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

Abstract

The present invention relates to a robot cleaner, a control system of the robot cleaner, and a control method of the robot cleaner. The present invention comprises: a robot cleaner in which a map including information on a travelable area in a cleaning area is stored, and which travels in the cleaning area; and a terminal for inputting a cleaning command to the robot cleaner. The terminal sets a virtual designated area on the map in response to a user input, and when the designated area is set by the terminal, the robot cleaner moves to the designated area and travels within the designated area, thereby providing an effect of intensively cleaning the designated area arbitrarily designated by a user.

Description

Robot vacuum cleaner, control system for robot vacuum cleaner, and control method for robot vacuum cleaner

[0001] The present invention relates to a robot vacuum cleaner, a control system for a robot vacuum cleaner, and a control method for a robot vacuum cleaner, and more particularly, to a robot vacuum cleaner that cleans a floor by driving in a cleaning area on a pre-mapped map, a control system for a robot vacuum cleaner, and a control method for a robot vacuum cleaner.

[0002]

[0003] A vacuum cleaner is a device that cleans by sucking up dust or foreign substances in the area to be cleaned or wiping them away.

[0004] These vacuum cleaners can be divided into manual vacuum cleaners that perform cleaning while the user moves the vacuum cleaner, and automatic vacuum cleaners that perform cleaning while driving on their own.

[0005] Here, the robot vacuum cleaner autonomously moves within the area to be cleaned, sucking up dust and other foreign substances from the floor. Furthermore, the robot vacuum cleaner can automatically move around the cleaning area and clean using obstacle sensors and other sensors installed within the vacuum cleaner. Alternatively, the robot vacuum cleaner can be manually controlled to move and clean using a wireless remote control.

[0006] Meanwhile, Korean Patent Publication No. 10-2018-0085309 discloses a control method for a robot vacuum cleaner that restricts driving by setting a specific area through a terminal.

[0007] In the above method of controlling a robot cleaner, a map of a cleaning area in which the robot cleaner can drive is created, and a virtual wall is set on the map to restrict access of the robot cleaner.

[0008] However, the above robot vacuum cleaner has a limitation in that it can only clean a preset area by storing only one map, and cannot store multiple maps to clean different areas depending on the situation.

[0009] Meanwhile, Korean Patent Publication No. KR10-2019-0105216A discloses a robot vacuum cleaner that uses artificial intelligence to determine the subordinate space of multiple members on a map and determine the priority of cleaning.

[0010] The above robot vacuum cleaner can set multiple subordinate spaces on a map using artificial intelligence and determine the cleaning priority for each subordinate space.

[0011] However, the above robot cleaner can divide a room and assign characteristics to its members, but has a limitation in that it cannot store multiple maps to select an area to clean according to the situation regardless of the members.

[0012]

[0013] The present invention was created to improve the problems of the conventional robot cleaner, the control system of the robot cleaner, and the control method of the robot cleaner as described above, and the purpose of the present invention is to provide a robot cleaner, a control system of the robot cleaner, and a control method of the robot cleaner that can select an area to be cleaned and a cleaning order according to a situation.

[0014] In addition, the purpose is to provide a robot vacuum cleaner, a control system for the robot vacuum cleaner, and a control method for the robot vacuum cleaner, which allow a user to set up and add new situations.

[0015]

[0016] In order to achieve the above-described object, a robot cleaner according to the present invention is a robot cleaner that drives in a cleaning area on a pre-mapped map and cleans a floor surface, the robot cleaner comprising: a body that houses a battery and at least one motor therein; a driving unit that moves the body; a cleaning unit that cleans a floor surface; and a control unit that controls the driving unit and the cleaning unit; wherein the control unit stores a plurality of maps that include information on a driveable area among the cleaning area, and the body can move along any one of the plurality of maps.

[0017] At this time, the body can move at a preset time along any one of the preset plurality of maps.

[0018] Alternatively, the control unit may select one of the plurality of maps according to a cleaning command input from the terminal.

[0019] Alternatively, the control unit may select one of the plurality of maps depending on the location of the terminal to which the cleaning command is input.

[0020] In order to achieve the above-described purpose, a robot cleaner control system according to the present invention comprises: a robot cleaner that stores a map including information on a drivable area among a cleaning area and drives in the cleaning area; and a terminal that inputs a cleaning command to the robot cleaner; wherein the terminal displays the map, displays a plurality of divided areas on the map, and sets the divided areas as designated areas in response to a user input, and the robot cleaner stores a plurality of maps and moves to the designated area of ​​one of the plurality of maps and drives within the designated area.

[0021] At this time, the terminal sets a cleaning order in the divided area, and the robot cleaner can drive in the divided area according to the cleaning order set in the terminal.

[0022] In order to achieve the above-described purpose, a method for controlling a robot cleaner according to the present invention comprises the steps of: displaying a map stored in the robot cleaner on a terminal; and storing a map from the terminal that sets a designated area in which the robot cleaner is to drive in response to the map; selecting one of a plurality of maps stored in the robot cleaner; and driving in the designated area of ​​the selected map.

[0023] At this time, in the step of saving the map, a plurality of distinct areas can be displayed on the map, and the designated area can be set among the distinct areas.

[0024] Meanwhile, in the step of selecting one of the plurality of maps, one of the plurality of maps can be selected at a preset time.

[0025] Alternatively, in the step of selecting one of the plurality of maps, one of the plurality of maps may be selected depending on the location of the terminal.

[0026]

[0027] As described above, according to the robot cleaner, the control system for the robot cleaner, and the control method for the robot cleaner according to the present invention, a plurality of areas in which the robot cleaner is to drive are stored, and one of them is selected according to the situation, thereby enabling cleaning to be performed in various situations.

[0028] Additionally, it has the effect of providing convenience for users to set up and add new situations.

[0029]

[0030] FIG. 1 is a drawing for explaining a control system of a robot vacuum cleaner according to an embodiment of the present invention.

[0031] FIG. 2 is a perspective view of a robot vacuum cleaner according to one embodiment of the present invention.

[0032] Figure 3 is a plan view of Figure 2.

[0033] Figure 4 is a side view of Figure 2.

[0034] FIG. 5 is a drawing for explaining control of a robot vacuum cleaner according to one embodiment of the present invention.

[0035] Figure 6 is a block diagram of a terminal according to one embodiment of the present invention.

[0036] Figure 7 is a flowchart of a control method for a robot vacuum cleaner according to one embodiment of the present invention.

[0037] FIG. 8 is a drawing showing a map to explain a first situation in a control method for a robot vacuum cleaner according to one embodiment of the present invention.

[0038] FIG. 9 is a drawing showing a map to explain a second situation in a control method for a robot vacuum cleaner according to one embodiment of the present invention.

[0039] FIG. 10 is a drawing showing a map to explain a third situation in a control method for a robot vacuum cleaner according to one embodiment of the present invention.

[0040] FIG. 11 is a drawing showing a map to explain the fourth situation in a control method for a robot vacuum cleaner according to one embodiment of the present invention.

[0041]

[0042] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0043] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0044] When describing the present invention, terms such as "first" and "second" may be used to describe various components. However, these components may not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, the first component could be referred to as the "second component," and similarly, the second component could also be referred to as the "first component."

[0045] The term "and / or" may include any combination of multiple related listed items or any one of multiple related listed items.

[0046] When a component is referred to as being "connected" or "connected" to another component, it can be understood that it is directly connected or connected to that other component, but that there may be other components in between. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it can be understood that there are no other components in between.

[0047] The terminology used in this application is solely for the purpose of describing specific embodiments and is not intended to limit the present invention. Singular expressions may include plural expressions, unless the context clearly dictates otherwise.

[0048] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, and can be understood as not excluding in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0049] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries, such as those defined in the present application, may be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and, unless explicitly defined herein, may not be interpreted in an idealized or overly formal sense.

[0050] In addition, the following examples are provided to more completely explain to a person having average knowledge in the art, and the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation.

