processor (2100). The external device may include, for example, a charging station or device (1000), but is not limited thereto. The communication module (2300) can communicate with the external device through at least one wired or wireless communication network.

[0054] The communication module (2300) may include at least one of a short-range communication module or a long-range communication module, or a combination thereof. The communication module (2300) may include at least one antenna for wirelessly communicating with another device.

[0055] The short-range communication module may include at least one communication module that performs communication according to a communication standard such as Bluetooth, Wi-Fi, BLE (Bluetooth Low Energy), NFC / RFID, Wi-Fi Direct, UWB, or ZIGBEE. In addition, the long-range communication module may include a mobile communication module that performs communication according to a communication standard such as 3G, 4G, 5G, and / or 6G. In addition, the communication module (2300) may include an infrared communication module.

[0056] The cleaning module (2900) may include at least one of a suction unit and a mop cleaning unit. The suction unit may collect dust from the floor while sucking in air. The suction unit may include, but is not limited to, a rotating brush, a rotating brush motor, a suction motor, an air intake, a filter, a dust collection chamber, an air exhaust port, and the like.

[0057] The driving module (2800) moves the main body of the cleaning robot (2000). The driving module (2800) is driven according to a control signal set by the processor (2100). The processor (2100) sets a driving path, generates a control signal to move the cleaning robot (2000) according to the driving path, and outputs the control signal to the driving module (2800). The driving module (2800) may include, but is not limited to, two wheels installed on both sides of the front, two wheels installed on both sides of the rear, a motor that rotates each of the two rear wheels, and a timing belt installed to transmit power generated from the rear wheels to the front wheels.

[0058] The sensor (2700) may include a plurality of sensors configured to detect information about the surrounding environment of the cleaning robot (2000). For example, the sensor (2700) may include, but is not limited to, a fall prevention sensor, an ultrasonic sensor, a motion sensor, a camera, and a position recognition sensor.

[0059] The cleaning robot (2000) may further include an input interface for receiving user input and an output module for outputting information in addition to a processor (2100), a communication module (2300), a memory (2400), a sensor (2700), a driving module (2800), and a cleaning module (2900).

[0060] The cleaning robot (2000) can create a map of the environment around the cleaning robot (2000) using a location recognition sensor (e.g., a LiDAR sensor) and a camera while driving. The cleaning robot (2000) can recognize the floor and walls of the cleaning space as well as home appliances, furniture, obstacles, etc. placed in the cleaning space to obtain two-dimensional map information and three-dimensional map information. In addition, the cleaning robot (2000) can transmit the two-dimensional map information and three-dimensional map information to the server (3000) through the communication module (2300).

[0061] Additionally, referring to FIG. 2, the server (3000) may include a processor (3100), a communication module (3300), and a memory (3400).

[0062] The processor (3100) of the server (3000) can typically control the overall operation of the server (3000). The processor (2100) of the server (3000) can control the communication module (3300) by executing programs stored in the memory (3400). The server (3000) can store identification information of the device (1000) and identification information of the cleaning robot (2000) in response to a user account.

[0063] The communication module (3300) of the server (3000) can transmit and receive information according to a protocol with the cleaning robot (2000), the device (1000), and the external server (3000) under the control of the processor (3100).

[0064] The server (3000) can receive two-dimensional map information and three-dimensional map information from the cleaning robot (2000) through the communication module (3300). In addition, the server (3000) can receive status information of the cleaning robot (2000), cleaning progress status information, and cleaning result information from the cleaning robot (2000), and transmit the received information to the device (1000). For example, the server (3000) can receive information about an obstacle detected while the cleaning robot (2000) is driving from the cleaning robot (2000), based on a user account, and transmit the received information about the obstacle to the device (1000).

[0065] The device (1000) can control the display (1610) to display information received from the server (3000). For example, the device (1000) can display a three-dimensional map of the cleaning space where the cleaning robot (2000) is located.

[0066] In addition, the server (3000) can receive a control command for the cleaning robot (2000) from the device (1000) through the communication module (3300) and transmit the received control command to the cleaning robot (2000). For example, the server (3000) can receive, based on a user account, information about the location of an object selected by a user and information about a cleaning function set for the object from the device (1000). The cleaning robot (2000) can clean and drive by controlling the driving module (2800) and the cleaning module (2900) according to the received information.

[0067] FIG. 3 is a flowchart of a method for a device (1000) to provide a three-dimensional map according to one embodiment of the present disclosure.

[0068] In step S310, the device (1000) can display a three-dimensional map including walls and objects of the cleaning space where the cleaning robot (2000) is located.

[0069] An object may be, but is not limited to, a room in a cleaning space, an area of ​​the floor in a cleaning space, furniture or appliances located in a cleaning space, or an obstacle located in a cleaning space.

[0070] The device (1000) may receive information about a three-dimensional map representing walls and objects located in a cleaning space from the server (3000), and display the three-dimensional map of the cleaning space based on the received information. For example, the device (1000) may receive location information of walls and objects in the cleaning space and identification information of the objects from the server (3000), generate a three-dimensional map based on the received information, and display the generated three-dimensional map.

