Mobile robot and control method thereof

Abstract

This mobile robot comprises: a memory for storing spatial information and a target position for separating a cleaning pad; a driving unit; and at least one processor. When a preset event is identified during cleaning travel, the at least one processor: identifies the target position; controls the driving unit to move to the target position on the basis of the spatial information; and separates the cleaning pad at the target position, wherein the target position is determined on the basis of at least one of the spatial information or a user input.

Description

Mobile robot and its control method

[0001] The present disclosure relates to a mobile robot and a control method thereof, and more particularly, to a mobile robot and a control method thereof in which the mobile robot moves to a target location and performs a preset operation.

[0002] Mobile robots can move to pre-stored locations as well as user-specified destinations. Mobile robots can perform specific functions at specific locations. If users manually specify the location to which they must move to perform a specific function, this can be inconvenient.

[0003] If the mobile robot doesn't automatically determine where to place a specific object (e.g., a cleaning pad), the user must manually determine the location. This may not be optimal.

[0004] If the location to which a specific object is to be moved is simply preset, there is a problem in that it is not reflected in real time when a situation arises where that location is no longer suitable.

[0005] For example, there may be situations where another object is already placed at a preset location, or where the mobile robot cannot move to the preset location. In such situations, the user may experience inconvenience by having to re-set a specific location.

[0006] Embodiments of the present disclosure are designed to improve the above-described problems, and an object of the present disclosure is to provide a mobile robot that automatically identifies a location for performing a specific function and a control method thereof.

[0007] Embodiments of the present disclosure will be described in detail in the following description, and embodiments of the present disclosure will be clearly understood by the following description.

[0008] According to one embodiment, a mobile robot includes a memory storing spatial information and a target location for separating a cleaning pad, a driving unit, and at least one processor, wherein the at least one processor identifies the target location when a preset event is identified during a cleaning operation of the mobile robot, controls the driving unit to move the mobile robot to the target location based on the spatial information, and separates the cleaning pad from the mobile robot at the target location, wherein the target location is determined based on at least one of the spatial information or a user input.

[0009] The above preset event may include at least one of an event in which the contamination level of the cleaning pad is identified as being above a threshold value, an event in which a user command to replace the cleaning pad is received, or an event in which the cleaning run is identified as being completed.

[0010] The target location is determined based on sensing data and map data included in the spatial information, and the at least one processor can obtain the sensing data through a sensing unit.

[0011] The sensing unit may include at least one of an ultrasonic sensor, a gyro sensor, an optical sensor, and an image sensor, and the sensing data may include at least one of ultrasonic data, gyro data, optical data, and image data.

[0012] The target location can be determined based on object recognition information identified based on the image data.

[0013] The mobile robot further includes a communication interface for connecting with a first terminal device, and the target location can be determined based on the user input received through a guide UI provided by the first terminal device.

[0014] The above-described preset event is a preset event of a first group, the target location is a first target location, and the at least one processor, when a preset event of a second group is identified while the mobile robot is moving to the first target location, identifies a second target location different from the first target location, and controls the driving unit to move the mobile robot to the second target location based on the spatial information.

[0015] The preset events of the second group may include at least one of an event in which an obstacle is identified, an event in which the mobile robot is identified as having to pass a prohibited area to move to the first target location, an event in which a separated cleaning pad is identified as present at the first target location, and an event in which the mobile robot is identified as having insufficient remaining power to move to the first target location.

[0016] The at least one processor may control the driving unit to move the mobile robot to the charging position based on the spatial information if the second target position different from the first target position is not identified.

[0017] The at least one processor may provide a UI to notify that the cleaning pad is separated from the mobile robot when the cleaning pad is separated from the mobile robot at the target location.

[0018] According to one embodiment, a control method of a mobile robot storing spatial information and a target position for separating a cleaning pad includes, when a preset event is identified during a cleaning operation of the mobile robot, identifying the target position, moving to the target position based on the spatial information, and separating the cleaning pad from the mobile robot at the target position, wherein the target position is determined based on at least one of the spatial information or a user input.

[0019] The above preset event may include at least one of an event in which the contamination level of the cleaning pad is identified as being above a threshold value, an event in which a user command to replace the cleaning pad is received, or an event in which the cleaning run is identified as being completed.

[0020] The target location is determined based on sensing data and map data included in the spatial information, and the control method may further include a step of acquiring the sensing data through a sensing unit.

[0021] The sensing unit may include at least one of an ultrasonic sensor, a gyro sensor, an optical sensor, and an image sensor, and the sensing data may include at least one of ultrasonic data, gyro data, optical data, and image data.

[0022] The target location can be determined based on object recognition information identified based on the image data.

[0023] These and / or other matters will be made clear and more readily understood by the description provided with the drawings listed below.

[0024] FIG. 1 is a drawing for explaining a mobile robot for driving in a specific space according to one embodiment.

[0025] FIG. 2 is a block diagram illustrating a mobile robot according to one embodiment.

[0026] FIG. 3 is a block diagram illustrating a specific configuration of the mobile robot of FIG. 2 according to one embodiment.

[0027] FIG. 4 is a drawing for explaining an operation of separating a pad according to one embodiment.

[0028] FIG. 5 is a diagram illustrating an operation of storing a target location for performing a specific operation, according to one embodiment.

[0029] FIG. 6 is a diagram for explaining an operation of identifying a target location using spatial information, according to one embodiment.

[0030] FIG. 7 is a drawing for explaining a coordinate axis according to one embodiment.

[0031] FIG. 8 is a diagram illustrating a table for calculating a target score, according to one embodiment.

[0032] FIG. 9 is a diagram illustrating a table for calculating a target score, according to one embodiment.

[0033] FIG. 10 is a diagram for explaining an object recognition operation according to one embodiment.

[0034] FIG. 11 is a drawing for explaining an operation of identifying a target location using a first terminal device according to one embodiment.

[0035] FIG. 12 is a drawing for explaining a guide screen for identifying a target location using a first terminal device according to one embodiment.

[0036] FIG. 13 is a diagram for explaining an operation of identifying a target location using a second terminal device according to one embodiment.

[0037] FIG. 14 is a drawing for explaining an embodiment of identifying a target location using a second terminal device according to one embodiment.

[0038] FIG. 15 is a diagram for explaining an operation of identifying a target location using a first terminal device and a second terminal device according to one embodiment.

[0039] FIG. 16 is a drawing for explaining a guide screen for identifying a target location using a first terminal device and a second terminal device according to one embodiment.

[0040] FIG. 17 is a diagram for explaining an operation in which a user directly identifies a target location through a first terminal device according to one embodiment.

[0041] FIG. 18 is a drawing for explaining a guide screen for a user to directly identify a target location through a first terminal device according to one embodiment.

[0042] FIG. 19 is a drawing for explaining an operation of directly identifying a target location through a mobile robot according to one embodiment.

[0043] FIG. 20 is a drawing for explaining an embodiment of directly identifying a target location through a mobile robot according to one embodiment.

[0044] FIG. 21 is a drawing for explaining an operation of separating a pad during a cleaning operation, according to one embodiment.

[0045] FIG. 22 is a diagram illustrating various operations for identifying a target location, according to one embodiment.

[0046] FIG. 23 is a drawing for explaining a screen guiding an operation for separating a pad, according to one embodiment.

[0047] FIG. 24 is a drawing for explaining a screen that guides an operation performed after separating a pad, according to one embodiment.

[0048] FIG. 25 is a drawing for explaining an operation of separating a pad during charging, according to one embodiment.

[0049] FIG. 26 is a drawing for explaining an operation of returning a pad to a charging position after detaching it during charging, according to one embodiment.

[0050] FIG. 27 is a drawing for explaining an embodiment of returning a pad to a charging position after detaching it during charging, according to one embodiment.

[0051] FIG. 28 is a drawing for explaining a method for controlling a mobile robot according to one embodiment.

[0052] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0053] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0054] The singular form of a noun corresponding to an item may include one or more items, unless the context clearly indicates otherwise.

[0055] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" can include any one of the items listed together in that phrase, or all possible combinations thereof. For example, the expression "at least one of A or B" can include A, B, or A and B. The expression "at least one of A, B, or C" can include A, B, C, A and B, A and C, B and C, or A and B and C. The expression "at least one of A, B, C, or D" can include A, B, C, D, A and B, A and C, A and D, A and B and C, A and B and D, A and C and D, B and C, B and D, B and C and D, C and D, or A and B and C and D.

[0056] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0057] When a component (e.g., a first component) is referred to as being “coupled” or “connected” to another component (e.g., a second component), with or without the terms “functionally” or “communicatively,” it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0058] The terms “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0059] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0060] When we say that a component is “on” another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0061] The term “and / or” includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0062] The operating principle and embodiments of the present invention will be described with reference to the attached drawings below.

[0063] The home appliance may include a communication module capable of communicating with another home appliance, a user device, or a server, a user interface for receiving user input or outputting information to a user, at least one processor for controlling the operation of the home appliance, and at least one memory storing a program for controlling the operation of the home appliance.

[0064] The home appliance may be at least one of various types of home appliances. For example, the home appliance may include, but is not limited to, at least one of a refrigerator (11), a dishwasher (12), an electric range (13), an electric oven (14), an air conditioner (15), a clothes manager (16), a washing machine (17), a dryer (18), and a microwave oven (19) as illustrated, and may include, for example, various types of home appliances not illustrated in the drawing, such as a cleaning robot, a vacuum cleaner, and a television. In addition, the home appliances mentioned above are merely examples, and in addition to the home appliances mentioned above, a device that is connected to another home appliance, a user device, or a server and can perform the operations described below may be included in the home appliance according to one embodiment.