[0051]

[0052] FIG. 1 is a drawing for explaining a control system of a robot cleaner according to an embodiment of the present invention, and FIGS. 2 to 4 are drawings for explaining a robot cleaner according to an embodiment of the present invention.

[0053] The robot cleaner (1) according to an embodiment of the present invention is configured to clean the floor while being placed on the floor and moving along the floor surface (B). Accordingly, the following description will be given with the up-down direction defined based on the state in which the robot cleaner (1) is placed on the floor.

[0054] And, based on a pair of driving wheels (151), the side to which the agitator (141) to be described later is connected is set as the front (F).

[0055] The 'lowest part' of each configuration described in the embodiment of the present invention may be the part that is positioned lowest in each configuration when the robot cleaner (1) according to the embodiment of the present invention is used while placed on the floor, or may be the part closest to the floor.

[0056] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a body (110), a dust bin (120), a dust separation unit (not shown), a cleaning unit (140), a driving unit (150), a battery (not shown), a suction motor (145), a sensing unit (230), and a control unit (270).

[0057] The body (110) can form the overall appearance of the robot cleaner (1). Each component of the robot cleaner (1) can be combined into the body (110), and some components of the robot cleaner (1) can be accommodated inside the body (110).

[0058] Specifically, the body (110) may be provided with components of a robot cleaner (1) in the internal space. For example, the body (110) may accommodate a battery (not shown) and at least one motor in the internal space.

[0059] In an embodiment of the present invention, the body (110) may be formed in a form in which the width (or diameter) in the horizontal direction (parallel to X and Y) is greater than the height in the vertical direction (parallel to Z). Such a body (110) can help the robot cleaner (1) to have a stable structure and provide a structure that is advantageous in avoiding obstacles when the robot cleaner (1) moves (drives).

[0060] When viewed from above or below, the body (110) can be formed in various shapes, such as circular, oval, or square.

[0061] The body (110) can be divided into a lower body (111) and an upper body (112), and the lower body (111) and the upper body (112) can be combined to form a space inside.

[0062] The lower body (111) can be combined with the upper body (112) to form a space that can accommodate a battery (not shown), at least one sensor, and at least one motor therein.

[0063] Although not shown, the lower body (111) may be formed with an intake port for air intake and a hole for accommodating a pair of driving wheels (151).

[0064] The suction port may be a passage through which dust from the floor surface is drawn in. In addition, the suction port may be connected to a suction path (not shown) formed inside the body (110), and the suction path may be connected to the internal space of the dust bin (120).

[0065] Meanwhile, the lower body (111) may further be provided with an exhaust path. One side of the exhaust path (not shown) may be connected to the internal space of the dustbin (120), and the other side may be connected to an exhaust port (not shown). At this time, a filter may be placed in the exhaust port.

[0066] With this configuration, air drawn in through the intake port flows into the dust bin (120) through the intake path, and air passing through the dust separation unit (not shown) can be discharged to the exhaust port through the exhaust path.

[0067] An agitator (141), which will be described later, can be rotatably accommodated in the suction port. With this configuration, dust around the suction port can be guided into the suction port by the rotation of the agitator (141), thereby increasing the efficiency of suctioning dust.

[0068] Additionally, at least one auxiliary wheel (111a) may be provided on the bottom surface of the lower body (111). For example, one auxiliary wheel (111a) may be provided at the front and one at the rear of the bottom surface of the lower body (111). With this configuration, the auxiliary wheel (111a) can guide the movement of the robot cleaner (1) while minimizing friction between the robot cleaner (1) and the floor.

[0069] The upper body (112) can form the upper exterior of the robot cleaner (1). Although not shown, the upper body (112) can be equipped with a display.

[0070] Although not shown, the robot cleaner (1) of the present invention may include a bumper. The bumper is coupled along the edge of the body (110) and is configured to move relative to the body (110).

[0071] The bumper may be coupled along a portion of the edge of the body (110), or may be coupled along the entire edge of the body (110). At least one elastic member (not shown) may be provided between the bumper and the body (110). With this configuration, when the bumper comes into contact with an obstacle or the like and moves relatively toward the center of the body (110), the bumper can return to its original position by the restoring force of the elastic member (not shown), and can absorb or disperse the shock applied to the bumper, thereby preventing and reducing the shock from being transmitted to the body (110).

[0072] Meanwhile, the body (110) of the robot cleaner (1) according to the embodiment of the present invention may further include a dust bin cover (113).

[0073] The dustbin cover (113) is rotatably connected to the body (110) by a hinge portion, and is positioned so as to completely cover the upper surface of the dustbin (120) when connected to the dustbin (120). The hinge portion is configured to elastically press the dustbin cover (113) upward, so that when the dustbin cover (113) is not connected to the dustbin (120), it can be placed in a tilted state with an upward slope with respect to the upper surface of the dustbin (120).

[0074] The dustbin cover (113) is formed in a long oval shape in the front-back direction of the body (110), and can be arranged to completely cover the circular dustbin (120) when combined with the dustbin (120). The front-back length of the dustbin cover (113) corresponding to the front-back direction of the body (110) can be formed longer than the left-right length of the dustbin cover (113) corresponding to the left-right direction of the body (110), and the left-right length can be formed to be equal to or longer than the radius of the dustbin cover (113).

[0075]

[0076] The robot vacuum cleaner (1) may include a dust bin (120). The dust bin (120) may collect foreign substances such as dust.

[0077] A dust bin (120) may be provided to suck in external dust and air and store the dust.

[0078] The dust bin (120) can store dust that flows in through the suction passage. The dust bin (120) can be formed with a dust inlet that communicates with the suction passage, an internal space that can store dust, and an air outlet through which air can be discharged.

[0079]

[0080] Meanwhile, a dust separation unit (not shown) may be placed inside the dust bin (120). The dust separation unit (not shown) can separate dust by cyclone flow, capture dust, and discharge air.

[0081] The dust separation unit (not shown) includes a cyclone unit (not shown).

[0082] The cyclone section (not shown) can separate dust from the air through spiral flow. That is, the cyclone section (not shown) can separate dust from the air by utilizing centrifugal force applied according to the spiral flow of the air.

[0083] The cyclone section (not shown) may be configured to include at least one cyclone capable of inducing a spiral flow of air.

[0084] Accordingly, the air and dust sucked into the dust bin (120) can be separated and descend as the dust flows in a spiral manner inside the dust separation unit (not shown).

[0085]

[0086] The cleaner (140) can capture dust by sucking dust and air from the floor surface.

[0087] The cleaner (140) may include an agitator (141) and a suction motor (145).

[0088] The agitator (141) is equipped with a plurality of rotatable brushes to guide external dust and air into the dust bin (120). At this time, the agitator (141) may be equipped with at least one gear.

[0089] Meanwhile, the agitator (141) according to the present embodiment is provided with a separate agitator motor (142) to transmit rotational power, and may also receive rotational power from a driving motor according to the embodiment, or may also receive rotational power from a suction motor (145).

[0090] The suction motor (145) can generate suction force capable of sucking in external dust and air through the suction port. For example, the suction motor (145) can be an electric motor. By the suction force generated by the suction motor (145), external dust and air can be drawn into the suction port and, after passing through the suction path, can reach the dust bin (120).

[0091]

[0092] The driving part (150) is provided on the body (110) and can drive on the floor surface.

[0093] The driving unit (150) may include a driving wheel (151) and an actuator (152). At this time, the driving wheel (151) may be accommodated in a hole formed in the lower body (110) and may be coupled with the actuator (152). At this time, the actuator (152) may be coupled to the body (110).

[0094] The driving wheel (151) is provided on the body (110) and can roll on the floor surface.

[0095] The driving wheel (151) may be composed of a first driving wheel and a second driving wheel. At this time, the first driving wheel may be formed identically to the second driving wheel, or may be formed symmetrically. For example, if the first driving wheel is located on the left side of the robot cleaner (1), the second driving wheel may be located on the right side of the robot cleaner (1), and at this time, the first driving wheel and the second driving wheel may be symmetrical to each other.