[0071] The device (1000) can display a three-dimensional map of a cleaning space based on a user input selecting an application related to the cleaning robot (2000). In addition, the device (1000) can display a three-dimensional map of a cleaning space based on a user input selecting a menu for setting a cleaning function of the cleaning robot (2000). In addition, the device (1000) can display a three-dimensional map of a cleaning space based on a user input selecting a push notification message related to the cleaning robot (2000).

[0072] When displaying a 3D map, the device (1000) may display a 3D map having a default height based on the default height of the wall. Furthermore, when displaying a 3D map, the device (1000) may display a 3D map having a default transparency based on the default transparency of the wall. The default height and default transparency may be determined by a user's selection.

[0073] In step S320, the device (1000) may change the wall to make the object visible upon receiving a user input for selecting an object covered by a wall as a cleaning area of ​​the cleaning robot (2000).

[0074] In a 3D map, an object may be partially or completely obscured by a wall. For example, if the object is on the floor, some areas near the wall may be obscured by the wall. Furthermore, for example, if the object is an appliance or furniture, the appliance or furniture near the wall may be partially or completely obscured by the wall. In this case, if the height of the appliance or furniture image in the 3D map is lower than the height of the wall, the appliance or furniture may be largely obscured by the wall.

[0075] The user input for selecting an object obscured by a wall as a cleaning area may include a user input for selecting the object itself as the cleaning area. Additionally, the user input for selecting an object obscured by a wall as a cleaning area may include a user input for selecting a menu for setting a cleaning area.

[0076] The device (1000) can change the wall to make objects obscured by the wall visible.

[0077] According to one embodiment of the present disclosure, the device (1000) can lower the height of a wall so that an object obscured by the wall becomes visible. For example, the device (1000) can lower the height of the wall to the floor. Furthermore, for example, the device (1000) can lower the height of the wall to a predetermined height. Furthermore, for example, the device (1000) can receive a user input for adjusting the height of the wall through a user interface.

[0078] According to one embodiment of the present disclosure, the device (1000) can increase the transparency of a wall to allow objects obscured by the wall to be visible. For example, the device (1000) can change the transparency of the wall to a predetermined level. Furthermore, for example, the device (1000) can receive user input for adjusting the transparency of the wall through a user interface.

[0079] According to one embodiment of the present disclosure, the device (1000) can change the height or transparency of a wall that obscures an object among inner and outer walls in a three-dimensional map.

[0080] In step S330, the device (1000) can transmit information about the location of the object and information about the cleaning function set for the object to the cleaning robot (2000).

[0081] The device (1000) can receive user input for selecting an object. For example, the device (1000) can receive user input for selecting a room, a portion of the floor, or a piece of furniture. The cleaning function set for the object may be room cleaning, floor cleaning, or intensive cleaning around furniture.

[0082] The device (1000) can transmit information about the location of an object and information about a cleaning function set for the object to the cleaning robot (2000) via the server (3000). The cleaning robot (2000) can perform the cleaning function set for the selected object based on the received information. For example, the cleaning robot (2000) can clean a selected room. Additionally, the cleaning robot (2000) can clean a selected area of ​​the floor. Additionally, for example, the cleaning robot (2000) can focus on cleaning the area around selected furniture.

[0083] According to one embodiment of the present disclosure, the device (1000) displays a three-dimensional map including obstacles detected during the driving of the cleaning robot (2000), and can accurately indicate the location of the obstacle by increasing the transparency of a wall that obscures the obstacle.

[0084] According to one embodiment of the present disclosure, the current time of the cleaning robot can be indicated on the 3D map by changing the color of at least one of the walls or the floor of the 3D map over time.

[0085] According to one embodiment of the present disclosure, the current time of a cleaning robot can be represented on a three-dimensional map by changing the length of a shadow on a wall of the three-dimensional map over time.

[0086] FIG. 4 illustrates a method for a device (1000) to provide a user interface for setting a cleaning area within a three-dimensional map, according to one embodiment of the present disclosure.

[0087] Referring to FIG. 4, the device (1000) can change the 3D map (10a) to a map (10b) in which the height of the wall is lowered to the floor upon receiving a user input for selecting a menu (73) for setting a cleaning area within the 3D map.

[0088] Referring to the first drawing of FIG. 4, the device (1000) can display a three-dimensional map (10a) of a cleaning space of the cleaning robot (2000) upon receiving a user input for selecting an application related to the cleaning robot (2000). For example, the device (1000) can receive a three-dimensional map from a server (3000) based on a user account and display the received three-dimensional map (10a).

[0089] In addition, the device (1000) can display identification information (80) of the cleaning space indicated by the 3D map (10a) and charging status information (71) of the cleaning robot (2000) along with the 3D map (10a). In addition, the device (1000) can display a menu (73) for setting a cleaning area, a menu (75) for editing the map, and a menu (77) for changing the 3D map (10a) to a 2D map.