[0065] The server may include a communication module capable of communicating with other servers, home appliances, or user devices, at least one processor capable of processing data received from other servers, home appliances, or user devices, and at least one memory capable of storing a program for processing the data or processed data. The server may be implemented as a variety of computing devices, such as a workstation, a cloud, a data drive, or a data station. The server may be implemented as one or more servers that are physically or logically separated based on function, detailed configuration of the function, or data, and may transmit and receive data and process the transmitted and received data through communication between each server.

[0066] The server can perform functions such as managing user accounts, registering home appliances by linking them to user accounts, and managing or controlling registered home appliances. For example, a user can access the server through a user device and create a user account. The user account can be identified by an ID and password set by the user. The server can register home appliances to the user account according to a set procedure. For example, the server can register, manage, and control home appliances by linking identification information of the home appliance (e.g., serial number or MAC address) to the user account. The user device can include a communication module capable of communicating with the home appliance or the server, a user interface for receiving user input or outputting information to the user, at least one processor for controlling the operation of the user device, and at least one memory storing a program for controlling the operation of the user device.

[0067] The user device may be carried by the user or placed in the user's home or office. The user device may include, but is not limited to, a personal computer, a terminal, a portable telephone, a smart phone, a handheld device, a wearable device, etc.

[0068] The user device's memory may store programs, or applications, for controlling home appliances. Applications may be sold pre-installed on the user device or downloaded and installed from an external server.

[0069] A user can connect to the server by running an application installed on the user device, create a user account, and register a home appliance by communicating with the server based on the logged-in user account.

[0070] For example, if a user manipulates a home appliance to connect to a server by following the procedure guided by an application installed on the user device, the server can register the home appliance to the user account by registering the identification information of the home appliance (e.g., serial number or MAC address) to the user account.

[0071] Users can control home appliances using applications installed on their devices. For example, when a user logs into their account using an application installed on their device, home appliances registered to their account appear. When a user enters a control command for a home appliance, the control command is transmitted to the home appliance via a server.

[0072] A network can include both wired and wireless networks. Wired networks include cable networks or telephone networks, while wireless networks can include any network that transmits and receives signals via radio waves. Wired and wireless networks can be interconnected.

[0073] A network may include a wide area network (WAN) such as the Internet, a local area network (LAN) formed around an access point (AP), and a short-range wireless network that does not use an access point (AP). Short-range wireless networks may include, but are not limited to, Bluetooth™ (IEEE 802.15.1), Zigbee (IEEE 802.15.4), Wi-Fi Direct, Near Field Communication (NFC), Z-Wave, etc.

[0074] An access point (AP) can connect appliances or user devices to a wide area network (WAN) connected to a server. Appliances or user devices can then connect to the server via the WAN.

[0075] Access Points (APs) can communicate with home appliances or user devices using wireless communication such as Wi-Fi™ (IEEE 802.11), Bluetooth™ (IEEE 802.15.1), or Zigbee (IEEE 802.15.4), and can connect to a wide area network (WAN) using wired communication, but are not limited thereto.

[0076] In various embodiments, the appliance may be connected directly to the user device or server without going through an access point (AP).

[0077] The appliance may be connected to a user device or server via a long-range wireless network or a short-range wireless network.

[0078] For example, home appliances may connect to user devices via short-range wireless networks (e.g., Wi-Fi Direct).

[0079] As another example, a home appliance may be connected to a user device or server over a wide area network (WAN) using a long-range wireless network (e.g., a cellular communication module).

[0080] As another example, a home appliance may connect to a wide area network (WAN) using wired communication, and may be connected to a user device or server through the WAN.

[0081] If a home appliance can connect to a wide area network (WAN) via wired communication, it can act as an access relay. This allows the appliance to connect other appliances to the WAN to which the server is connected. Furthermore, other appliances can connect the appliance to the WAN to which the server is connected.

[0082] A home appliance can transmit information about its operation or status to another home appliance, a user device, or a server via a network. For example, a home appliance can transmit information about its operation or status to another home appliance, a user device, or a server when a request is received from a server, when a specific event occurs in the home appliance, or periodically or in real time. When information about the operation or status is received from a home appliance, the server can update the stored information about the operation or status of the home appliance and transmit the updated information about the operation and status of the home appliance to the user device via the network. Here, updating information can include various actions that change existing information, such as adding new information to existing information or replacing existing information with new information.

[0083] Home appliances can obtain various information from other home appliances, user devices, or servers, and provide the obtained information to users. For example, home appliances can obtain information related to their functions (e.g., recipes, laundry instructions, etc.) and various environmental information (e.g., weather, temperature, humidity, etc.) from a server, and output the obtained information through a user interface.

[0084] A home appliance can operate based on control commands received from other home appliances, user devices, or servers. For example, if a home appliance has obtained prior user approval to operate based on control commands from a server without user input, the home appliance can operate based on control commands received from the server. Here, the control commands received from the server may include, but are not limited to, control commands entered by the user through the user device or control commands based on preset conditions.

[0085] User devices can transmit information about the user to home appliances or servers via a communication module. For example, the user device may transmit information about the user's location, health, preferences, schedule, etc. to the server. The user device may transmit information about the user to the server with the user's prior consent.

[0086] Home appliances, user devices, or servers can determine control commands using technologies such as artificial intelligence. For example, a server may receive information regarding the operation or status of a home appliance or information regarding the user of a user device, process it using technologies such as artificial intelligence, and transmit the processing results or control commands to the home appliance or user device based on the processing results.

[0087] FIG. 1 is a drawing for explaining a mobile robot (100) for driving in a specific space according to one embodiment.

[0088] A mobile robot (100) can move within a specific space. The mobile robot (100) may refer to a device capable of movement. For example, the mobile robot (100) may be a robot vacuum cleaner, a service robot, etc.

[0089] The mobile robot (100) can navigate within a user-defined space or within an automatically recognized space. For example, the mobile robot (100) can navigate within a specific space to perform a cleaning function. The mobile robot (100) can be equipped with a cleaning pad to perform the cleaning function. When the cleaning pad becomes dirty, it needs to be replaced.

[0090] A mobile robot (100) can move to a specific location (target location) to discard a cleaning pad. The operation of identifying the target location is described in FIG. 2.

[0091] FIG. 2 is a block diagram illustrating a mobile robot (100) according to one embodiment.

[0092] Referring to FIG. 2, the mobile robot (100) may include at least one of a memory (120), at least one processor (130), and a driving unit (160).

[0093] A mobile robot (100) may refer to a mobile electronic device or an electronic device for controlling a mobile device. For example, the mobile robot (100) may refer to a mobile robot capable of driving or a device for controlling a mobile robot. The mobile robot (100) may be a server that performs analysis operations to control the driving of the device.

[0094] According to various embodiments, the mobile robot (100) may be a mobile cleaning robot that performs a cleaning operation.

[0095] The sensor unit (110) can sense sensing data.

[0096] The memory (120) can store sensing data or processed sensing data. The memory (120) can store at least one instruction.

[0097] At least one processor (130) can perform overall control operations of the mobile robot (or electronic device). Specifically, at least one processor (130) functions to control the overall operations of the mobile robot (or electronic device). At least one processor (130) is connected to the memory (120) and can control the mobile robot (100).

[0098] The memory (120) can store spatial information and target locations for separating the cleaning pad.

[0099] Spatial information may include various information related to the space in which the mobile robot (100) drives. The spatial information may include at least one of sensing data sensed in the driving space or map data representing the driving space.

[0100] The sensing data may include data sensed while the mobile robot (100) is moving.

[0101] Map data may include coordinate data of the space in which the mobile robot (100) moves or feature data corresponding to each coordinate data. The coordinate data may be information indicating a specific location. The feature data may be information indicating the characteristics of each coordinate.

[0102] A mobile robot (100) can drive based on map data. At least one processor (130) can identify a movement path of the mobile robot (100) based on coordinate data included in the map data.

[0103] The driving unit (160) can control the physical force required for the mobile robot (100) to move. The driving unit (160) can control the movement related to the movement of the mobile robot (100).

[0104] At least one processor (130) identifies a target location when a preset event is identified during a cleaning operation, controls a driving unit (160) to move to the target location based on spatial information, and separates the cleaning pad from the target location, and the target location can be determined based on at least one of the spatial information or a user input.

[0105] A cleaning operation may be described as a function that performs cleaning. At least one processor (130) may identify whether a preset event of the first group has occurred during the cleaning operation. The preset event of the first group may be described as a preset event included in the first group.

[0106] The preset events (first group) may include at least one of an event in which the contamination level of the cleaning pad is identified as being above a threshold value, an event in which a user command to replace the cleaning pad is received, or an event in which the cleaning run is identified as being completed.

[0107] When a preset event included in the first group is identified, at least one processor (130) can perform a function for separating the cleaning pad (cleaning pad separation function). At least one processor (130) can identify a target location, which is a location where the cleaning pad is to be separated.

[0108] For example, the target location may be pre-stored in the memory (120). The target location may already be stored in the memory (120) before the cleaning operation begins. When a preset event included in the first group is identified, at least one processor (130) may identify (or call) the target location stored in the memory (120).

[0109] For example, when a preset event included in the first group is identified, at least one processor (130) can newly identify a target location.