[0096] The actuator (152) may include a driving motor and a gear. At this time, the driving motor is housed inside the body (110) and may provide power to the driving wheel (151). The driving motor may include a first driving motor and a second driving motor.

[0097] The drive motor may be an electric motor. Multiple gears are configured to mesh with each other and rotate, connecting the drive motor and the drive wheel, and transmitting the rotational power of the drive motor to the drive wheel. Therefore, the drive wheel can rotate when the drive motor's rotational axis rotates.

[0098] In an embodiment of the present invention, the actuator (152) may be placed right next to the driving wheel (151). With this configuration, loss of power transmitted from the actuator (152) to the driving wheel (151) can be minimized.

[0099] With this configuration, when the driving motor is operated, the driving wheel rotates and the body (110) can travel on the floor at a predetermined driving speed.

[0100]

[0101] Although not shown, a battery is coupled to the body (110) to supply power to other components that make up the robot cleaner (1). The battery (not shown) can supply power to the actuator (152).

[0102] Additionally, a battery (not shown) can supply power to the suction motor (145). And, the battery (not shown) can supply power to the sensing unit (230) and the control unit (270).

[0103] In an embodiment of the present invention, a battery (not shown) can be charged by an external power source, and for this purpose, a charging terminal for charging the battery (not shown) may be provided on one side of the body (110) or on the battery (not shown) itself.

[0104] In a robot vacuum cleaner (1) according to an embodiment of the present invention, a battery (not shown) may be coupled to a body (110). Specifically, the battery (not shown) may be accommodated in an internal space formed by coupling a lower body (110) and an upper body (112).

[0105]

[0106] Meanwhile, FIG. 5 illustrates a configuration for controlling a robot vacuum cleaner (1) according to one embodiment of the present invention.

[0107] Referring to FIG. 5, a robot cleaner (1) according to an embodiment of the present invention may include at least one or a combination of a communication unit (210), an input unit (220), a sensing unit (230), an output unit (240), a power unit (250), a memory (260), and a control unit (270).

[0108] At this time, the components illustrated in Fig. 5 are not essential, so it goes without saying that a robot vacuum cleaner with more or fewer components can be implemented. Below, each component will be examined.

[0109] First, the power supply unit (250) is equipped with a battery (not shown) that can be charged by an external commercial power source and supplies power to the robot cleaner. The power supply unit (250) supplies driving power to each component included in the robot cleaner, thereby supplying the operating power required for the robot cleaner to drive or perform specific functions.

[0110] At this time, the control unit (270) detects the remaining power of the battery (not shown), and if the remaining power is insufficient, controls the robot to move to a robot station (not shown) connected to an external commercial power source, so that charging current can be supplied from the robot station (not shown) to charge the battery (not shown). The battery (not shown) is connected to the battery detection unit so that the remaining battery power and charging status can be transmitted to the control unit (270). The output unit (240) can display the remaining battery power on the screen by the control unit.

[0111] Meanwhile, the input unit (220) receives various control commands for the robot vacuum cleaner from the user. The input unit (220) may include one or more buttons, for example, the input unit (220) may include a confirmation button, a setting button, etc. The confirmation button is a button for receiving a command from the user to confirm detection information, obstacle information, location information, and map information, and the setting button is a button for receiving a command from the user to set the above information.

[0112] In addition, the input unit (220) may include an input reset button for canceling a previous user input and receiving user input again, a delete button for deleting a preset user input, a button for setting or changing an operation mode, a button for receiving a command to return to a robot station (not shown), etc.

[0113] Additionally, the input unit (220) may be installed on the top of the robot vacuum cleaner using a hard key, soft key, touchpad, etc. Additionally, the input unit (220) may have the form of a touch screen together with the output unit (240).

[0114] Meanwhile, the output unit (240) may be installed on the top of the robot vacuum cleaner. Of course, the installation location and installation method may vary. For example, the output unit (240) may display battery status or driving mode on the screen.

[0115] In addition, the output unit (240) can output status information inside the robot cleaner detected by the sensing unit (230), for example, the current status of each component included in the robot cleaner. In addition, the output unit (240) can display external status information, obstacle information, location information, map information, etc. detected by the sensing unit (230) on the screen. The output unit (240) can be formed of any one element among a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0116] The output unit (240) may further include an audio output means for audibly outputting the operation process or operation result of the robot cleaner performed by the control unit (270). For example, the output unit (240) may output a warning sound to the outside according to a warning signal generated by the control unit (270).

[0117] At this time, the sound output means may be a means for outputting sound, such as a beeper or speaker, and the output unit (240) may output audio data or message data having a predetermined pattern stored in the memory (260) to the outside through the sound output means.

[0118] Accordingly, the robot cleaner according to one embodiment of the present invention can output environmental information about the driving area on the screen or as sound through the output unit (240). According to another embodiment, the robot cleaner can transmit map information or environmental information to the terminal device through the communication unit (210) so that the terminal device can output the screen or sound to be output through the output unit (240).

[0119] Meanwhile, the communication unit (210) is connected to a terminal device and / or another device located within a specific area (in this specification, the term “home appliance” is used interchangeably) using one of wired, wireless, and satellite communication methods to transmit and receive signals and data.

[0120] The communication unit (210) can transmit and receive data with other devices located within a specific area. At this time, the other devices may be any devices that can connect to a network and transmit and receive data. For example, the other devices may be devices such as air conditioners, heating devices, air purifiers, lights, TVs, automobiles, etc. In addition, the other devices may be devices that control doors, windows, water valves, gas valves, etc. In addition, the other devices may be sensors that detect temperature, humidity, air pressure, gas, etc.

[0121] Meanwhile, the memory (260) stores a control program that controls or operates the robot vacuum cleaner and data related thereto. The memory (260) can store audio information, video information, obstacle information, location information, map information, etc. In addition, the memory (260) can store information related to driving patterns.

[0122] The above memory (260) mainly uses non-volatile memory. Here, the non-volatile memory (Non-Volatile Memory, NVM, NVRAM) is a storage device that can maintain stored information even when power is not supplied, and may be, for example, a ROM, a flash memory, a magnetic computer memory device (e.g., a hard disk, a diskette drive, a magnetic tape), an optical disk drive, a magnetic RAM, a PRAM, etc.

[0123] Meanwhile, the sensing unit (230) may include at least one of an external signal detection sensor, a forward detection sensor, a cliff detection sensor, a lower camera sensor, and an upper camera sensor.

[0124] The external signal detection sensor can detect external signals from the robot vacuum cleaner. Examples of external signal detection sensors include an infrared ray sensor, an ultrasonic sensor, and an RF sensor.

[0125] The robot cleaner (1) can use an external signal detection sensor to receive a guidance signal generated by the robot station (not shown) and thereby determine the location and direction of the robot station (not shown). At this time, the robot station (not shown) can transmit a guidance signal indicating a direction and distance so that the robot cleaner (1) can return. That is, the robot cleaner (1) can receive a signal transmitted from the robot cleaner (300), determine its current location, set a direction of movement, and return to the robot station (not shown).

[0126] Meanwhile, the forward detection sensor may be installed at a certain interval along the front of the robot cleaner (1), specifically, along the outer side surface of the robot cleaner (1). The forward detection sensor is located on at least one side of the robot cleaner (1) to detect an obstacle in front, and the forward detection sensor can detect an object, particularly an obstacle, existing in the moving direction of the robot cleaner (1) and transmit the detection information to the control unit (270). That is, the forward detection sensor can detect a protrusion, a household appliance, furniture, a wall, a wall corner, etc. existing on the moving path of the robot cleaner (1) and transmit the information to the control unit (270).

[0127] Forward detection sensors may be, for example, infrared sensors, ultrasonic sensors, RF sensors, geomagnetic sensors, etc., and the robot vacuum cleaner may use one type of sensor as a forward detection sensor or use two or more types of sensors together as needed.