[0090] Based on receiving a user input for selecting a menu (73) for setting a cleaning zone, the device (1000) can display a submenu list (40) of the menu (73) for setting a cleaning zone, as shown in the second drawing of FIG. 4. The submenu list (40) of the menu (73) for setting a cleaning zone can include a submenu (41) for selecting a room, a submenu (42) for intensive cleaning around furniture or appliances, and a submenu (43) for arbitrarily setting a cleaning zone.

[0091] Based on receiving a user input for selecting a submenu (43) for arbitrarily setting a cleaning area, the device (1000) can change the three-dimensional map (10a) into a map (10b) that does not include a wall, as shown in the third drawing of FIG. 4. According to one embodiment of the present disclosure, the map (10b) that does not include a wall may be a two-dimensional map.

[0092] Although not shown in FIG. 4, according to one embodiment of the present disclosure, upon receiving a user input for selecting a submenu (43) for arbitrarily setting a cleaning area, the device (1000) can maintain the outer shape of a wall within the three-dimensional map (10a) but lower the height of the wall.

[0093] Although not illustrated in FIG. 4, the map (10b) that does not include walls may include room identification information for each room's location. Furthermore, the map (10b) that does not include walls may include three-dimensional images indicating the locations of charging stations. Furthermore, the map (10b) that does not include walls may include three-dimensional images indicating the locations of furniture and appliances.

[0094] The device (1000) can display a user interface (20) for randomly selecting a location of a cleaning area on a map (10b) that does not include walls. The device (1000) can receive user input for selecting detailed coordinates of the cleaning area by moving the location and adjusting the size of the user interface (20).

[0095] Referring to the fourth drawing of FIG. 4, based on receiving a user input of selecting a setting button (79) to set a selected cleaning area as an area to be cleaned through a user interface (20), the device (1000) can transmit location information of the selected cleaning area and information about the area cleaning function based on the user account to the server (3000).

[0096] The server (3000) can transmit location information of a cleaning area and information about a zone cleaning function to the cleaning robot (2000) based on the identification information of the cleaning robot (2000) corresponding to the user account. The cleaning robot (2000) can perform cleaning for a selected cleaning area based on the location information of the cleaning area and information about the zone cleaning function received from the server (3000).

[0097] FIG. 5 illustrates a method for a device (1000) to provide a user interface for setting a cleaning area around a piece of furniture within a three-dimensional map, according to one embodiment of the present disclosure.

[0098] Referring to FIG. 5, the device (1000) can change the wall within the 3D map (10) to transparent upon receiving a user input to set the area around the furniture as a cleaning area within the 3D map (10).

[0099] Referring to the first drawing of FIG. 5, based on receiving a user input for selecting a menu (73) for setting a cleaning area, the device (1000) can display a list of sub-menus of the menu (73) for setting a cleaning area, as in the second drawing of FIG. 5. Based on receiving a user input for selecting a sub-menu (42) for cleaning around furniture or home appliances among the list of sub-menus, the device (1000) can display a three-dimensional image (30a or 30b) of the furniture or home appliances within a three-dimensional map (10).

[0100] The cleaning robot (2000) can recognize furniture or home appliances within a cleaning space while driving. In addition, the cleaning robot (2000) can store location information and identification information of the recognized furniture or home appliances and transmit them to the server (3000). The device (1000) can receive location information and identification information of the furniture or home appliances from the server (3000), and based on the received location information and identification information, can display an image (30a or 30b) representing the furniture or home appliances within a three-dimensional map (10).

[0101] At this time, the image (30a or 30b) representing furniture or appliances may be partially or completely obscured by a wall within the 3D map (10). For example, the desk image (30b) in FIG. 5 may be obscured by an external wall and only partially visible.

[0102] As shown in the third drawing of FIG. 4, the device (1000) can receive a user input for selecting furniture or home appliances (30a or 30b) within a three-dimensional map (10).

[0103] Based on receiving a user input selecting a desk (30b) partially obscured by a wall, the device (1000) can change the wall (15) in the 3D map (10) to transparent. The device (1000) can change the wall (15) in the 3D map (10) to transparent and display the desk (30b) so that a portion of the desk (30b) obscured by the wall is visible. In addition, as shown in the third drawing of FIG. 4, the device (1000) can indicate that the desk (30b) has been selected by changing the color of the desk (30b).

[0104] Accordingly, the user can accurately confirm whether the selected furniture or appliance is the furniture or appliance the user intended to select.

[0105] The device (1000) can transmit identification information and cleaning control commands of selected furniture or appliances based on a user account to the cleaning robot (2000) via the server (3000).

[0106] The cleaning robot (2000) can intensively clean the area around the selected furniture or appliance based on the furniture or appliance identification information and cleaning control command received from the server (3000).

[0107] According to one embodiment of the present disclosure, the device (1000) can change the wall to transparent based on the selection of furniture or appliances whose height of an image of furniture or appliances in a three-dimensional map is smaller than the height of the wall.

[0108] According to one embodiment of the present disclosure, the device (1000) can change the wall to transparent based on a selection of a vicinity of a wall including the wall.

[0109] FIG. 6A is a flowchart of a method for changing only the wall surface around a selected object by a device (1000) according to one embodiment of the present disclosure.