[0110] The actions to identify a target location can vary.

[0111] In one embodiment, the target location can be determined based on spatial information.

[0112] The target location can be determined based on sensing data and map data included in the spatial information.

[0113] The target location can be determined using a target score. The target score can be a numerical score indicating whether the location is suitable for discarding the cleaning pad. The target score can be obtained based on table information. The table information can be described as a data-to-target score mapping table for calculating the target score. The table information can be described as target score table information, score lookup table information, etc.

[0114] A first target score may be obtained based on sensing data and a table corresponding to the sensing data. A second target score may be obtained based on map data and a table corresponding to the map data. The final target location may be determined based on at least one of the first target score or the second target score.

[0115] The operation of identifying a target location based on spatial information is described in FIGS. 5 to 10.

[0116] At least one processor (130) can obtain sensing data through the sensing unit (110).

[0117] The sensing unit (110) may include at least one of an ultrasonic sensor, a gyro sensor, a light sensor, and an image sensor. The light sensor may include at least one of an infrared sensor and a lidar sensor. The image sensor may include a camera.

[0118] According to various embodiments, the sensing unit (110) may additionally include a distance sensor. The distance sensor may include at least one of a 2D sensor, a 3D sensor, and a ToF (Time of Flight) sensor.

[0119] The sensing data may include at least one of ultrasonic data, gyro data, optical data, and image data.

[0120] The target location can be determined based on object recognition information identified based on image data. The operation of obtaining object recognition information is described in FIG. 10.

[0121] In one embodiment, the target location may be determined based on user input.

[0122] The mobile robot (100) may further include a communication interface (140) for connection with the first terminal device (300-1).

[0123] The target location can be determined based on user input received through the guide UI provided in the first terminal device (300-1).

[0124] For example, the first terminal device (300-1) may provide a UI that guides user input after moving the first terminal device (300-1) to a target location. A description related to this is provided in FIGS. 11 and 12.

[0125] For example, the first terminal device (300-1) may provide a UI that guides user input after moving the second terminal device (300-2) to the target location. A description related to this is provided in FIGS. 15 and 16.

[0126] For example, the first terminal device (300-1) may provide a UI for determining a target location without the user having to move to the target location. A description of this is provided in FIGS. 17 and 19 .

[0127] There may be multiple target locations. There may be multiple target locations for separating the cleaning pad. The multiple target locations may include priorities. For example, there may be a first target location with a first priority and a second target location with a second priority.

[0128] At least one processor (130) can identify a second target location different from the first target location when a preset event of the second group is identified while moving to the target location, and control the driving unit (160) to move to the second target location based on spatial information.

[0129] The second group of preset events may include at least one of an event in which an obstacle is identified, an event in which a prohibited area must be passed to move to the first target location, an event in which a detached cleaning pad is identified at the first target location, and an event in which insufficient power is identified to move to the first target location.

[0130] At least one processor (130) can control the driving unit (160) to move to the charging position based on spatial information if a second target position different from the first target position is not identified.

[0131] Specific descriptions of the preset events of the first group, the preset events of the second group, and the movement of the charging position are described in Fig. 21.

[0132] At least one processor (130) may provide a UI to notify that the cleaning pad has been detached when the cleaning pad is detached at the target location. A description related to this is provided in FIG. 24.

[0133] In the drawings 5 ​​to 20 below, an embodiment in which a target location is determined through a server (200) is described.

[0134] According to various embodiments, the operations of the server (200) described in FIGS. 5 to 20 may be performed directly by the mobile robot (100). As in the on-device embodiment, the operations of the server (200) described in FIGS. 5 to 20 may be replaced by being performed by the mobile robot (100) or at least one processor (130).

[0135] In FIGS. 5 to 20, the mobile robot (100) is described as receiving a target location through a server (200). According to an implementation example, the mobile robot (100) may receive the target location through a charging station corresponding to the mobile robot (100). The mobile robot (100) may also utilize the charging station when communicating with the server (200). The charging station may be used as a single AP (Access Point) device.

[0136] According to various embodiments, at least one processor (130) can update the target location. The at least one processor (130) can update the target location when map data is updated. Even if the target location is already stored, the at least one processor (130) can re-identify the target location when the map data is updated. This is because the sensing data and map data can change. For example, if only information about a first space was stored, the mobile robot (100) can explore a second space different from the first space. When information about the second space (sensing data, map data) is received, the at least one processor (130) can identify the target location using both the existing information and the newly acquired information about the second space.

[0137] According to various embodiments, at least one processor (130) may update the target location based on the discarded pad. The target location information may include the target location and a priority corresponding to the target location. Upon completing the operation of detaching the cleaning pad, at least one processor (130) may update the target location information.

[0138] When the cleaning pad is detached at the first target location, the first target location may no longer be a suitable location for detaching the cleaning pad. Accordingly, at least one processor (130) may control the mobile robot (100) to discard the cleaning pad at a second target location that is different from the existing first target location.

[0139] For example, assume that a first target position of priority 1 and a second target position of priority 2 are included in the target position information. Assume that a mobile robot (100) detaches a cleaning pad from the first target position. When the cleaning pad is detached from the first target position, at least one processor (130) can update the target position information by changing the first target position to the second priority and changing the second target position to the first priority.

[0140] At least one processor (130) can determine whether the cleaning pad separated from the first target position has been removed by the user. If the cleaning pad separated from the first target position has been removed, the at least one processor (130) can update the target position information again. The at least one processor (130) can change the first target position, which was changed to the second priority, back to the first priority, and change the second target position, which was changed to the first priority, back to the second priority.

[0141] At least one processor (130) can update target location information while charging. While charging, it may be difficult to reach the target location to replace the cleaning pad. The battery may discharge while traveling to the target location, or charging may be more important to the user than replacing the cleaning pad. At least one processor (130) can change the target location and target location priority information while charging.

[0142] Assume there is a single target location. Assume that the target location is located at a threshold distance from the charging location. At least one processor (130) can identify a new target location within the threshold distance from the charging location while the device is charging.

[0143] Assume there are multiple target locations. At least one processor (130) may assign the highest priority to the target location closest to the charging location while charging. If all of the multiple target locations are located at a threshold distance from the charging location, at least one processor (130) may identify a new target location within the threshold distance from the charging location.

[0144] When a cleaning pad is detached from a target location, at least one processor (130) can control the mobile robot (100) to attach a new cleaning pad.

[0145] For example, at least one processor (130) may provide a UI to guide attachment of a cleaning pad. A notification guiding attachment of a new cleaning pad may be output through the speaker of the mobile robot (100). A screen including a notification guiding attachment of a new cleaning pad may be displayed through the first terminal device (300-1).

[0146] For example, at least one processor (130) may automatically attach a cleaning pad. A function may be performed to automatically replace a new cleaning pad at a charging station corresponding to the mobile robot (100). At least one processor (130) may control the driving unit (160) to move to a charging location (or a cleaning pad replacement location). After arriving at the charging location, at least one processor (130) may transmit a command to replace a new cleaning pad to the charging station.

[0147] FIG. 3 is a block diagram for explaining a specific configuration of the mobile robot (100) of FIG. 2 according to one embodiment.

[0148] Referring to FIG. 3, the mobile robot (100) may include at least one of a sensor unit (110), a memory (120), at least one processor (130), a communication interface (140), a manipulation interface (150), a driving unit (160), a speaker (170), or a microphone (180). The description of the overlapping portion with the configuration described in FIG. 2 is omitted.

[0149] The sensor unit (110) may include at least one sensor. The at least one sensor may be one of a lidar sensor for sensing position, an image sensor for capturing images, or an acceleration sensor (or gyro sensor) for sensing a rotation angle. According to various embodiments, a single sensor may sense position, image, rotation angle, etc. The sensor unit (110) may sense sensing data.

[0150] The sensor unit (110) includes a first sensor unit and a second sensor unit, and at least one processor (130) can obtain a plurality of driving positions through the first sensor unit and obtain a plurality of captured images through the second sensor unit.

[0151] The first sensor unit may be a sensor that acquires sensing data about the surrounding environment. The first sensor unit may be a lidar sensor, an IR (Infra-Red) sensor, a 3D depth camera, a 3D visual sensor, etc. At least one processor (130) may acquire the driving position of the mobile robot (100) based on the sensing data acquired from the first sensor unit.

[0152] The number of the first sensor unit can be written as 110-1 and the number of the second sensor unit can be written as 110-2.

[0153] The second sensor unit may be an image sensor. The image sensor may include a camera. At least one processor (130) may acquire a photographic image of the surroundings of the mobile robot (100) based on sensing data acquired from the second sensor unit.

[0154] The memory (120) may be implemented as an internal memory such as a ROM (e.g., an electrically erasable programmable read-only memory (EEPROM)) or RAM included in the processor (130), or may be implemented as a separate memory from the processor (130). In this case, the memory (120) may be implemented as a memory embedded in the mobile robot (100) or as a memory detachable from the mobile robot (100) depending on the purpose of data storage. For example, data for driving the mobile robot (100) may be stored in a memory embedded in the mobile robot (100), and data for the expansion function of the mobile robot (100) may be stored in a memory detachable from the mobile robot (100).

[0155] In the case of memory embedded in the mobile robot (100), it may be implemented as at least one of volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD)), and in the case of memory that can be attached or detached to the mobile robot (100), it may be implemented as a memory card (e.g., compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.), external memory that can be connected to a USB port (e.g., USB memory), etc. there is.