[0128] For example, ultrasonic sensors can be mainly used to detect obstacles at a distance. The ultrasonic sensor is equipped with a transmitter and a receiver, and the control unit (270) determines the presence of an obstacle by determining whether ultrasonic waves emitted through the transmitter are reflected by an obstacle or the like and received by the receiver, and can calculate the distance to the obstacle using the ultrasonic emission time and ultrasonic reception time.

[0129] Additionally, the control unit (270) can detect information related to the size of an obstacle by comparing the ultrasonic waves emitted from the transmitter with the ultrasonic waves received by the receiver. For example, the control unit (270) can determine that the size of the obstacle is larger as more ultrasonic waves are received by the receiver.

[0130] In one embodiment, a plurality of ultrasonic sensors (e.g., five) may be installed along the outer periphery of the front side of the robot cleaner. Preferably, the ultrasonic sensors may have transmitters and receivers installed alternately on the front of the robot cleaner.

[0131] That is, the transmitter can be arranged to be spaced apart from the center of the front of the main body to the left and right, and one or more transmitters can be arranged between the receivers to form a reception area for ultrasonic signals reflected from obstacles, etc. With this arrangement, the number of sensors can be reduced while expanding the reception area. The transmission angle of the ultrasonic waves can be maintained within a range that does not affect other signals to prevent crosstalk. In addition, the reception sensitivity of the receivers can be set differently.

[0132] In addition, the ultrasonic sensor may be installed upward at a certain angle so that the ultrasonic waves transmitted from the ultrasonic sensor are output upward, and at this time, a predetermined blocking member may be further included to prevent the ultrasonic waves from being radiated downward.

[0133] Meanwhile, the forward detection sensor, as described above, can use two or more types of sensors together, and accordingly, the forward detection sensor can use any one type of sensor such as an infrared sensor, an ultrasonic sensor, or an RF sensor.

[0134] For example, the forward detection sensor may include an infrared sensor as a type of sensor other than an ultrasonic sensor.

[0135] An infrared sensor can be installed on the outer surface of the robot cleaner along with an ultrasonic sensor. The infrared sensor can also detect obstacles in front or on the sides and transmit obstacle information to the control unit (270). That is, the infrared sensor detects protrusions, household items, furniture, walls, wall corners, etc., along the robot cleaner's path of movement and transmits the information to the control unit (270). Accordingly, the robot cleaner can move within a specific area without colliding with obstacles.

[0136] Meanwhile, the cliff detection sensor (or cliff sensor) can detect obstacles on the floor supporting the main body of the robot vacuum cleaner, mainly using various types of optical sensors.

[0137] That is, the cliff detection sensor is installed on the back of the robot cleaner on the floor, but of course, it can be installed in a different location depending on the type of robot cleaner. The cliff detection sensor is located on the back of the robot cleaner to detect an obstacle on the floor, and the cliff detection sensor can be an infrared sensor, an ultrasonic sensor, an RF sensor, a PSD (Position Sensitive Detector) sensor, etc., which have a light emitting part and a light receiving part like the obstacle detection sensor.

[0138] For example, one of the cliff detection sensors may be installed at the front of the robot vacuum cleaner, and the other two cliff detection sensors may be installed relatively further back.

[0139] For example, a cliff detection sensor may be a PSD sensor, but may also be composed of multiple different types of sensors.

[0140] PSD sensors use semiconductor surface resistance to detect the short- and long-range position of incident light with a single pn junction. PSD sensors include one-dimensional PSD sensors that detect light in only one direction, and two-dimensional PSD sensors that can detect light positions on a plane, and both can have a pin photodiode structure. PSD sensors are a type of infrared sensor that uses infrared to transmit infrared light and then measure the angle of the infrared light reflected from an obstacle to measure distance. In other words, PSD sensors calculate the distance to an obstacle using a triangulation method.

[0141] PSD sensors typically consist of a module, each equipped with an emitter that emits infrared light at an obstacle and a receiver that receives the infrared light reflected from the obstacle. When detecting an obstacle using a PSD sensor, stable measurements can be obtained regardless of the obstacle's reflectivity or color.

[0142] The control unit (270) can detect a cliff and analyze its depth by measuring the infrared angle between the infrared emission signal emitted toward the ground by the cliff detection sensor and the reflected signal received after being reflected by an obstacle.

[0143] Meanwhile, the control unit (270) can determine whether to pass over a cliff based on the ground condition of the cliff detected using the cliff detection sensor, and can decide whether to pass over the cliff based on the determination result. For example, the control unit (270) determines whether a cliff exists and its depth using the cliff detection sensor, and then allows passage over the cliff only when a reflected signal is detected through the cliff detection sensor.

[0144] As another example, the control unit (270) may use a cliff detection sensor to determine whether the robot vacuum cleaner (1) is being lifted.

[0145] Meanwhile, the lower camera sensor is installed on the back of the robot cleaner (1) and acquires image information about the lower surface (or surface to be cleaned) while moving. The lower camera sensor is also called an optical flow sensor. The lower camera sensor converts the lower image input from the image sensor installed within the sensor to generate image data in a predetermined format. The generated image data can be stored in the memory (260).

[0146] In addition, one or more light sources may be installed adjacent to the image sensor. The one or more light sources irradiate light to a predetermined area of ​​the floor surface captured by the image sensor. That is, when the robot cleaner moves along a specific area of ​​the floor surface, if the floor surface is flat, a certain distance is maintained between the image sensor and the floor surface. On the other hand, when the robot cleaner moves on a floor surface with an uneven surface, the image sensor is separated by a certain distance due to unevenness and obstacles on the floor surface. At this time, the one or more light sources may be controlled by the control unit (270) to adjust the amount of light irradiated. The light source may be a light-emitting element capable of controlling the amount of light, such as an LED (Light Emitting Diode).

[0147] By using the lower camera sensor, the control unit (270) can detect the position of the robot cleaner (1) regardless of slippage. The control unit (270) can compare and analyze the image data captured by the lower camera sensor over time to calculate the movement distance and movement direction, and can calculate the position of the robot cleaner based on this. By utilizing the image information of the lower side of the robot cleaner using the lower camera sensor, the control unit (270) can perform a slip-resistant correction for the position of the robot cleaner calculated by other means.

[0148] Meanwhile, the upper camera sensor is installed facing upward or forward of the robot cleaner to capture images of the robot cleaner's surroundings. If the robot cleaner is equipped with multiple upper camera sensors, the camera sensors may be positioned on the upper or side of the robot cleaner at a certain distance or angle.

[0149] Meanwhile, the sensing unit (230) may be configured to detect the movement (relative movement) of the bumper relative to the body (110). This first sensor (181) may be configured using a microswitch, a photo interrupter, or a tact switch.

[0150] Meanwhile, the sensing unit (230) may further include a displacement sensor.

[0151] The displacement sensor is placed on the bottom (back) of the body (110) and can measure the distance moved along the bottom surface.

[0152] Meanwhile, the sensing unit (230) may further include an angle sensor.

[0153] The angle sensor is placed inside the body (110) and can measure the movement angle of the body (110).

[0154] For example, the angle sensor may use a gyro sensor that measures the rotation speed of the body (110). The gyro sensor can detect the direction of the robot cleaner (1) using the rotation speed.

[0155] With this configuration, the angle sensor can detect the angle with respect to the direction in which the robot cleaner (1) is moving based on a predetermined virtual line.

[0156] Meanwhile, the dustbin cover (113) may be equipped with an acceleration sensor. The acceleration sensor can detect the gravitational acceleration acting on the acceleration sensor by dividing it into mutually perpendicular X, Y, and Z vectors.

[0157]

[0158] Meanwhile, the control unit (270) may be configured to control the operation of the actuator (152) according to preset information or real-time information. In order to control the control unit (270), the robot cleaner (1) may be equipped with a storage medium in which an application program is stored, and the control unit (270) may be configured to control the robot cleaner (1) by driving the application program according to information input to the robot cleaner (1), information output from the robot cleaner (1), etc.

[0159] The control unit (270) can control the driving direction of the robot cleaner (1). That is, it can control the rotation speed of each of the pair of driving motors provided in the actuator (152).