[0110] In step S610, the device (1000) can display a three-dimensional map including walls and objects of the cleaning space where the cleaning robot (2000) is located.

[0111] According to one embodiment of the present disclosure, the device (1000) can receive information about a three-dimensional map representing walls and objects located in a cleaning space from a server (3000), and display the three-dimensional map of the cleaning space based on the received information.

[0112] In step S620, the device (1000) can receive a user input for selecting an object.

[0113] An object may be, but is not limited to, a room in a cleaning space, an area of ​​the floor in a cleaning space, furniture or appliances located in a cleaning space, or an obstacle located in a cleaning space.

[0114] The device (1000) may receive a user input for selecting an object as an area to be cleaned. Additionally, the device (1000) may receive a user input for selecting an object to view the progress status or result of cleaning.

[0115] In step S630, the device (1000) can change the height of a wall or the transparency of a wall that obscures an object selected from among multiple walls.

[0116] The device (1000) can determine which wall obscures a selected object among multiple walls. For example, if the object is a room, the device (1000) can determine which wall obscures the room among the walls surrounding the selected room based on the angle of the view of the 3D map. Furthermore, for example, if the object is furniture or an appliance located in a cleaning space, the device (1000) can determine which wall obscures the furniture or appliance among the walls surrounding the selected furniture or appliance.

[0117] According to one embodiment of the present disclosure, the device (1000) may lower the height of a wall obscuring a selected object. For example, the device (1000) may lower the height of the wall to a height equal to or less than the height of the image of the selected object. Additionally, for example, the device (1000) may lower the wall obscuring the selected object to the floor.

[0118] According to one embodiment of the present disclosure, the device (1000) may increase the transparency of a wall that obscures a selected object. For example, the device (1000) may increase the transparency of a wall that obscures a selected object to a predetermined transparency.

[0119] FIG. 6b illustrates a method for a device (1000) to determine how to display a wall when an object within a 3D map is selected, according to one embodiment of the present disclosure.

[0120] Referring to FIG. 6b, the device (1000) may provide a user interface for setting a method of displaying a wall when an object covered by a wall is selected within a 3D map.

[0121] For example, as illustrated in FIG. 6, the user interface may include options for wall display when an obscured object is selected, such as 'lower the height of the wall obscuring the object', 'change only the wall obscuring the object to transparent', 'lower the height of the entire inner or outer wall obscuring the object', and 'change the entire inner or outer wall obscuring the object to transparent'.

[0122] In addition, the device (1000) can display an image description of an option by changing the wall on the 3D map (10) according to the selected option. For example, based on receiving a user input selecting the option 'Change only the wall that obscures an object to be transparent', the device (1000) can change the image (61) pointing to the target object on the 3D map (10) and the wall (15) obscuring the object to be transparent.

[0123] In addition, the device (1000) may store the selected option upon receiving a user input for selecting an option. When the device (1000) executes an application related to the cleaning robot (2000), upon receiving a user input for selecting an object on a 3D map, the device (1000) may change the wall image with the stored option. For example, based on the stored option of 'changing only the wall that obscures an object to transparent', the device (1000) may change only the wall that obscures the selected object to transparent.

[0124] FIG. 7 illustrates a method in which a device (1000) lowers only a wall that obscures a selected object within a 3D map, according to one embodiment of the present disclosure.

[0125] Referring to FIG. 7, the device (1000) receives a user input for selecting a home appliance or furniture within a three-dimensional map (10), and based on this, the device (1000) determines a wall covering the selected home appliance or furniture among the walls within the three-dimensional map (10), and lowers the height of the wall covering the selected home appliance or furniture.

[0126] As illustrated in FIG. 7, based on receiving a user input for selecting an air purifier image (30), the device (1000) can lower the height of a wall surface (15) that covers the air purifier image (30) among a plurality of wall surfaces within the three-dimensional map (10).

[0127] For example, the device (1000) can delete only the wall (15) that covers the air purifier image (30). Also, for example, the device (1000) can lower the height of the wall (15) that covers the air purifier image (30) to be lower than the height of the air purifier image (30).

[0128] FIG. 8 illustrates a method for a device (1000) to change a wall covering a selected object within a 3D map to transparent, according to one embodiment of the present disclosure.

[0129] Referring to FIG. 8, the device (1000) may change a wall surface covering the selected home appliance or furniture among the walls in the 3D map (10) to transparent based on receiving a user input for selecting a home appliance or furniture within the 3D map (10).

[0130] As illustrated in FIG. 8, based on receiving a user input for selecting an air purifier image (30), the device (1000) can change a wall surface (15) that covers the air purifier image (30) among a plurality of wall surfaces within the three-dimensional map (10) to be transparent. For example, the device (1000) can change the remaining portion except for the corners to be transparent so that only the outline of the wall surface (15) that covers the air purifier image (30) is identified.

[0131] FIG. 9 illustrates a method for a device (1000) to change the state of one of an inner wall and an outer wall in a three-dimensional map according to one embodiment of the present disclosure.