[0156] The processor (130) may be implemented as a digital signal processor (DSP), a microprocessor, or a time controller (TCON) that processes digital signals. However, the present invention is not limited thereto, and may include one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a graphics-processing unit (GPU), a communication processor (CP), or an advanced reduced instruction set computer (RISC) machines (ARM) processor, or may be defined by the relevant terminology. The processor (130) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a processing algorithm built in, or may be implemented in the form of a field programmable gate array (FPGA). The processor (130) may perform various functions by executing computer executable instructions stored in a memory.

[0157] The communication interface (140) is a configuration that performs communication with various types of external devices according to various types of communication methods. The communication interface (140) may include a wireless communication module or a wired communication module. Each communication module may be implemented in the form of at least one hardware chip.

[0158] A wireless communication module may be a module that communicates wirelessly with an external device. For example, the wireless communication module may include at least one of a Wi-Fi module, a Bluetooth module, an infrared communication module, or other communication modules.

[0159] Wi-Fi and Bluetooth modules can communicate via Wi-Fi and Bluetooth, respectively. When using a Wi-Fi or Bluetooth module, various connection information, such as the service set identifier (SSID) and session key, is first transmitted and received. This information is then used to establish a communication connection before various other information can be transmitted and received.

[0160] Infrared communication modules perform communication based on infrared communication (IrDA, infrared Data Association) technology, which transmits data wirelessly over short distances using infrared light, which is between visible light and millimeter waves.

[0161] In addition to the above-described communication method, other communication modules may include at least one communication chip that performs communication according to various wireless communication standards such as zigbee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), LTE-A (LTE Advanced), 4G (4th Generation), 5G (5th Generation), etc.

[0162] A wired communication module may be a module that communicates with an external device via a wire. For example, the wired communication module may include at least one of a Local Area Network (LAN) module, an Ethernet module, a paired cable, a coaxial cable, a fiber optic cable, or an Ultra Wide-Band (UWB) module.

[0163] The operation interface (150) may be implemented as a device such as a button, a touch pad, a mouse, and a keyboard, or as a touch screen capable of performing the above-described display and operation input functions. The button may be a mechanical button, a touch pad, a wheel, or any other type of button formed in any area of ​​the front, side, or back of the main body of the mobile robot (100).

[0164] The driving unit (160) may be a configuration that generates and transmits physical force to control the movement of the mobile robot (100). The driving unit (160) may include a motor.

[0165] The speaker (170) may be a component that outputs various audio data as well as various notification sounds or voice messages.

[0166] The mobile robot (100) may include a microphone (180).

[0167] The microphone (180) is a component for receiving a user's voice or other sounds and converting them into audio data. The microphone (180) can receive the user's voice in an activated state. For example, the microphone (180) can be formed integrally on the upper side, front side, side side, etc. of the mobile robot (100). The microphone (180) can include various components such as a microphone for collecting the user's voice in analog form, an amplifier circuit for amplifying the collected user's voice, an A / D conversion circuit for sampling the amplified user's voice and converting it into a digital signal, and a filter circuit for removing noise components from the converted digital signal.

[0168] FIG. 4 is a drawing for explaining an operation of separating a cleaning pad according to one embodiment.

[0169] Referring to FIG. 4, the mobile robot (100) can acquire map data (S410). The map data may include information about a target space for the mobile robot (100) to navigate. The map data may include location information or coordinate information required for the mobile robot (100) to navigate. The map data may be described as map information, etc.

[0170] The mobile robot (100) can store a target location (S420). The target location may indicate a location determined for performing a specific action. The target location may indicate a destination location for moving a preset object. For example, the preset object may be a cleaning pad attached to the mobile robot (100). For example, the preset object may be an obstacle toward which the mobile robot (100) intends to move. The target location may be described as target coordinates, a destination, etc.

[0171] According to one embodiment, the target location may be a location determined based on at least one of sensing data or map data. A description thereof is provided in FIGS. 5 to 10.

[0172] In one embodiment, the target location may be determined based on user input. A description thereof is provided in FIGS. 11 to 20.

[0173] In one embodiment, the target location may be a predetermined location. The target location may be a location set within a threshold range of the charging location.

[0174] The mobile robot (100) can perform cleaning operations (S430). Cleaning operations can refer to a movement for cleaning. The mobile robot (100) can perform cleaning operations based on user commands.

[0175] The mobile robot (100) can identify a target location after starting its cleaning operation (S440). For example, the mobile robot (100) can identify a target location when a preset event is identified after starting its cleaning operation. A detailed description of this is provided in FIG. 21.

[0176] The mobile robot (100) can separate the cleaning pad after identifying the target location (S460). The mobile robot (100) can separate the cleaning pad at the target location. If the mobile robot (100) cannot separate the cleaning pad at the target location, it can identify another target location and separate the cleaning pad at the other target location.

[0177] FIG. 5 is a diagram illustrating an operation of storing a target location for performing a specific operation, according to one embodiment.

[0178] Referring to FIG. 5, the mobile robot (100) can acquire spatial information (S510). The spatial information can include at least one of sensing data and map data. The sensing data can represent sensing data acquired through various sensors. The sensing data can be data acquired in a space where the mobile robot (100) moves. The sensing data can be information indicating characteristics corresponding to a specific location. The sensing data can include information mapped to a specific location and data sensed at the specific location. For example, the sensing data can include first sensing data sensed at a first location and second sensing data sensed at a second location. The first sensing data can include the location where the sensing data was sensed in addition to the sensing data itself.

[0179] Map data may include information indicating a location in a space in which a mobile robot (100) moves. The map data may include location information for the entire space in which the mobile robot (100) moves. The map data may include at least one of coordinate data and feature data. The coordinate data may indicate location data for indicating a space. The feature data may be data corresponding to the coordinate data. For example, there may be first feature data corresponding to a first location, and there may be second feature data corresponding to a second location. The feature data may be data corresponding to a specific location. The feature data may be described as characteristic data or description data.

[0180] The mobile robot (100) can transmit spatial information to the server (200) (S520).

[0181] The server (200) can receive spatial information from the mobile robot (100). The server (200) can identify a target location based on the spatial information (S530). The server (200) can obtain at least one of sensing data or map data included in the spatial information. The server (200) can identify a target location for discarding a cleaning pad. The server (200) can transmit the identified target location to the mobile robot (100) (S540).

[0182] The mobile robot (100) can receive a target location from the server (200). The mobile robot (100) can store the received target location (S550).

[0183] FIG. 6 is a diagram for explaining an operation of identifying a target location using spatial information, according to one embodiment.

[0184] Steps S610, S620, S640, and S650 of FIG. 6 may correspond to steps S510, S520, S540, and S550 of FIG. 5. Duplicate explanations are omitted.

[0185] Upon receiving spatial information, the server (200) can obtain a first target score for each of the plurality of locations based on the sensing data (S631). The server (200) can analyze the sensing data to obtain a first target score for each of the plurality of locations.

[0186] For example, the server (200) may obtain a first target score corresponding to a first location based on first sensing data and table information corresponding to a first location. The server (200) may obtain a first target score corresponding to a second location based on second sensing data and table information corresponding to a second location. Descriptions related to the table information are described in FIGS. 8 and 9 .

[0187] The first target score may be described as a first type target score or a first type sub-score. Since there is a first target score corresponding to each position, the first target score may include multiple concepts.

[0188] The server (200) can obtain a second target score for each of multiple locations based on map data (S632).

[0189] Upon receiving spatial information, the server (200) can obtain a second target score for each of the plurality of locations based on the map data (S632). The server (200) can analyze the map data to obtain a second target score for each of the plurality of locations.

[0190] For example, the server (200) can obtain a second target score corresponding to a first location based on first map data and table information corresponding to the first location. The server (200) can obtain a second target score corresponding to a second location based on second map data and table information corresponding to the second location.

[0191] The second target score may be described as a second type target score or a second type sub-score. Since there is a second target score corresponding to each position, the second target score may include multiple concepts.

[0192] The server (200) can identify the target location based on at least one of the first target score or the second target score (S633).

[0193] According to one embodiment, the server (200) can identify a target location based on a first target score.

[0194] According to one embodiment, the server (200) can identify the target location based on the second target score.

[0195] According to one embodiment, the server (200) can identify a target location based on a first target score and a second target score.

[0196] The type of target score used to identify the target location can be changed depending on the user's settings.

[0197] Once the target location is identified, the server (200) transmits the target location to the mobile robot (100) (S640), and the mobile robot (100) can store the target location (S650).

[0198] FIG. 7 is a drawing for explaining a coordinate axis according to one embodiment.

[0199] The coordinate system (700) of Fig. 7 represents the x-axis, y-axis, and z-axis based on the direction of movement of the mobile robot (100). Rotation based on the x-axis can be defined as roll, rotation based on the y-axis can be defined as pitch, and rotation based on the z-axis can be defined as yaw. The x-axis can be described as the first axis, the y-axis as the second axis, and the z-axis as the third axis. The rotation directions of roll, pitch, and yaw can be such that a clockwise direction is positive and a counterclockwise direction is negative based on the direction in which each axis is viewed from the origin.

[0200] FIG. 8 is a diagram illustrating a table for calculating a target score, according to one embodiment.

[0201] Referring to FIG. 8, the server (200) may include table information (810, 820) for comparing data to obtain a target score.