[0160] At this time, the control unit (270) can control the robot cleaner (1) to drive in a straight line or in a straight reciprocating manner, and can also control the robot cleaner (1) to drive in an overlapping manner over a predetermined area. In addition, the control unit (270) can control the robot cleaner (1) to drive according to a preset driving pattern.

[0161] The control unit (270) can control the robot cleaner (1) so that it can perform an evasive maneuver when the bumper of the robot cleaner (1) comes into contact with an obstacle, and can be configured to control the operation of the actuator (152) according to information from the sensing unit (230). For example, when the bumper of the robot cleaner (1) comes into contact with an obstacle while it is driving, the position where the bumper came into contact can be identified by the sensing unit (230), and the control unit (270) can control the operation of the actuator (152) so that it moves away from this contact position.

[0162] The control unit (270) can control the operation of the actuator (152) so that the driving direction of the robot cleaner (1) changes or the robot cleaner (1) moves away from the obstacle when the distance between the robot cleaner (1) and the obstacle is less than a predetermined value based on information from the sensing unit (230).

[0163] Additionally, the control unit (270) can control the operation of the actuator (152) so that the robot cleaner (1) stops or changes its driving direction depending on the distance detected by the sensing unit (230).

[0164] The control unit (270) can control the cleaning unit (140). Specifically, the control unit (270) can control the output of the suction motor (145). That is, the control unit (270) can control the rotation speed of the suction motor (145). In addition, the control unit (270) can also control the rotation speed of the agitator (141).

[0165] In addition, the control unit (270) can control the output of the suction motor (145) according to the amount of dust on the floor. That is, the control unit (270) can detect the amount of dust on the floor through the sensing unit (230), and if it is determined that the amount of dust on the floor is greater than a predetermined reference value, the control unit (270) can increase the output of the suction motor (145).

[0166] Additionally, the control unit (270) can detect whether the dustbin cover (113) is open or closed using the X, Y, and Z vector values ​​detected by the acceleration sensor.

[0167]

[0168] Meanwhile, although not shown, the control system of the robot cleaner (1) according to one embodiment of the present invention may include a robot station.

[0169] The robot station has a communication unit capable of emitting different types of signals, and the communication unit can perform wireless communication with the communication unit (210) of the cleaner (100).

[0170] The control unit (270) can control the actuator (152) so that the main body of the cleaner (100) is docked to the robot station (not shown) based on a signal received from the communication unit (210) from the robot station (not shown).

[0171] The control unit (270) can move the main body toward the robot station (not shown) when the remaining capacity of the battery (not shown) falls below the limit capacity, and can control the actuator (152) to initiate a docking function when the main body approaches the robot station (not shown).

[0172] Meanwhile, the robot station (not shown) may further include a dust collection unit, a dust collection motor, and a flow path.

[0173] A dust collection unit and a dust collection motor (not shown) may be placed inside the housing of the robot station (not shown), and a coupling unit may be placed on the lower side of the housing of the robot station (not shown). In this case, the coupling unit may be exposed to the outside of the robot station (not shown) to form an exterior together with the housing.

[0174] At this time, the connecting portion includes a base plate and a dust collection hole. The base plate may be provided so that the robot cleaner (1) can climb to connect. The degree of inclination of the base plate may be determined depending on the shape of the lower body (111) of the robot cleaner (1).

[0175] Accordingly, a robot cleaner (1) can be attached to the upper side of the floor plate.

[0176] The coupling part may include a dust collection hole provided at a position corresponding to the position where the dust bin (120) of the robot cleaner (1) is placed based on the state in which the robot cleaner (1) is coupled.

[0177] With this configuration, when the suction power of the dust collecting motor (not shown) is applied through the dust collecting hole, the dust stored in the dust bin (120) can flow toward the dust collecting hole through the shortest path, and the dust collecting efficiency can be improved.

[0178] Meanwhile, a flow path may be formed in the joint. The flow path may be formed to be in communication with the dust collection hole.

[0179] The dust collection unit may refer to a dust bag that collects dust sucked from inside the dust bin (120) by a dust collection motor (not shown).

[0180] The dust collection unit can be detachably attached to the housing of the robot station (not shown).

[0181] Accordingly, the dust collector can be separated from the robot station (not shown) and discarded, and a new dust collector can be attached. In other words, the dust collector can be defined as a consumable part.

[0182] The dust bag can be configured to expand in volume when suction power is generated by a dust collection motor (not shown), allowing dust to be contained within. To achieve this, the dust bag can be made of a material that is permeable to air but impermeable to foreign substances such as dust. For example, the dust bag can be made of a non-woven material and, when expanded, can have a hexahedral shape.

[0183] Therefore, user convenience can be improved as there is no need for the user to separately bundle dust-collecting bags, etc.

[0184] A dust collection motor (not shown) may be positioned at the bottom of the dust collection unit. The dust collection motor (not shown) may apply suction power to the flow path. Through this, the dust collection motor (not shown) may provide suction power capable of sucking up dust within the dust bin (120) of the robot cleaner (1).

[0185] The Euro part can be connected to the dust bin (120) and dust collection part of the robot vacuum cleaner (1).

[0186] The euro portion can be formed backwards from the joint and then formed upwards after being folded.

[0187] Therefore, dust sucked into the dust bin (120) of the robot vacuum cleaner (1) can be collected into the dust collection unit through the duct.

[0188] Depending on the operation of the robot station (not shown), the dust bin (120) of the robot cleaner (1) can be emptied as follows.

[0189] First, the robot cleaner (1) moves along the floor and engages with the robot station (not shown). At this time, the robot cleaner (1) can determine whether it is engaged in the correct position by checking whether the charging terminal of the robot station (not shown) and the corresponding terminal of the robot cleaner (1) are in contact and electrically connected. Alternatively, it is also possible to additionally install a separate sensor on the robot station (not shown) to confirm the correct engagement with the robot cleaner (1).

[0190] When the robot cleaner (1) is connected to the robot station (not shown), the dust collecting motor (not shown) is operated. The suction power applied by the operation of the dust collecting motor (not shown) can be transmitted along the flow path and applied to the dust collecting hole.

[0191]

[0192] Figure 6 shows an internal block diagram of a terminal (5) according to one embodiment of the present invention.

[0193] Referring to FIG. 6, a terminal (5) according to one embodiment of the present invention may include a wireless communication unit (510) that exchanges data with other electronic devices such as a server and a robot cleaner (1), and a control unit (580) that controls the screen of an application for controlling the robot cleaner (1) to be displayed on a display unit (551) according to an input from a user executing the application.

[0194] In addition, the terminal (5) may further include an A / V (Audio / Video) input unit (520), a user input unit (530), a sensing unit (540), an output unit (550), a memory (560), an interface unit (570), and a power supply unit (590).

[0195] An application for controlling a robot cleaner (1) may include a control screen that can receive user input related to a control signal for controlling the robot cleaner (1).

[0196] Meanwhile, the wireless communication unit (510) can receive location information, status information, etc. directly from the robot cleaner (1), or can receive location information, status information, etc. of the robot cleaner (1) through a server.

[0197] Meanwhile, the wireless communication unit (510) may include a broadcast reception module (511), a mobile communication module (513), a wireless Internet module (515), a short-range communication module (517), and a GPS module (519).

[0198] The broadcast reception module (511) can receive at least one of a broadcast signal and broadcast-related information from an external broadcast management server via a broadcast channel. The broadcast channel may include a satellite channel, a terrestrial channel, etc.

[0199] Broadcast signals and / or broadcast-related information received through the broadcast reception module (511) can be stored in the memory (560).

[0200] The mobile communication module (513) transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signals may include various types of data according to voice call signals, video call call signals, or text / multimedia message transmission and reception.

[0201] The wireless Internet module (515) refers to a module for wireless Internet access, and the wireless Internet module (515) can be built into or externally installed in the terminal (5) that controls the robot cleaner (1). For example, the wireless Internet module (515) can perform wireless communication based on WiFi or wireless communication based on WiFi Direct.