[0132] Referring to FIG. 9, the device (1000) can change one of the inner and outer walls within the 3D map based on a user input for selecting an object. For example, upon receiving a user input for selecting an appliance or furniture within the 3D map (10), the device (1000) can change the wall covering the selected appliance or furniture among the inner and outer walls within the 3D map (10) to transparent or lower the height of the wall.

[0133] For example, as illustrated in FIG. 9, based on receiving a user input for selecting an air purifier image (30), the device (1000) can change all of the inner walls (15) that obscure the air purifier image (30) among the inner and outer walls in the three-dimensional map (10) to be transparent.

[0134] FIG. 10 illustrates a method in which a device (1000) indicates an obstacle detected while a cleaning robot (2000) is driving on a three-dimensional map according to one embodiment of the present disclosure.

[0135] Referring to FIG. 10, the device (1000) displays obstacles detected while the cleaning robot (2000) is driving on a three-dimensional map, but can increase the transparency of the wall so that the obstacles are not obscured by the wall.

[0136] Obstacles may include, but are not limited to, people, cups, animal waste, towels, clothing, and wires.

[0137] The device (1000) can receive information about obstacles detected while the cleaning robot (2000) is driving from the server (3000). For example, when the cleaning robot (2000) detects an obstacle while driving, the device (1000) can receive a push notification indicating the location of the obstacle from the cleaning robot (2000) through the server (3000). In addition, for example, after the cleaning robot (2000) finishes cleaning, the device (1000) can receive a cleaning report indicating the location of the obstacle from the cleaning robot (2000) through the server (3000).

[0138] Information about obstacles may include, but is not limited to, location information of the obstacle, identification information of the obstacle, and driving path information of the cleaning robot (2000).

[0139] As illustrated in FIG. 10, the device (1000) can display images (910a, 910b, 910c) representing obstacles at the locations of the obstacles on a three-dimensional map based on location information of the obstacles. Although not illustrated in FIG. 10, the images (910a, 910b, 910c) representing the obstacles can include identification information of the obstacles. The device (1000) can display an image (920) representing the current location of the cleaning robot (2000) and an image (905) representing the driving path of the cleaning robot (2000).

[0140] In this case, the device (1000) may display an image (910a, 910b, or 910c) representing an obstacle at the location of the obstacle on the 3D map, but may display the wall transparently so that the image (910a, 910b, or 910c) representing the obstacle is not obscured by the wall. For example, the device (1000) may display a wall image having a predetermined transparency.

[0141] According to one embodiment of the present disclosure, the device (1000) can increase the transparency of all walls on a three-dimensional map when displaying an image (910a, 910b, or 910c) representing an obstacle.

[0142] According to one embodiment of the present disclosure, the device (1000) can increase the transparency of a wall that obscures an image (910a, 910b, or 910c) representing an obstacle among the walls on a 3D map.

[0143] Although not shown in FIG. 10, according to one embodiment of the present disclosure, the device (1000) displays an image (910a, 910b, or 910c) representing an obstacle at the location of the obstacle on a three-dimensional map, but can lower the height of the wall to the floor so that the image (910a, 910b, or 910c) representing the obstacle is not obscured by the wall.

[0144] Although not shown in FIG. 10, according to one embodiment of the present disclosure, the device (1000) displays an image indicating that an error has occurred at a location where an error has occurred in the cleaning robot (2000), and may increase the transparency of the wall so that the image indicating that an error has occurred is not obscured by the wall.

[0145] Errors may include situations where the cleaning robot stops cleaning while driving. Examples of errors may include, but are not limited to, malfunctioning sensors in the cleaning robot, foreign matter caught in the cleaning robot's brush, improperly installed dustbins in the cleaning robot, low battery, or failure to locate rooms, appliances, or furniture designated as cleaning areas.

[0146] FIG. 11 illustrates a method for a device (1000) to obtain a default value of a height of a wall or transparency of a wall in a 3D map according to one embodiment of the present disclosure.

[0147] Referring to FIG. 11, the device (1000) may provide a user interface for setting a default value of the height of a wall or the transparency of a wall of a 3D map.

[0148] Referring to the left drawing of FIG. 11, the device (1000) may provide user interfaces (1001 and 1002) for setting a default value of the height of a wall within a three-dimensional map (10). The user interfaces (1001 and 1002) for setting the default value of the height of a wall may include a user interface (1001) for setting a default height of an outer wall and a user interface (1002) for setting a default height of an inner wall.

[0149] The device (1000) can receive user input for setting a default height of an inner wall and a default height of an outer wall through a user interface (1001 and 1002) for setting a default value of the height of the wall.

[0150] For example, the device (1000) may receive a user input to reduce the outer wall by 80% and increase the inner wall by 150%. Furthermore, for example, the device may receive a user input to reduce the outer wall to 0% and maintain the inner wall at 100%. Furthermore, for example, the device may receive a user input to reduce the outer wall to 0% and reduce the inner wall to 0%. Furthermore, when the height of the wall changes, the device (1000) may change the length of the shadow to correspond to the height of the wall.