[0202] The first table information (810) can be used to obtain a target score corresponding to sensing data. The first table information (810) can include at least one of a first table (811) used to obtain a target score corresponding to ultrasound data, a second table (812) used to obtain a target score corresponding to gyro data, a third table (813) used to obtain a target score corresponding to optical data, and a fourth table (814) used to obtain a target score corresponding to image data.

[0203] The server (200) can identify the type of sensing data and identify a table corresponding to the identified type. The identified type may be at least one of ultrasonic data, gyro data, optical data, and image data.

[0204] For example, when ultrasonic data is received, the server (200) can obtain a target score for each coordinate using the ultrasonic data and the first table (811).

[0205] For example, when gyro data is received, the server (200) can obtain a target score for each coordinate using the gyro data and the second table (812).

[0206] For example, when optical data is received, the server (200) can obtain a target score for each coordinate using the optical data and the third table (813).

[0207] For example, when image data is received, the server (200) can obtain target scores for each coordinate using the optical data and the fourth table (814).

[0208] The target score corresponding to each type can be described as a sub-target score.

[0209] The server (200) can utilize an object recognition model to analyze image data. A description related to the object recognition model is described in FIG. 10.

[0210] There may be various methods for calculating the first target score obtained based on sensing data. The server (200) may obtain a single first target score by synthesizing the sub-target scores obtained for each type.

[0211] For example, the server (200) can obtain one first target score by adding up target scores by type.

[0212] For example, the server (200) can obtain one first target score by reflecting the type-specific weight.

[0213] For example, the server (200) can obtain the average value of target scores by type as one first target score.

[0214] For example, the server (200) can obtain the minimum target score for each type as one first target score.

[0215] The second table information (820) may be used to obtain a second target score corresponding to map data. The second table information (820) may include a fifth table used to obtain a second target score corresponding to characteristic data of specific coordinates.

[0216] The server (200) can obtain coordinate data and characteristic data included in the map data. The server (200) can obtain a second target score for each coordinate based on the coordinate data, characteristic data, and the fifth table (820).

[0217] The server (200) can determine the final target score based on at least one of the first target score and the second target score. The calculation method (sum, weighting, average, minimum, etc.) for obtaining the first target score by synthesizing the target scores by type can be applied equally to the operation of synthesizing the first target score and the second target score.

[0218] Figure 8 illustrates an embodiment in which a separate table exists for each type of sensing data. Depending on the implementation example, multiple types of sensing data may be grouped into a single group. This will be described with reference to Figure 9.

[0219] FIG. 9 is a diagram illustrating a table for calculating a target score, according to one embodiment.

[0220] Referring to FIG. 9, the mobile robot (100) can sense at least one of the sensing data of the first group, the sensing data of the second group, or the map data.

[0221] Sensing data may vary depending on the type of sensor. The mobile robot (100) or server (200) may group the sensing data into separate groups based on the type of sensing data. For example, the mobile robot (100) or server (200) may divide the sensing data into a first group of sensing data and a second group of sensing data based on preset criteria.

[0222] The sensing data of the first group may be data including at least one of ultrasonic data, gyro data, and optical data. The mobile robot (100) or server (200) may identify a data group including at least one of ultrasonic data, gyro data, and optical data as the sensing data of the first group.

[0223] The server (200) can store a table (910, 920, 930) that maps target scores corresponding to preset data.

[0224] The server (200) can store a first table (910) corresponding to the sensing data of the first group. The server (200) can obtain a target score corresponding to a specific location using the sensing data of the first group and the first table (910). The target score of the first group can be described as a first sub-target score.

[0225] The sensing data of the second group may include image data. The mobile robot (100) or server (200) may identify a data group including image data as the sensing data of the second group.

[0226] The server (200) may store a second table (920) corresponding to the sensing data of the second group. The server (200) may use the sensing data of the second group and the second table (920) to obtain a target score corresponding to a specific location. The target score of the second group may be described as a second sub-target score.

[0227] There may be various methods for calculating the first target score obtained based on sensing data. The server (200) may obtain a single first target score by synthesizing the sub-target scores obtained for each group.

[0228] For example, the server (200) can obtain a single first target score by adding up the target scores for each group.

[0229] For example, the server (200) can obtain one first target score by reflecting the weights for each group.

[0230] For example, the server (200) can obtain the average value of the target scores for each group as one first target score.

[0231] A mobile robot (100) can transmit map data to a server (200). The server (200) can obtain coordinate data included in the map data and feature data corresponding to the coordinate data. The server (200) can obtain a second target score using the coordinate data, feature data, and a third table (930).

[0232] FIG. 10 is a diagram for explaining an object recognition operation according to one embodiment.

[0233] The server (200) can store an AI object recognition model (1000). The AI ​​object recognition model (1000) may be a model that receives image data as input and identifies an object included in the image data. When the image data is acquired as input data, the AI ​​object recognition model (1000) can output an object included in the image data as output data. The server (200) inputs image data (1010, 1020, 1030, 1040) into the AI ​​object recognition model (1000), and acquires an object (TV, refrigerator, washing machine, air conditioner) corresponding to each of the image data (1010, 1020, 1030, 1040) from the AI ​​object recognition model (1000). The server (200) can store object recognition information including the acquired object.

[0234] The server (200) can obtain a target score corresponding to image data using object recognition information. For example, the server (200) can receive first image data including a washing machine photographed at a first coordinate and input the first image data into an AI object recognition model (1000). The server (200) can obtain object recognition information including the washing machine from the AI ​​object recognition model (1000) and calculate (or obtain) a target score of the first coordinate where the first image data was obtained as 10 points using the object recognition information (washing machine) and the fourth table (814) of FIG. 8.

[0235] According to various embodiments, a mobile robot (100) may receive a user input including a control command to detach a cleaning pad at a location corresponding to a preset object (e.g., a washing machine) during a cleaning operation. The mobile robot (100) may utilize an AI object recognition model (1000) to analyze the preset object included in the control command. The mobile robot (100) may identify the preset object based on the user input even if the target location has already been stored (or identified). The AI ​​object recognition model (1000) may be utilized to identify the preset object. When the preset object is identified based on image data sensed by the mobile robot (100), the target location may be identified (or changed) to a location corresponding to the preset object.

[0236] FIG. 11 is a drawing for explaining an operation of identifying a target location using a first terminal device (300-1) according to one embodiment.

[0237] Referring to FIG. 11, a mobile robot (100) can obtain map data (S1110). The mobile robot (100) can transmit the map data to a server (200) (S1120).

[0238] The server (200) can receive map data from the mobile robot (100). The server (200) can store the map data (S1131).

[0239] In response to a user command to set a target location, the first terminal device (300-1) can provide a first guide UI.

[0240] The first terminal device (300-1) may provide a first guide UI for identifying a target location (S1132). The first terminal device (300-1) may provide a current location. The first terminal device (300-1) may include a display or a speaker. The first guide UI may include a UI for specifying the current location. A screen related to the first guide UI is described in FIG. 12. For example, the first terminal device (300-1) may be a user's smartphone.

[0241] Providing a guide UI may include at least one of an action of displaying guide information through a display or an action of outputting guide information through a speaker.

[0242] The first terminal device (300-1) can receive user input for specifying a current location through the first guide UI (S1133). The user input may include voice input or manipulation input. The first terminal device (300-1) can obtain user input including voice through a microphone. The first terminal device (300-1) can obtain user input including manipulation input through a manipulation interface. The manipulation may include a user action such as selecting a specific button or touching a specific location.

[0243] The first terminal device (300-1) can transmit the current location of the first terminal device (300-1) corresponding to the user input to the server (200) (S1134). The first terminal device (300-1) can be connected to the server (200). The first terminal device (300-1) can communicate with the server (200) based on a preset communication method.

[0244] The server (200) can receive the current location of the first terminal device (300-1) from the first terminal device (300-1). Once the current location of the first terminal device (300-1) is identified, the server (200) can identify a target location based on the current location and map data of the first terminal device (300-1) (S1135). The server (200) can determine the current location of the first terminal device (300-1) at the time when the user input is received as the target location.

[0245] The server (200) can transmit the target location to the mobile robot (100) (S1140). The mobile robot (100) can be connected to the server (200) using a preset communication method.

[0246] The mobile robot (100) can receive a target location from the server (200). The mobile robot (100) can store the target location (S1150).

[0247] FIG. 12 is a drawing for explaining a guide screen for identifying a target location using a first terminal device (300-1) according to one embodiment.

[0248] The guide screen (1200) of FIG. 12 may be a screen corresponding to the first guide UI of FIG. 11. The guide screen (1200) may include at least one of a UI (1210) for guiding user input, a UI (1220) for selecting a target location, a UI (1230) for guiding voice input, a UI (1240) for guiding the location of the first terminal device (300-1), and a UI (1250) for indicating the location of the first terminal device (300-1).

[0249] The UI (1210) guiding user input may include at least one of information guiding the user to move directly to the target location to set the target location and information guiding user input at the target location.

[0250] The UI (1220) for selecting a target location may include a UI for a user to directly input manipulation input at the target location.

[0251] The UI (1230) guiding voice input may include information guiding that a target location can be selected by voice rather than through manipulation input through the UI (1220).

[0252] The UI (1240) guiding the location of the first terminal device (300-1) may include information indicating that the location of the first terminal device (300-1) can be directly confirmed in the UI (1250).

[0253] The UI (1250) indicating the location of the first terminal device (300-1) may include a map of the space in which the mobile robot (100) is driving (or is scheduled to drive) and the location of the first terminal device (300-1) displayed on the map.