[0202] The short-range communication module (517) is for short-range communication, and can support short-range communication using at least one of Bluetooth™, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies.

[0203] This short-range communication module (517) can support wireless communication between a terminal (5) controlling a robot cleaner (1) and a wireless communication system via a short-range wireless communication network (Wireless Area Network), between the terminal (5) and a control device of another robot cleaner, or between the terminal (5) and another mobile terminal, or a network where an external server is located. The short-range wireless communication network may be a short-range wireless personal area network (Wireless Personal Area Network).

[0204] The GPS (Global Position System) module (519) can receive location information from multiple GPS satellites.

[0205] Meanwhile, the wireless communication unit (510) can exchange data with the server using one or more communication modules.

[0206] The wireless communication unit (510) may include an antenna (505) for wireless communication, and may include an antenna for receiving broadcast signals in addition to an antenna for calls, etc.

[0207] The A / V (Audio / Video) input unit (520) is for inputting audio signals or video signals, and may include a camera (521) and a microphone (523).

[0208] The user input unit (530) generates key input data that the user inputs to control the operation of the terminal (5). To this end, the user input unit (530) may be composed of a key pad, a dome switch, a touch pad (static / capacitive), etc. In particular, when the touch pad forms a mutual layer structure with the display unit (551), it may be called a touch screen.

[0209] The sensing unit (540) can detect the current state of the terminal (5), such as the open / close state of the terminal (5), the position of the terminal (5), and the presence or absence of user contact, and generate a sensing signal to control the operation of the terminal (5).

[0210] The sensing unit (540) may include a detection sensor (541), a pressure sensor (543), a motion sensor (545), etc. The motion sensor (545) may detect movement or position of the terminal (5) using an acceleration sensor, a gyro sensor, a gravity sensor, etc. In particular, the gyro sensor is a sensor that measures angular velocity and may detect a direction (angle) rotated with respect to a reference direction.

[0211] The output unit (550) may include a display unit (551), an audio output module (553), an alarm unit (555), and a haptic module (557).

[0212] Meanwhile, when the display unit (551) and the touchpad form a mutual layer structure to form a touch screen, the display unit (551) can be used as an input device that allows input of information by the user's touch in addition to an output device.

[0213] At this time, a screen for receiving input from the user of setting values ​​related to control signals for controlling the robot cleaner (1) may be displayed on the display unit (551), and information processed in the terminal (5) may be displayed and output, such as the screen being switched to another screen according to the user input.

[0214] That is, the display unit (551) can play a role in receiving information through the user's touch input, and can also play a role in displaying information processed by the control unit (580) to be described later.

[0215] The audio output module (553) outputs audio data received from the wireless communication unit (510) or stored in the memory (560). The audio output module (553) may include a speaker, a buzzer, etc.

[0216] The alarm unit (555) outputs a signal to notify the occurrence of an event at the terminal (5). For example, the signal may be output in the form of vibration.

[0217] The haptic module (557) generates various tactile effects that can be felt by the user. A representative example of the tactile effect generated by the haptic module (557) is a vibration effect.

[0218] The memory (560) may store a program for processing and controlling the control unit (580), and may also perform a function for temporarily storing input or output data (e.g., phone book, messages, still images, videos, etc.).

[0219] The interface unit (570) serves as an interface with all external devices connected to the terminal (5). The interface unit (570) can receive data or power from these external devices and transmit it to each component within the terminal (5), and can enable data within the terminal (5) to be transmitted to an external device (e.g., a robot vacuum cleaner (1)).

[0220] The control unit (580) typically controls the overall operation of the terminal (5) by controlling the operation of each of the above-mentioned parts. For example, it can perform related control and processing for voice calls, data communications, video calls, etc. In addition, the control unit (580) may be equipped with a multimedia playback module (581) for multimedia playback. The multimedia playback module (581) may be configured as hardware within the control unit (580) or may be configured as software separately from the control unit (580).

[0221] In addition, the control unit (580) can display a control screen for controlling the robot cleaner (1) on the display unit (551), control the switching of the control screen according to the user's touch input, and transmit a control signal for controlling the robot cleaner (1) to the robot cleaner (1) based on the user input entered through the display unit (551).

[0222] The power supply unit (590) receives external power and internal power under the control of the control unit (580) and supplies the power required for the operation of each component.

[0223] Meanwhile, the block diagram of the terminal (5) illustrated in Fig. 4 is a block diagram for one embodiment of the present invention. Each component of the block diagram may be integrated, added, or omitted depending on the specifications of the control device actually implemented.

[0224] That is, two or more components may be combined into a single component, or a single component may be subdivided into two or more components, as needed. Furthermore, the functions performed by each block are intended to illustrate embodiments of the present invention, and their specific operations or devices do not limit the scope of the present invention.

[0225]

[0226] FIG. 7 illustrates a flowchart for a control method of a robot cleaner according to an embodiment of the present invention, FIG. 8 illustrates a diagram showing a map to explain a first situation in a control method of a robot cleaner according to an embodiment of the present invention, FIG. 9 illustrates a diagram showing a map to explain a second situation in a control method of a robot cleaner according to an embodiment of the present invention, FIG. 10 illustrates a diagram showing a map to explain a third situation in a control method of a robot cleaner according to an embodiment of the present invention, and FIG. 11 illustrates a diagram showing a map to explain a fourth situation in a control method of a robot cleaner according to an embodiment of the present invention.

[0227] A control method of a robot vacuum cleaner according to an embodiment of the present invention will be described with reference to FIGS. 7 to 11 as follows.

[0228] As a premise of the present invention, the robot cleaner (1) may include information regarding the surface to be cleaned. That is, a map of the cleaning area may be stored in the memory (260) of the robot cleaner (1). For example, the information regarding the surface to be cleaned may be map information mapped by the robot cleaner (1) itself.

[0229] In contrast, if a map of the cleaning area is not stored in the robot cleaner (1), or if a blueprint for a new map is required, the robot cleaner (1) can drive through the cleaning area using wall following, etc. to create (map) a map. In addition, the robot cleaner (1) can create a map using obstacle information obtained while cleaning the cleaning area without a map.

[0230] Meanwhile, the method of creating a map of a robot vacuum cleaner (1) can be applied to various known methods, and a detailed description thereof will be omitted.

[0231] In addition, the map mapped by the robot cleaner (1) may include a plurality of distinct areas (A1 to A8). At this time, the robot cleaner (1) may assign attributes to each distinct area through artificial intelligence. For example, the robot cleaner (1) may acquire information about obstacles present in each distinct area or acquire voice information of a person who is mainly active in the area to assign attributes to the area. Assigning attributes to an area through artificial intelligence is a known technology, and a detailed description thereof will be omitted.

[0232] For example, referring to the maps illustrated in FIGS. 8 to 11, area A1 may be a dressing room, area A2 may be a bedroom, area A3 may be a kitchen, area A4 may be a common space, area A5 may be a living room, area A6 may be a study, area A7 may be a hallway, and area A8 may be a child's room.

[0233] At this time, the terminal (5) can display the properties of the area, and areas with the same properties can be displayed in the same color. Additionally, information about specific obstacles can be displayed on the map in the form of images, icons, emoticons, special characters, etc.

[0234]

[0235] The control method of the robot cleaner (1) according to the present invention may include a step (S10) of displaying a map stored in the robot cleaner (1) on a terminal (5) and storing a map in which a designated area (AD) in which the robot cleaner (1) is to drive is set corresponding to the map from the terminal (5).

[0236] Specifically, the map generated by the robot cleaner (1) is stored in the memory (260) and can be transmitted to an external device such as a remote control, terminal (5), or other controller through the communication unit (210).

[0237] The terminal (5) can execute a program or application for controlling the robot cleaner (1) and display a map received and stored from the robot cleaner (1) on the screen.

[0238] When a cleaning command is input for the displayed map, the terminal (5) can transmit the input cleaning command to the robot cleaner (1).