[0151] Referring to the right drawing of FIG. 11, the device (1000) may provide user interfaces (1003 and 1004) for setting a default value of transparency of a wall within a 3D map. The user interfaces (1003 and 1004) for setting a default value of transparency of a wall may include a user interface (1003) for setting a default transparency of an outer wall and a user interface (1004) for setting a default transparency of an inner wall.

[0152] The device (1000) can receive user input for setting the default transparency of the inner wall and the default transparency of the outer wall through the user interfaces (1001 and 1002) for setting the default value of the transparency of the wall. For example, the device (1000) can receive user input for setting the outer wall to opaque and the inner wall to 100% transparent. In addition, when the transparency of the wall is changed, the device (1000) can change the darkness of the shadow to correspond to the transparency of the wall.

[0153] The device (1000) can transmit the default height and default transparency set by the user to the server (3000) based on the user account. The server (3000) can store the default height and default transparency corresponding to the user account. In addition, when displaying a 3D map, the device (1000) can receive information about the default height and default transparency from the server (3000) and display a wall having the default height and default transparency based on the received information.

[0154] FIG. 12 illustrates a method for a device (1000) to display the current time of a cleaning robot on a three-dimensional map according to one embodiment of the present disclosure.

[0155] Referring to FIG. 12, the device (1000) can display the current time of the cleaning robot on the 3D map by changing the colors of the walls and floor of the 3D map over time.

[0156] The device (1000) can determine the color of the virtual lighting based on the current time at the location where the cleaning robot is located and the GPS (Global Positioning System) value of the location where the cleaning robot is located. The device (1000) can change the color of the walls and floor within the 3D map based on the color of the virtual lighting.

[0157] The device (1000) can receive the current time and location information of the cleaning robot from the server (3000). The cleaning robot (2000) can obtain time information from a nearby peripheral device (e.g., a mobile device, a TV, etc.) and transmit the obtained time information to the server (3000). In addition, the cleaning robot (2000) can obtain location information from a nearby peripheral device and transmit the obtained location information to the server (3000). In addition, the cleaning robot (2000) can obtain physical activity information (e.g., the user's sleep information) from a user device and transmit the obtained physical activity information to the server (3000). The server (3000) can identify the user's lifestyle pattern based on the user's physical activity information.

[0158] The device (1000) can determine the location of the sun in the area where the cleaning robot is located based on at least one of the current time and location information of the cleaning robot. Furthermore, the device (1000) can determine the color of virtual lighting corresponding to the determined location of the sun. Based on the virtual lighting color, the device (1000) can change the colors of walls and floors within the 3D map.

[0159] For example, referring to the first drawing of FIG. 12, if the current time of the cleaning robot is 9:00 PM, the device (1000) can change the walls of the 3D map to black and the floor to mint color, thereby increasing the color contrast between the walls and the floor. Accordingly, the device (1000) can intuitively indicate that the current time is nighttime.

[0160] Also, referring to the second drawing of FIG. 12, for example, based on determining that sunrise is occurring in the area where the cleaning robot is currently located, the device (1000) can intuitively indicate that the current time zone is dawn by changing the walls of the 3D map to white and the floor to light purple.

[0161] Also, for example, referring to the third drawing of FIG. 12, if the current time of the cleaning robot is 2:00 PM, the device (1000) can intuitively indicate that the current time zone is afternoon by changing the walls of the 3D map to bright yellow and the floor to bright brown.

[0162] According to one embodiment of the present disclosure, the device (1000) can change the colors of walls and floors within a 3D map based on the cleaning robot's current time and location information, as well as the user's lifestyle. For example, even if the current time is 10:00 AM, the device (1000) can darken the walls and floor within the 3D map based on the user's lifestyle pattern, determining that the user is sleeping.

[0163] FIG. 13 illustrates a method for a device (1000) to indicate the current time of a cleaning robot on a three-dimensional map according to one embodiment of the present disclosure.

[0164] Referring to FIG. 13, the device (1000) can display the current time of the cleaning robot on the 3D map by changing the length of the shadow of the wall in the 3D map over time.

[0165] The device (1000) can receive current time and location information of the cleaning robot from the server (3000). Based on the current time and location information of the cleaning robot, the device (1000) can determine the location of the sun in the area where the cleaning robot is located. Furthermore, the device (1000) can determine the location of virtual lighting corresponding to the determined location of the sun. Furthermore, the device (1000) can change the length of a shadow on a wall within a 3D map based on the location of the virtual lighting.

[0166] For example, if the current time zone is noon, the device (1000) can change the shadow on the wall to a short shadow (1301) corresponding to noon. Also, for example, if the current time zone is around 6 PM, the device (1000) can change the shadow on the wall to a long shadow (1303) corresponding to around 6 PM.

[0167] The device (1000) can intuitively display the current time in the area where the cleaning robot is located by changing the length of the shadow of the wall within the 3D map.

[0168] FIG. 14 illustrates a block diagram of a device (1000) according to one embodiment of the present disclosure.

[0169] The device (1000) may include a processor (1100), a microphone (1200), a communication module (1300), a memory (1400), an input interface (1500), an output module (1600), and a sensor (1700).