[0254] Through the UI (1250), the user can check in real time the current location of the first terminal device (300-1).

[0255] FIG. 13 is a drawing for explaining an operation of identifying a target location using a second terminal device (300-2) according to one embodiment.

[0256] Steps S1310, S1320, S1331, S1340, and S1350 of FIG. 13 may correspond to steps S1110, S1120, S1131, S1140, and S1150 of FIG. 11. Duplicate explanations are omitted.

[0257] The mobile robot (100) may provide a second guide UI for identifying a target location according to a user command (S1332). The second guide UI may include information guiding the identification of the target location through the second terminal device (300-2).

[0258] For example, the second guide UI may include information indicating, "Move the second terminal device (300-2) to the target location and press the button on the second terminal device (300-2)." The mobile robot (100) may output the guide information through a speaker. The second terminal device (300-2) may be a smart tag device.

[0259] The second terminal device (300-2) can receive user input to specify the current location (S1333). The user input can be a manipulation input or a voice input. If the smart tag does not include a microphone, the user can press a button on the second terminal device (300-2) to specify the current location of the second terminal device (300-2). Upon receiving the user input, the second terminal device (300-2) can transmit the current location of the second terminal device (300-2) to the mobile robot (100) (S1334).

[0260] The mobile robot (100) can receive the current location of the second terminal device (300-2) from the second terminal device (300-2). The mobile robot (100) can transmit the current location of the second terminal device (300-2) to the server (200) (S1335).

[0261] The server (200) can receive the current location of the second terminal device (300-2) from the mobile robot (100). The server (200) can identify a target location based on the map data and the current location of the second terminal device (300-2) (S1336). The server (200) can determine the current location of the second terminal device (300-2) at the time when the user input is received as the target location.

[0262] The server (200) transmits the target location to the mobile robot (100) (S1340), and the mobile robot (100) can store the target location (S1350).

[0263] FIG. 14 is a drawing for explaining an embodiment of identifying a target location using a second terminal device (300-2) according to one embodiment.

[0264] FIG. 14 (1400) illustrates an example in which a user carries a second terminal device (300-2) and moves to a target location. At the target location, the user can press a specific button on the second terminal device (300-2). The second terminal device (300-2) can transmit the current location at the time the user input is received to the mobile robot (100).

[0265] FIG. 15 is a drawing for explaining an operation of identifying a target location using a first terminal device (300-1) and a second terminal device (300-2), according to one embodiment.

[0266] Steps S1510, S1520, S1531, S1540, and S1550 of FIG. 15 may correspond to steps S1110, S1120, S1131, S1140, and S1150 of FIG. 11. Duplicate explanations are omitted.

[0267] According to a user command, the first terminal device (300-1) may provide a third guide UI for identifying a target location (S1532). The third guide UI may include information guiding the second terminal device (300-2) to identify the target location. In the embodiment of FIG. 15, the entity displaying the guide information (the first terminal device (300-1)) and the entity specifying the target location (the second terminal device (300-2)) may be different. A description related to the third guide UI is described in FIG. 16.

[0268] After the third guide UI is provided, the second terminal device (300-2) can receive a user input for specifying the current location (S1533). The second terminal device (300-2) can transmit the current location of the second terminal device (300-2) to the first terminal device (300-1) (S1534). The first terminal device (300-1) can transmit the current location of the second terminal device (300-2) to the server (200) (S1535).

[0269] According to various embodiments, the second terminal device (300-2) can transmit the current location of the second terminal device (300-2) to the mobile robot (100). The mobile robot (100) can transmit the current location of the second terminal device (300-2) to the server (200).

[0270] The server (200) can receive the current location of the second terminal device (300-2) from the first terminal device (300-1). The server (200) can identify the target location based on the map data and the current location of the second terminal device (300-2) (S1536).

[0271] The server (200) transmits the target location to the mobile robot (100) (S1540), and the mobile robot (100) can store the target location (S1550).

[0272] FIG. 16 is a drawing for explaining a guide screen for identifying a target location using a first terminal device (300-1) and a second terminal device (300-2), according to one embodiment.

[0273] The guide screen (1600) of Fig. 16 may be a screen corresponding to the third guide UI of Fig. 15. The guide screen (1600) may include at least one of a UI (1610) guiding the manipulation of the second terminal device (300-2) at a target location, a UI (1620) guiding voice input, a UI (1630) guiding the location of the second terminal device (300-2), and a UI (1640) indicating the location of the second terminal device (300-2).

[0274] The UI (1610) that guides the user to operate the second terminal device (300-2) at the target location may include at least one of information that guides the user to move directly to the target location to set the target location and information that guides the user input at the target location using the second terminal device (300-2).

[0275] The UI (1620) guiding voice input may include information guiding that a target location can be selected by voice.

[0276] The UI (1630) that guides the location of the second terminal device (300-2) may include information indicating that the location of the second terminal device (300-2) can be directly confirmed in the UI (1640).

[0277] The UI (1640) indicating the location of the second terminal device (300-2) may include a map of the space in which the mobile robot (100) is driving (or is scheduled to drive) and the location of the second terminal device (300-2) displayed on the map.

[0278] Through the UI (1640), the user can check in real time the current location of the second terminal device (300-2).

[0279] FIG. 17 is a drawing for explaining an operation in which a user directly identifies a target location through a first terminal device (300-1), according to one embodiment.

[0280] Steps S1710, S1720, S1731, S1740, and S1750 of FIG. 17 may correspond to steps S1110, S1120, S1131, S1140, and S1150 of FIG. 11. Duplicate explanations are omitted.

[0281] According to a user command, the first terminal device (300-1) may provide a fourth guide UI for identifying a target location (S1732). The fourth guide UI may include a UI for selecting a target location by the user. The embodiment of FIG. 11 requires the user to directly move the first terminal device (300-1) to the target location. The embodiment of FIG. 17 does not require the user to move the first terminal device (300-1) to the target location.

[0282] The first terminal device (300-1) can obtain user input through the fourth guide UI (S1733). The first terminal device (300-1) can receive user input for specifying a target location through the fourth guide UI. The first terminal device (300-1) can transmit the target location to the server (200) (S1734).

[0283] The server (200) can receive the target location from the first terminal device (300-1). The server (200) can store the target location (S1735). The server (200) transmits the target location to the mobile robot (100) (S1740), and the mobile robot (100) can store the target location (S1750).

[0284] FIG. 18 is a drawing for explaining a guide screen for a user to directly identify a target location through a first terminal device (300-1) according to one embodiment.

[0285] The guide screen (1800) of Fig. 18 may be a screen corresponding to the fourth guide UI of Fig. 17. The guide screen (1800) may include at least one of a UI (1810) for explaining a target location, a UI (1820) for explaining a method for selecting a target location, and a UI (1830) for indicating a target location.

[0286] The UI (1810) for describing the target location may include information indicating the reason for separating the cleaning pad and setting the target location to discard the separated cleaning pad.

[0287] The UI (1820) for explaining how to select a target location may include at least one of a detailed method for determining a target location and a priority setting method.

[0288] When a user input is received to select a first location among the candidate locations displayed on the UI (1830), the first terminal device (300-1) can determine the selected location as the target location.

[0289] When a user input for selecting a second location is received while the first location is selected as the target location, the first terminal device (300-1) can identify both the first location and the second location as target locations. There may be multiple target locations.

[0290] If a user input is received selecting the same first location twice within a threshold time, the first terminal device (300-1) can set a priority for the first location. If the first location is selected twice while no existing target location has been set, the first terminal device (300-1) can identify the first location as the first-priority target location.

[0291] When a user input is received to select the same second location twice within a threshold time while the first location is identified as the first-priority target location, the first terminal device (300-1) can identify the second location as the second-priority target location.

[0292] When a user input is received that selects the same first location twice within a threshold time while the first location of the first priority and the second location of the second priority are set as target locations, the first terminal device (300-1) can identify the first location as the target location of the second priority. The first terminal device (300-1) can change the second location from the second priority to the first priority.

[0293] The UI (1830) indicating the target location may indicate at least one of a recommended location, a non-recommended location, and a target location. Each location may be provided using a different UI. The target location may be provided with priority information. For example, the target location and priority information corresponding to the target location may be provided together.

[0294] In various embodiments, a user input of selecting the same location twice within a threshold time may be replaced with a user input of continuing to press the same location for the threshold time.

[0295] According to various embodiments, the detailed operations described in FIG. 18 may be performed in the server (200).

[0296] FIG. 19 is a drawing for explaining an operation of directly identifying a target location through a mobile robot (100) according to one embodiment.

[0297] Steps S1910, S1920, S1931, S1940, and S1950 of FIG. 19 may correspond to steps S1110, S1120, S1131, S1140, and S1150 of FIG. 11. Duplicate explanations are omitted.

[0298] The mobile robot (100) can receive user input to specify its current location (S1932).

[0299] For example, a mobile robot (100) can receive voice input to determine its current location through a microphone.

[0300] For example, a mobile robot (100) can receive a manipulation input to determine a current location. The mobile robot (100) can receive the manipulation input through a manipulation interface (e.g., a button) included in the mobile robot (100). The mobile robot (100) can receive the manipulation input through a remote control device connected to the mobile robot (100). The remote control device can be connected to the mobile robot (100) in a preset manner (e.g., Bluetooth, Wi-Fi, infrared, etc.).

[0301] The mobile robot (100) can transmit the current location of the mobile robot (100) to the server (200) (S1933).