[0239] The map may display multiple distinct areas (A1 to A8) as shown in Figures 8 to 11, each with a different color or name depending on the area's properties. Furthermore, the area's properties may be displayed, and areas with the same properties may be displayed in the same color. Furthermore, information about specific obstacles may be displayed on the map in the form of images, icons, emoticons, special characters, etc.

[0240] And the location of the robot station of the robot cleaner (1) can be displayed on the map.

[0241] The map can be subdivided into areas, additional areas can be set, and areas can also be modified by the terminal (5).

[0242] The robot cleaner (1) and the terminal (5) store the same map, and when the map is changed on one side, the changed data is transmitted to the other side so that the map can be updated.

[0243]

[0244] In a control method of a robot vacuum cleaner according to one embodiment of the present invention, when it is necessary to add a cleaning situation, a step (S10) of saving a map is performed.

[0245] In the step of saving the map (S10), a virtual designated area (AD) can be set on the map in response to user input.

[0246] The terminal (5) responds to user input, for example, touch input, and sets a designated area (AD) according to the number of touched points, the number of touches, the direction of dragging, and the shape of dragging, for touch, dragging after touching, and multi-touch on a specific point.

[0247] For example, in the step of saving the map (S10), a designated area (AD) can be set among multiple areas (A1 to A8) divided in the terminal (5).

[0248] The terminal (5) can, in response to a user input, set at least one area among a plurality of distinct areas (A1 to A8) as a designated area (AD). At this time, an area set as a designated area (AD) among a plurality of distinct areas (A1 to A8) can be displayed differently from an area that has not been set, and a different color or name of the area can be displayed.

[0249] Meanwhile, when there are two or more user inputs, for example, in response to a touch, drag after touch, or multi-touch for two or more of the multiple divided areas (A1 to A8), the terminal (5) can set two or more of the multiple divided areas (A1 to A8) as designated areas (AD).

[0250] At this time, the terminal (5) can set the cleaning order for a plurality of separated areas (A1 to A8).

[0251] When there is a sequence in the user input, the terminal (5) can set two or more regions among a plurality of distinct regions (A1 to A8) in a sequence, for example. At this time, among the plurality of distinct regions (A1 to A8), the region set as the designated region (AD) can have the sequence of the designated region (AD) displayed according to the set sequence (see Fig. 8).

[0252] When a designated area (AD) is set on the map, the terminal (5) transmits data about the designated area (AD) to the robot cleaner (1).

[0253] Meanwhile, if multiple areas are designated as designated areas in the map storage step (S10), the terminal (5) can set a driving pattern for each designated area. This may vary depending on the usage environment, obstacle environment, and floor environment of each designated area.

[0254] For example, the map of a robot cleaner (1) may include data on the locations of obstacles in the cleaning area, data on the material of the floor, etc. In addition, the robot cleaner (1) may determine a driving pattern suitable for driving by referring to the usage environment, obstacle locations, and floor material within the designated area (AD). In addition, the robot cleaner (1) may transmit the results of such determination to the terminal (5) and display them on the screen of the terminal (5).

[0255] Meanwhile, when each driving pattern is set in a designated area (AD), the shape of the driving pattern can be additionally displayed in the set designated area (AD) on the map of the terminal (5).

[0256] Thereafter, the robot cleaner (1) can match the data on the designated area (AD) received from the terminal (5) to the map, determine the location of the designated area (AD), and set the location as the target location for driving. That is, the robot cleaner (1) calculates the location of the designated area (AD) as coordinates, determines the location on the map and the location in the actual cleaning area, and sets the designated area (target location for driving) of the robot cleaner (1) based on the designated area (AD) received from the terminal (5).

[0257] Thereafter, in the step of saving the map (S10), the control unit (270) of the robot cleaner (1) can set the designated area (AD), the order of the designated area, and the driving pattern on the mapped map, and also set the situation in which the map is applied.

[0258] At this time, in the step of saving the map (S10), multiple maps are saved in the robot cleaner (1).

[0259] For example, as illustrated in Fig. 8, in the step of saving the map (S10), a map that sets the first situation in which the child is sleeping can be saved.

[0260] In the first situation, the control unit (270) can exclude the child room (A8) from the designated area on the map and set the remaining areas (A1 to A7) as designated areas. In addition, the control unit (270) can set the order (1 to 7 in FIG. 8) to clean from an area far from the child room (A8) on the map. In addition, the control unit (270) can set a driving pattern to quickly drive through the designated area. At this time, the output of the suction motor (145) of the robot cleaner (1) can be reduced below the preset output (turbo off). In addition, the operation of the dust collection motor of the cleaner station (not shown) can be inhibited.

[0261] Meanwhile, the control unit (270) can determine that the first situation has occurred when a preset time has arrived. At this time, the control unit (270) can receive information about the current time through the communication unit (210) or calculate information about the current time through its own timer, etc.

[0262] As another example, as illustrated in FIG. 9, in the step of saving the map (S10), a map that sets a second situation, which is a situation after the guest has left, can be saved.

[0263] In the second situation, the control unit (270) can designate the kitchen (A3), living room (A5), and hallway (A7), which are areas primarily used by guests, as designated areas. Furthermore, the control unit (270) can set a pattern for repeating cleaning of the designated areas to thoroughly clean the designated areas. At this time, the output of the suction motor (145) of the robot cleaner (1) can be increased beyond the preset output to clean (turbo on).

[0264] Meanwhile, the control unit (270) can determine that the second situation has occurred when the number of people detected using the upper camera sensor, etc. increases to a preset number or more and then decreases.

[0265] As another example, as illustrated in FIG. 10, in the step of saving the map (S10), a map that sets a third situation in which a resident leaves the house can be saved.

[0266] In the third situation, the control unit (270) sets all cleaning areas as designated areas for designated areas (A1 to A8), but can set the bedroom (A2), kitchen (A3), and living room (A5), which are mainly used by residents, as areas to be cleaned intensively. At this time, the areas mainly used by residents can be set separately for each resident. In addition, the control unit (270) can set a pattern for repeating cleaning for the areas to be cleaned intensively. At this time, the output of the suction motor (145) of the robot cleaner (1) can be increased beyond the preset output to clean (turbo on).

[0267] Meanwhile, the control unit (270) can determine that the third situation has occurred when the terminal (5) moves away from home through the GPS module (519) of the terminal (5).

[0268] Alternatively, if there is a period during which the resident regularly goes out (e.g., during the day on a weekday), the above period condition can be set in the control unit (270), and if the above period condition is satisfied, it can be determined that the third situation has occurred.

[0269] As another example, as illustrated in FIG. 11, in the step of saving the map (S10), a map that sets a fourth situation, that is, a situation in which a pet is present, can be saved.

[0270] In the fourth situation, the control unit (270) can set all cleaning areas as designated areas for the designated areas (A1 to A8), but can avoid cleaning specific preset locations (P1 to P2), such as the pet's dishes and bedding. In addition, a specific preset location (P3), such as the pet's toilet, can be set as a point to be cleaned intensively. In addition, the control unit (270) can set a pattern for repeating cleaning for the point to be cleaned intensively. At this time, the output of the suction motor (145) of the robot cleaner (1) can be reduced below the preset output to reduce the stress of the pet and clean (turbo off). Meanwhile, the robot cleaner (1) can recognize the pet through the sensing unit (230) and, if the distance to the pet is less than the preset distance, can be set to reduce the output of the suction motor (145).

[0271] Meanwhile, the control unit (270) can determine that the fourth situation has occurred at preset time intervals within a preset date range. This is to repeat cleaning in accordance with the pet's shedding period.

[0272] In addition, in the step of saving the map (S10), the user can set the designated area (AD), the order of the designated area, and the driving pattern according to the situations that may occur, and additionally save the map by setting the situations to which the map is applied.

[0273] Therefore, according to the present invention, there is an effect that can provide convenience for a user to set up and add a new situation.