[0170] Not all of the illustrated components are essential components of the device (1000). The device (1000) may be implemented with more components than those illustrated in FIG. 14, or with fewer components than those illustrated in FIG. 14. For example, the device (1000) may be implemented with a processor (1100), a communication module (1300), a memory (1400), and a display (1610).

[0171] The processor (1100) controls the overall operation of the device (1000). The processor (1100) can control components of the device (1000) by executing a program stored in the memory (1400).

[0172] In some embodiments, the processor (1100) may include a separate NPU that performs the operations of a machine learning model. In addition, the processor (1100) may include a central processing unit (CPU), a graphics processor (GPU; Graphic Processing Unit), etc.

[0173] In some embodiments, the processor (1100) may include a hardware structure (e.g., a neural network processing unit) specialized for processing artificial intelligence models. The artificial intelligence models may be generated through machine learning. This learning may be performed, for example, on the device (1000) where the artificial intelligence model is executed, or through a server (3000).

[0174] Learning algorithms may include, but are not limited to, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, for example. An AI model may additionally or alternatively include software architecture in addition to, or in place of, a hardware architecture.

[0175] The microphone (1200) can receive a user's voice command or voice request. Accordingly, the processor (1100) can control an operation corresponding to the voice command or voice request to be performed. In addition, the microphone (1200) can receive sounds surrounding the device (1000).

[0176] The communication module (1300) can transmit and receive information, image signals, or audio signals according to a protocol with an external device (not shown) or a server (3000) under the control of the processor (1100). The communication module (1300) can include at least one communication module and at least one port for transmitting and receiving data with an external device (not shown) or a server (3000).

[0177] Additionally, the communication module (1300) can communicate with an external device via at least one wired or wireless communication network. The communication module (1300) may include at least one of a short-range communication module (1310) or a long-range communication module (1320), or a combination thereof. The communication module (1300) may include at least one antenna for wirelessly communicating with another device.

[0178] The short-range communication module (1310) may include at least one communication module (not shown) that performs communication according to a communication standard such as Bluetooth, Wi-Fi, BLE (Bluetooth Low Energy), NFC / RFID, Wi-Fi Direct, UWB, or ZIGBEE. In addition, the long-range communication module (1320) may include a communication module (not shown) that performs communication via a network for Internet communication. In addition, the long-range communication module (1320) may include a mobile communication unit that performs communication according to a communication standard such as 3G, 4G, 5G, and / or 6G.

[0179] Additionally, the communication module (1300) may include a communication module capable of receiving a control command from a remote controller (not shown) located at a close distance, for example, an IR (infrared) communication module.

[0180] The memory (1400) stores various information, data, commands, programs, etc. required for the operation of the device (1000). The memory (1400) may include at least one of volatile memory or non-volatile memory, or a combination thereof. The memory (1400) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk. In addition, the device (1000) may also operate a web storage or cloud server that performs a storage function on the Internet.

[0181] The sensor (1700) can detect movement of the device (1000).

[0182] The sensor (1700) may include, but is not limited to, at least one of an acceleration sensor, a gyro sensor, a magnetometer sensor, a compass, a GPS, and a proximity sensor.

[0183] The output module (1600) may include, but is not limited to, a display (1610) and an audio output module (1620).

[0184] The display (1610) can output image data processed by an image processing unit (not shown) through a display panel (not shown) under the control of the processor (1100). The display panel (not shown) can include at least one of a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a 3D display, and an electrophoretic display.

[0185] The audio output module (1620) can output audio signals to the outside of the device (1000). The audio output module (1620) can include, for example, a speaker or a receiver. The speaker can be used for general purposes, such as multimedia playback or recording playback. The receiver can be used to receive incoming calls.

[0186] The input interface (1500) can receive user input for controlling the device (1000). The input interface (1500) can include keys (not shown), a touch screen (not shown), etc. The input interface (1500) receives user input and transmits it to the processor (1100).

[0187] The input interface (1500) may include, but is not limited to, a user input device (1000) including a touch panel that detects a user's touch, a button that receives a user's push operation, a wheel that receives a user's rotation operation, a keyboard, and a dome switch.

[0188] Additionally, the input interface (1500) may include a motion detection sensor (not shown). For example, the motion detection sensor (not shown) may detect movement of the device (1000) and receive the detected movement as user input.

[0189] At least one processor (1100) can display a three-dimensional map indicating a cleaning space in which a cleaning robot (2000) is located through a display (1610).

[0190] At least one processor (1100) may receive, via the input interface (1500), a user input for selecting a portion of an area covered by a wall as a cleaning area of ​​the cleaning robot (2000). In addition, at least one processor (1100) may change the wall so that the selected portion of the area is visible based on the received user input.

[0191] At least one processor (1100) can transmit location information of a selected area and information about a cleaning function set in a selected area to a cleaning robot (2000) through a server (3000) via a communication module (1300).

[0192] At least one processor (1100) can lower the height of the wall so that an object obscured by the wall becomes visible. At least one processor (1100) can increase the transparency of the wall so that an object obscured by the wall becomes visible.