[0302] The server (200) can receive the current location of the mobile robot (100). The server (200) can identify the target location based on the map data and the current location of the mobile robot (100) (S1934).

[0303] The server (200) transmits the target location to the mobile robot (100) (S1940), and the mobile robot (100) can store the target location (S1950).

[0304] FIG. 20 is a drawing for explaining an embodiment of directly identifying a target location through a mobile robot (100) according to one embodiment.

[0305] Referring to the embodiment (2010) of FIG. 20, a user may utter a voice command to identify the current location of a mobile robot (100). For example, the voice command may include, “Save the current location as the location for discarding the cleaning pad.” The mobile robot (100) may record the user’s voice through a microphone and determine that a preset command has been identified from the recorded user voice. The mobile robot (100) may transmit the current location of the mobile robot (100) at the time the user command is received to the server (200).

[0306] Referring to the embodiment (2020) of FIG. 20, a user can directly press an operation interface (e.g., a specific button) of a mobile robot (100) to specify a current location. When an operation input for selecting a preset button is received, the mobile robot (100) can transmit the current location to the server (200) at the time the user input is received. The operation input may include an input for pressing a preset button for a threshold time or longer.

[0307] FIG. 21 is a drawing for explaining an operation of separating a cleaning pad during a cleaning operation, according to one embodiment.

[0308] Referring to FIG. 21, the mobile robot (100) can acquire map data (S2110). The mobile robot (100) can store the target location (S2120). Depending on the implementation example, step S2120 may be omitted.

[0309] The mobile robot (100) can perform cleaning operation (S2130). The mobile robot (100) can determine whether a preset event is identified during the cleaning operation (S2135).

[0310] The preset event may represent a preset event of the first group. The preset event of the first group may include at least one of an event in which the contamination level of the cleaning pad is identified as exceeding a threshold, an event in which a user command to replace the cleaning pad is received, or an event in which the cleaning function is identified as completed.

[0311] When a preset event of the first group is identified (S2135-Y), the mobile robot (100) can identify a target location (S2140).

[0312] For example, the mobile robot (100) can identify (or acquire) the target location stored in step S2120.

[0313] For example, a mobile robot (100) can identify a new target location. Methods for identifying the target location are described in FIGS. 5 to 20.

[0314] Once the target location is identified, the mobile robot (100) can move to the target location (S2145). While moving to the target location, the mobile robot (100) can determine whether a movement impediment event is identified (S2150).

[0315] The no-move event may represent a second group of preset events. The second group of preset events may include at least one of: an event identifying an obstacle, an event identifying that a prohibited area must be crossed to move to a target location, an event identifying that a discarded cleaning pad exists at the target location, and an event identifying that there is insufficient remaining power to move to the target location.

[0316] If a movement impossibility event is identified while moving to a target location (S2150-Y), the mobile robot (100) can identify whether another target location exists (S2155). If multiple target locations exist, the other target location may represent another target location of lower priority (or of the same priority).

[0317] If another target location exists (S2155-Y), the mobile robot (100) can move to another target location (S2145). The mobile robot (100) can re-perform step S2150.

[0318] If no other target location exists (S2155-N), the mobile robot (100) may move to the charging location (S2165). The charging location may be described as a standby location, a second target location, etc. The existing target location (the location where the cleaning pad is discarded) may be described as the first target location.

[0319] If a movement-impossible event is not identified while moving to the target location (S2150-N), the mobile robot (100) can move to the target location and detach the cleaning pad (S2160). After detaching the cleaning pad, the mobile robot (100) can move to the charging location (S2165).

[0320] FIG. 22 is a diagram illustrating various operations for identifying a target location, according to one embodiment.

[0321] The operation of Fig. 22 may be a specific embodiment of step S2140 of Fig. 21. When a preset event of the first group is identified during the cleaning operation, the mobile robot (100) can determine whether the target position should be determined automatically (S2205). The method for setting the target position may vary depending on the user's settings.

[0322] The mobile robot (100) can determine whether the target position of the mobile robot (100) is currently applied in automatic setting mode or manual setting mode.

[0323] If the target position is identified as being determined automatically (S2205-Y), the mobile robot (100) can automatically identify the optimal target position (S2210). The target position identified in step S2210 may be a step for identifying the target position determined by the server (200).

[0324] For example, the target location identified in step S2210 may include an operation of identifying the target location stored in step S2120 of FIG. 21.

[0325] For example, the target location identified in step S2210 may be a final target location determined based on preset criteria among multiple target locations. For example, the location with the highest user frequency, the location closest to the washing machine, the location closest to the user, the location closest to a specific object, etc. may be used as criteria for determining the final target location.

[0326] If the target position is not determined by automatic setting (S2205-N), the mobile robot (100) can determine whether the target position can be identified by manual setting (S2215). The mobile robot (100) can determine whether the target position was input by the user through manual setting.

[0327] When the target position is manually set (S2215-Y), the mobile robot (100) can identify whether it is a target position with a determined priority (S2220). Priority information may not be determined for a manually set target position.

[0328] For example, if only one target position is manually set, the mobile robot (100) may determine that a target position with no priority has been identified.

[0329] For example, if two or more target locations are manually set as the first priority, the mobile robot (100) may determine that a target location whose priority has not been determined has been identified.

[0330] Once the target positions with determined priorities are identified (S2220-Y), the mobile robot (100) can identify the target positions based on the priorities (S2225). The mobile robot (100) can identify the final target position based on the first target position of the first priority and the second target position of the second priority.

[0331] When a target location without a prioritized position is identified (S2220-N), the mobile robot (100) can automatically identify the final target location based on preset criteria (S2210). The preset criteria can be changed according to user settings.

[0332] If the target position is not identified even with automatic setting and manual setting (S2215-N), the mobile robot (100) can identify the target position based on the charging position (S2230).

[0333] For example, a mobile robot (100) can identify a target location identical to a charging location.

[0334] For example, a mobile robot (100) can identify a location within a critical distance from the charging location as a target location.

[0335] FIG. 23 is a drawing for explaining a screen guiding an operation for separating a cleaning pad according to one embodiment.

[0336] The screen (2300) of Fig. 23 may be a screen displayed when a preset event of the first group of Fig. 21 occurs. When it is determined that a preset event of the first group of Fig. 21 has occurred, the first terminal device (300-1) may provide the screen (2300).

[0337] The screen (2300) may include at least one of a UI (2310) indicating that a preset event has been identified, a UI (2320) indicating an action corresponding to the preset event, and a UI (2330) indicating a location movement.

[0338] The UI (2310) indicating that a preset event has been identified may include information indicating a notification of the occurrence of the preset event. For example, the UI (2310) may include at least one of text information or image information indicating the occurrence of cleaning pad contamination.

[0339] The UI (2320) indicating an action corresponding to a preset event may include text information describing a function corresponding to the preset event. For example, the UI (2320) may include at least one of information indicating a target location and information indicating movement to the target location.

[0340] The UI (2330) indicating the location movement may include at least one of the movement path of the mobile robot (100), the target location, and the priority of the target location. For example, the UI (2330) may include a map on which the mobile robot (100) exists and a target location on the map.

[0341] The UI (2330) may include a UI (2331) indicating that the mobile robot (100) is attached with a cleaning pad.

[0342] FIG. 24 is a drawing for explaining a screen guiding an operation performed after detaching a cleaning pad, according to one embodiment.

[0343] The screen (2400) of Fig. 24 may be a screen displayed after performing an action corresponding to a preset event of Fig. 23. The screen (2400) may include at least one of a UI (2410) indicating that an action corresponding to a preset event has been completed, a UI (2420) indicating an action to be performed after completion, and a UI (2430) indicating a location movement.

[0344] The UI (2410) indicating that an action corresponding to a preset event has been completed may include at least one of text information or image information indicating that an action corresponding to the occurrence of a preset event of the first group has been completed. For example, the UI (2410) may include at least one of text information or image information indicating that a cleaning pad has been detached.

[0345] The UI (2420) indicating an action to be performed after completion may include text information indicating an action to be performed after an action corresponding to a preset event is completed. For example, the UI (2420) may include information indicating that the cleaning pad is moved to the charging position after being detached from the target position.

[0346] The UI (2430) indicating the location movement may include the movement path of the mobile robot (100) and the next destination location. For example, the UI (2430) may include a map where the mobile robot (100) exists and a charging location on the map.

[0347] The UI (2430) may include a UI (2431) indicating that a cleaning pad is removed from the target location. If the cleaning pad is removed from the target location by the user, the UI (2431) may not be displayed.

[0348] FIG. 25 is a drawing for explaining an operation of separating a cleaning pad during charging, according to one embodiment.

[0349] Steps S2510, S2520, S2540, S2545, S2550, S2555, S2560, and S2565 of FIG. 25 may correspond to steps S2110, S2120, S2140, S2145, S2150, S2155, S2160, and S2165 of FIG. 21. Duplicate explanations are omitted.

[0350] The mobile robot (100) can perform charging (S2530). During charging, the mobile robot (100) can determine whether a preset event of the third group is identified (S2535).

[0351] The preset events of the third group may include an event of receiving a user command to replace the cleaning pad. When the preset event of the third group is identified as occurring (S2535-Y), the mobile robot (100) may perform steps S2540, S2545, S2550, S2555, S2560, and S2565.

[0352] If the mobile robot (100) cannot move to the target location and there is no other target location, the mobile robot (100) can move directly to the charging location (S2555-2).