[0274]

[0275] A method for controlling a robot vacuum cleaner according to one embodiment of the present invention includes a step (S20) of selecting one of a plurality of maps stored in the robot vacuum cleaner (1).

[0276] In the step (S20) of selecting one of the multiple maps, one of the multiple maps can be selected through user input.

[0277] Specifically, the user can select any one of the multiple maps stored via the terminal (5). For example, the user can select a map corresponding to any one of the first to fourth situations via the terminal (5).

[0278] For example, in the step (S20) of selecting one of a plurality of maps, if the control unit (270) determines that one of the first to fourth situations has occurred, it can notify the user through the terminal (5) that one of the first to fourth situations has occurred and recommend selection of a map according to the corresponding situation.

[0279] For example, the control unit (270) may determine that the first situation has occurred when a preset time has arrived and may recommend to the user to select a map according to the first situation through the terminal (5).

[0280] As another example, the control unit (270) may determine that a second situation has occurred when the number of people detected using an upper camera sensor or the like increases beyond a preset number and then decreases, and may recommend to the user through the terminal (5) to select a map according to the second situation.

[0281] As another example, the control unit (270) may determine that a third situation has occurred when the terminal (5) moves away from home through the GPS module (519) or when a period (e.g., weekday afternoon) in which the resident regularly goes out occurs, and may recommend to the user through the terminal (5) to select a map according to the third situation.

[0282] As another example, the control unit (270) may determine that the fourth situation has occurred at a preset time interval within a preset date range, and may recommend to the user through the terminal (5) to select a map according to the fourth situation.

[0283] Meanwhile, map selection recommendation through the terminal (5) can be made through the output unit (550).

[0284]

[0285] Meanwhile, in the step (S20) of selecting one of the plurality of maps, the control unit (270) can select one of the plurality of maps when a preset situation occurs.

[0286] For example, in the step (S20) of selecting one of a plurality of maps, if the control unit (270) determines that one of the first to fourth situations has occurred, it can select a map according to the corresponding situation.

[0287] For example, the control unit (270) can select a map according to the first situation when a preset time arrives.

[0288] Alternatively, the control unit (270) may select a map according to the second situation when the number of people detected using an upper camera sensor or the like increases beyond a preset number and then decreases.

[0289] Alternatively, the control unit (270) can select a map according to the third situation when the terminal (5) moves away from home or when a period (e.g., weekday afternoon) occurs during which the resident regularly goes out, through the GPS module (519).

[0290] Alternatively, the control unit (270) can select a map according to the fourth situation at a preset time interval within a preset date range.

[0291] Meanwhile, even if a preset situation occurs, the control unit (270) can give priority to the user's selection if there is user input. Furthermore, the control unit (270) can notify the user that a preset situation has occurred and provide information about the currently selected map. This provides the user with an opportunity to change the map being applied.

[0292]

[0293] A method for controlling a robot vacuum cleaner according to one embodiment of the present invention includes a step (S30) of driving in a designated area of ​​a selected map.

[0294] In the step (S30) of driving in a designated area, the robot cleaner (1) can move to a designated area of ​​one of the maps selected from among a plurality of maps and drive within the designated area. Accordingly, the body (110) of the robot cleaner (1) can move along one of the multiple maps.

[0295] At this time, the robot cleaner (1) can drive according to a set driving pattern within a designated area (AD). The robot cleaner (1) can drive in various ways, such as straight driving, rotational driving, and turning driving, according to the set driving pattern.

[0296] Meanwhile, in the step of saving the map (S10), if multiple designated areas are set in sequence, the robot cleaner (1) can drive through the designated areas according to the set cleaning sequence. At this time, if a driving pattern is set for each designated area, the robot cleaner can drive according to each set driving pattern.

[0297] For example, if a map according to the first situation is selected, the robot cleaner (1) can drive and clean within areas A1 to A7. Furthermore, the robot cleaner (1) can drive and clean in the order of increasing distance from the child room (A8) (in the order of 1 to 7 in FIG. 8). Furthermore, the robot cleaner (1) can drive primarily in a zigzag or straight line to quickly drive through the designated area. At this time, the suction motor (145) of the robot cleaner (1) can be operated at a level lower than a preset output. Furthermore, the operation of the dust collection motor of the cleaner station (not shown) can be prohibited.

[0298] Alternatively, if a map according to the second situation is selected, the robot cleaner (1) can drive and clean the kitchen (A3), living room (A5), and hallway (A7). Furthermore, the robot cleaner (1) can repeatedly clean the designated area. At this time, the output of the suction motor (145) of the robot cleaner (1) can be increased beyond the preset output to operate (turbo on).

[0299] Alternatively, when a map according to the third situation is selected, the robot cleaner (1) may drive and clean all cleaning areas, but may repeatedly clean the bedroom (A2), kitchen (A3), and living room (A5). At this time, the output of the suction motor (145) of the robot cleaner (1) may be operated by increasing the output beyond the preset output (turbo on).

[0300] Alternatively, if a map according to the fourth situation is selected, the robot cleaner (1) may drive and clean all cleaning areas, avoiding locations P1 and P2, and may repeatedly clean location P3. At this time, the output of the suction motor (145) of the robot cleaner (1) may be reduced below a preset output (turbo off). Meanwhile, the robot cleaner (1) may lower the output of the suction motor (145) when the distance from the pet is below a preset distance.

[0301]

[0302] Although the present invention has been described in detail through specific examples, this is for the purpose of specifically explaining the present invention, and the present invention is not limited thereto, and it is clear that the present invention can be modified or improved by a person having ordinary knowledge in the relevant field within the technical spirit of the present invention.

[0303] All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

Claims

1. In a robot vacuum cleaner that cleans the floor by driving in a cleaning area on a pre-mapped map, A body housing a battery and at least one motor inside; A driving unit that moves the above body; A cleaner who cleans the floor; and A control unit that controls the driving unit and the cleaning unit; Including, The above control unit, A plurality of maps containing information on drivable areas among the above cleaning areas are stored, The above body, A robot vacuum cleaner characterized by moving along any one of the above plurality of maps.

2. In paragraph 1, The above body, A robot vacuum cleaner characterized in that it moves at a preset time along any one of the plurality of preset maps.

3. In paragraph 1, The above control unit, A robot vacuum cleaner characterized in that it selects one of the plurality of maps according to a cleaning command input from a terminal.

4. In paragraph 1, The above control unit, A robot vacuum cleaner characterized in that it selects one of the plurality of maps according to the location of the terminal to which a cleaning command is input.

5. A map containing information on a drivable area within a cleaning area is stored, and a robot cleaner that drives in the cleaning area; and A terminal for inputting a cleaning command to the above robot vacuum cleaner; Including, The above terminal, The above map is displayed, multiple distinct areas are displayed on the map, and the distinct areas are set as designated areas in response to user input. The above robot vacuum cleaner, A robot vacuum cleaner control system characterized in that it stores a plurality of maps, moves to the designated area of ​​one of the plurality of maps, and drives within the designated area.

6. In paragraph 5, The above terminal, Set the cleaning order for the above-mentioned separated areas, The above robot vacuum cleaner, A robot vacuum cleaner control system characterized in that it drives through the divided area according to the cleaning order set in the terminal.

7. A step of displaying a map stored in a robot cleaner on a terminal and storing a map that sets a designated area in which the robot cleaner will drive in response to the map from the terminal; A step of selecting one of a plurality of maps stored in the robot vacuum cleaner; and Steps to drive through a designated area of ​​the selected map; A control method for a robot vacuum cleaner including a .

8. In paragraph 7, In the step of saving the above map, A control method for a robot vacuum cleaner, characterized by displaying a plurality of distinct areas on the above map and setting the designated area among the distinct areas.

9. In paragraph 7, In the step of selecting one of the above multiple maps, A control method for a robot vacuum cleaner, characterized in that any one of the plurality of maps is selected at a preset time.

10. In paragraph 7, In the step of selecting one of the above multiple maps, A robot vacuum cleaner characterized in that it selects one of the plurality of maps according to the location of the terminal.

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