[0193] At least one processor (1100) can change the wall to make the object visible upon receiving a user input selecting a menu for setting a cleaning area via the input interface (1500).

[0194] At least one processor (1100) can change the wall to make the object visible upon receiving user input for selecting the object via the input interface (1500).

[0195] At least one processor (1100) can individually adjust the inner or outer wall based on a user input via the input interface (1500) that adjusts the height or transparency of the inner or outer wall within the three-dimensional map.

[0196] At least one processor (1100) can display a three-dimensional map including obstacles detected while the cleaning robot (2000) is moving. In this case, at least one processor (1100) can increase the transparency of a wall obscuring the obstacle to accurately indicate the location of the obstacle.

[0197] At least one processor (1100) may receive a user input via an input interface (1500) for setting at least one default value of the wall height or the wall transparency. In addition, at least one processor (1100) may display a three-dimensional map via a display (1610) based on the at least one default value.

[0198] At least one processor (1100) can indicate the current time on the 3D map by changing the color of at least one of the walls or the floor of the 3D map over time.

[0199] At least one processor (1100) can display the current time on the 3D map by changing the length of a shadow on a wall of the 3D map over time.

[0200] A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, the term "non-transitory storage medium" simply means a tangible device that does not contain signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is permanently stored in the storage medium and cases where data is temporarily stored. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0201] According to one embodiment, the method according to various embodiments disclosed in the present document may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) through an application store or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

Claims

1. In a device (1000) that provides a map of a cleaning area of ​​a cleaning robot (2000), display(1610); Communication module (1300); At least one memory (1400) storing one or more instructions; and At least one processor (1100) is included, and the at least one processor (1100) executes one or more instructions stored in the memory (1400), Through the above display (1610), a three-dimensional map including the walls and objects of the cleaning space where the cleaning robot (2000) is located is displayed, Based on receiving a user input for selecting the object covered by the wall as a cleaning area of ​​the cleaning robot (2000), changing the wall so that the object is visible, A device (1000) that transmits location information of the object and information about a cleaning function set for the object to the cleaning robot (2000) through the communication module (1300).

2. In paragraph 1, At least one processor of the above, A device that lowers the height of a wall so that objects obscured by the wall become visible.

3. In paragraph 1 or 2, At least one processor of the above, A device that increases the transparency of a wall so that objects obscured by the wall become visible.

4. In any one of paragraphs 1 to 3, At least one processor of the above, A device that changes at least one of the height of the wall or the transparency of the wall so that the object is visible upon receiving user input selecting a menu for setting a cleaning area.

5. In any one of paragraphs 1 to 4, At least one processor of the above, A device that changes the wall to make the object visible upon receiving user input to select the object.

6. In any one of paragraphs 1 to 5, At least one processor of the above, A device that changes the height or transparency of an inner or outer wall that obscures an object within the three-dimensional map.

7. In any one of paragraphs 1 to 6, At least one processor of the above, A device that displays a three-dimensional map including obstacles detected during the driving of the cleaning robot, and indicates the location of the obstacle by increasing the transparency of a wall that obscures the obstacle.

8. In any one of paragraphs 1 to 7, At least one processor of the above, Receiving user input for setting at least one default value of the height of the wall or the transparency of the wall, A device that displays the three-dimensional map based on at least one of the above default values.

9. In any one of paragraphs 1 to 8, At least one processor of the above, A device that indicates the current time of the cleaning robot on the three-dimensional map by changing the color of at least one of the walls or floors of the three-dimensional map over time.

10. In any one of paragraphs 1 to 9, At least one processor of the above, A device that displays the current time of the cleaning robot on the three-dimensional map by changing the length of the shadow on the wall of the three-dimensional map over time.

11. In a method for providing a map of a cleaning area of ​​a cleaning robot by a device, A step of displaying a three-dimensional map including walls and objects of a cleaning space where a cleaning robot is located; A step of changing the wall so that the object is visible based on receiving a user input for selecting the object covered by the wall as a cleaning area of ​​the cleaning robot; and A method for providing a map, comprising the step of transmitting location information of the object and information about a cleaning function set for the object to the cleaning robot.

12. In paragraph 11, The step of changing the wall so that the above object is visible is: A method for providing a map, comprising the step of lowering the height of the wall so that an object obscured by the wall is visible.

13. In clause 11 or 12, The step of changing the wall so that the above object is visible is: A method for providing a map, comprising the step of increasing the transparency of the wall so that objects obscured by the wall are visible.

14. In any one of paragraphs 11 to 13, A step of changing the wall so that the object is visible based on receiving a user input for selecting the object covered by the wall as a cleaning area of ​​the cleaning robot, A method for providing a map, comprising the step of changing at least one of the height of the wall or the transparency of the wall so that the object is visible upon receiving a user input selecting a menu for setting a cleaning area.

15. In any one of paragraphs 11 to 14, A step of changing the wall so that the object is visible based on receiving a user input for selecting the object covered by the wall as a cleaning area of ​​the cleaning robot, A method for providing a map, comprising the step of changing the wall so that the object is visible upon receiving user input for selecting the object.

Images