[0353] FIG. 26 is a drawing for explaining an operation of returning a cleaning pad to a charging position after detaching the cleaning pad during charging, according to one embodiment.

[0354] Step S2655-2 of Fig. 26 may correspond to step S2555-2 of Fig. 25. It is assumed that the mobile robot (100) cannot move to the target position or that the charging position and the target position are the same.

[0355] The mobile robot (100) can move to the charging position and detach the cleaning pad from the charging position (S2670). After detaching the cleaning pad, the mobile robot (100) can move to the standby position (S2675). The standby position can be located within a threshold distance from the charging position.

[0356] The mobile robot (100) may provide a fifth guide UI to notify the separation of the cleaning pad (S2680). The fifth guide UI may include information indicating that the cleaning pad separation operation has been completed. For example, the mobile robot (100) may output information through a speaker to notify the separation of the cleaning pad.

[0357] After the fifth guide UI is provided, the mobile robot (100) can identify whether a preset event of the fifth group has occurred (S2685). The preset event of the fifth group may include at least one of an event in which a user command for charging is input, an event in which a threshold time has elapsed since moving to a standby position, and an event in which a cleaning pad separated from a charging position is identified as not being identified at the charging position.

[0358] The mobile robot (100) can acquire sensing data to determine whether the cleaning pad has been removed from the charging location. For example, the mobile robot (100) can acquire image data to determine whether the cleaning pad has been removed from the charging location.

[0359] When it is identified that a preset event of the 5th group has occurred (S2685-Y), the mobile robot (100) can move to the charging position (S2690).

[0360] FIG. 27 is a drawing for explaining an embodiment of returning a cleaning pad to a charging position after detaching the cleaning pad during charging, according to one embodiment.

[0361] An embodiment (2700) of FIG. 27 may represent an embodiment that provides the fifth guide UI of FIG. 26. A mobile robot (100) may be charged at a charging station (100-2). The mobile robot (100) may detach a cleaning pad (2711, 2712) from the charging station (100-2) and move to a standby position.

[0362] After moving to the standby position, the mobile robot (100) may output a fifth guide UI. For example, the fifth guide UI may include at least one of information indicating that the cleaning pad has been detached or information guiding the user to remove the cleaning pad.

[0363] FIG. 28 is a drawing for explaining a control method of a mobile robot (100) according to one embodiment.

[0364] Referring to FIG. 28, a control method of a mobile robot (100) storing spatial information and a target position for separating a cleaning pad includes a step (S2810) of identifying the target position when a preset event is identified during a cleaning operation, a step (S2820) of moving to the target position based on the spatial information, and a step (S2830) of separating the cleaning pad from the target position, wherein the target position is determined based on at least one of the spatial information or a user input.

[0365] The above preset event may include at least one of an event in which the contamination level of the cleaning pad is identified as being above a threshold value, an event in which a user command to replace the cleaning pad is received, or an event in which the cleaning run is identified as being completed.

[0366] The target location is determined based on sensing data and map data included in the spatial information, and the control method may further include a step of acquiring the sensing data through a sensing unit.

[0367] The sensing unit may include at least one of an ultrasonic sensor, a gyro sensor, an optical sensor, and an image sensor, and the sensing data may include at least one of ultrasonic data, gyro data, optical data, and image data.

[0368] The target location can be determined based on object recognition information identified based on the image data.

[0369] The above mobile robot (100) is connected to a first terminal device, and the target location can be determined based on the user input received through the guide UI provided by the first terminal device.

[0370] The above-described preset event is a preset event of a first group, the target location is a first target location, and the control method may further include a step of identifying a second target location different from the first target location when a preset event of a second group is identified while moving to the target location, and a step of moving to the second target location based on the spatial information.

[0371] The preset events of the second group may include at least one of an event in which an obstacle is identified, an event in which a prohibited area must be passed in order to move to the first target location, an event in which a separated cleaning pad is identified at the first target location, and an event in which the remaining power is identified as insufficient to move to the first target location.

[0372] The above control method may further include a step of moving to a charging position based on the spatial information if the second target position different from the first target position is not identified.

[0373] The above control method may further include a step of providing a UI for notifying that the cleaning pad is separated when the cleaning pad is separated at the target location.

[0374] The methods according to the various embodiments of the present disclosure described above can be implemented in the form of an application that can be installed on an existing electronic device (mobile robot).

[0375] The methods according to the various embodiments of the present disclosure described above can be implemented only with a software upgrade or a hardware upgrade for an existing electronic device (mobile robot).

[0376] The various embodiments of the present disclosure described above may also be performed through an embedded server provided in an electronic device (mobile robot), or an external server of at least one of the electronic device (mobile robot) and the display device.

[0377] According to an exemplary embodiment of the present disclosure, the various embodiments described above may be implemented as software including instructions stored in a machine-readable storage medium that can be read by a machine (e.g., a computer). The device may include an electronic device (e.g., a mobile robot) according to the disclosed embodiments, which is a device that can call instructions stored in the storage medium and operate according to the called instructions. When the instructions are executed by the processor, the processor may directly or under the control of the processor perform a function corresponding to the instructions using other components. The instructions may include code generated or executed by a compiler or interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' means that the storage medium does not contain signals and is tangible, and does not distinguish between data being stored semi-permanently or temporarily in the storage medium.

[0378] According to one embodiment of the present disclosure, the method according to the various embodiments described above 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 online through an application store (e.g., Play Store™). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0379] Each of the components (e.g., modules or programs) according to the various embodiments described above may be composed of a single or multiple entities, and some of the sub-components described above may be omitted, or other sub-components may be further included in various embodiments. Alternatively or additionally, some components (e.g., modules or programs) may be integrated into a single entity, which may perform the same or similar functions as those performed by each of the respective components prior to integration. Operations performed by modules, programs or other components according to various embodiments may be executed sequentially, in parallel, iteratively or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added.

[0380] Although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person having ordinary skill in the art to which the present disclosure pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea of ​​the present disclosure.

Claims

1. In mobile robots, Memory for storing spatial information and target locations for separating the cleaning pad; driving unit; and comprising at least one processor; At least one processor of the above, When a preset event is identified during the cleaning operation of the above mobile robot, the target location is identified, Controlling the driving unit so that the mobile robot moves to the target location based on the spatial information; Controlling the mobile robot to separate the cleaning pad from the mobile robot at the target location; The above target location is, A mobile robot, determined based on at least one of the above spatial information or user input.

2. In paragraph 1, The above preset events are: A mobile robot comprising at least one of an event in which the contamination level of the cleaning pad is identified as being greater than a threshold value, an event in which a user command to replace the cleaning pad is received, or an event in which the cleaning operation is identified as being completed.

3. In paragraph 1, The above target location is, It is determined based on the sensing data and map data included in the above spatial information, At least one processor of the above, A mobile robot that obtains the sensing data through a sensing unit.

4. In paragraph 3, The above sensing part, Containing at least one of an ultrasonic sensor, a gyro sensor, a light sensor, and an image sensor, The above sensing data is, A mobile robot comprising at least one of ultrasonic data, gyro data, optical data, and image data.

5. In paragraph 4, The above target location is, A mobile robot, determined based on object recognition information identified based on the above image data.

6. In paragraph 1, The above mobile robot, Further comprising a communication interface for connecting with a first terminal device; The above target location is, A mobile robot, determined based on the user input received through the guide UI provided in the first terminal device.

7. In paragraph 1, The above preset event is a preset event of the first group, The above target position is the first target position, At least one processor of the above, If a preset event of the second group is identified while the mobile robot is moving to the first target location, a second target location different from the first target location is identified, A mobile robot that controls the driving unit to move the mobile robot to the second target location based on the spatial information.

8. In paragraph 7, The above second group of preset events are: A mobile robot comprising at least one of an event in which an obstacle is identified, an event in which the mobile robot is identified as having to pass a prohibited area to move to the first target location, an event in which a detached cleaning pad is identified as present at the first target location, and an event in which the mobile robot is identified as having insufficient remaining power to move to the first target location.

9. In paragraph 7, At least one processor of the above, A mobile robot, wherein the driving unit is controlled so that the mobile robot moves to a charging position based on the spatial information if the second target position different from the first target position is not identified.

10. In paragraph 1, At least one processor of the above, A mobile robot that provides a UI for notifying that the cleaning pad is separated when the cleaning pad is separated from the mobile robot at the target location.

11. A method for controlling a mobile robot that stores spatial information and a target position for separating a cleaning pad, The above control method is, A step of identifying the target location when a preset event is identified during the cleaning operation of the mobile robot; A step of moving to the target location based on the above spatial information; and A step of separating the cleaning pad from the mobile robot at the target location; The above target location is, A control method, determined based on at least one of the above spatial information or user input.

12. In paragraph 11, The above preset events are: A control method comprising at least one of an event in which the contamination level of the cleaning pad is identified as being greater than a threshold value, an event in which a user command to replace the cleaning pad is received, or an event in which the cleaning run is identified as being completed.

13. In paragraph 11, The above target location is, It is determined based on the sensing data and map data included in the above spatial information, The above control method is, A control method further comprising a step of acquiring the sensing data through a sensing unit.

14. In paragraph 13, The above sensing part, Containing at least one of an ultrasonic sensor, a gyro sensor, a light sensor, and an image sensor, The above sensing data is, A control method comprising at least one of ultrasonic data, gyro data, optical data, and image data.

15. In paragraph 14, The above target location is, A control method determined based on object recognition information identified based on the above image data.

Images