Robot cleaner system

Abstract

The present invention relates to a robot cleaner system comprising: a robot cleaner which accommodates a battery, and which, according to a cleaning command inputted from a terminal, travels in a cleaning area and cleans the floor surface; and a charging stand which charges the battery, wherein the battery is charged to a preset capacity on the basis of information on the cleaning area.

Description

Robot vacuum cleaner system

[0001] The present invention relates to a robot vacuum cleaner system.

[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, in relation to this, a prior art patent document, Republic of Korea Patent Publication No. 10-2004-0017675, discloses a method for controlling the charging and discharging of a battery for a hybrid electric vehicle.

[0007] According to the above prior art patent document, the battery life can be extended and engine efficiency can be increased by controlling the charging and discharging amount when the battery reaches its limit.

[0008] However, since the battery charge / discharge control method according to the above prior art patent document limits the limitation of the battery to a uniform fixed capacity, there was a problem in that, if it were applied as is to a robot vacuum cleaner, the surrounding environment according to the cleaning area, etc. was not taken into consideration, so the battery capacity required to complete the cleaning task could not be known.

[0009]

[0010] The present invention was created to improve the above-mentioned problems, and the problem to be solved is to provide a robot vacuum cleaner system that can maintain the expected life of a battery for a long time by charging the battery capacity required for cleaning a cleaning area based on information such as the area of ​​the cleaning area and the presence or absence of obstacles.

[0011]

[0012] In order to solve the above-described problem, the robot cleaner system according to the present invention includes a robot cleaner that houses a battery therein and moves around a cleaning area and cleans a floor according to a cleaning command input from a terminal; and a charging station that charges the battery; wherein the battery can be charged to a preset capacity based on information about the cleaning area.

[0013] The above preset capacity may be less than the maximum charge capacity of the battery.

[0014] The information about the above cleaning area may be information about the area of ​​the above cleaning area.

[0015] Information about the above cleaning area may be information about whether an obstacle is placed on the above cleaning area.

[0016] Based on information about the cleaning area, the preset required capacity of the battery is compared with the remaining capacity of the battery, and if the required capacity is greater than the remaining capacity, the robot cleaner can drive through the cleaning area and clean the floor.

[0017] If the required capacity is greater than the remaining capacity, the terminal may notify the user that the battery is expected to discharge.

[0018] Based on information about the cleaning area, the preset required capacity of the battery is compared with the remaining capacity of the battery, and if the required capacity is greater than the remaining capacity, the robot cleaner can dock to the charging station so that the battery can be charged.

[0019] If the required capacity is greater than the remaining capacity, the terminal may notify the user that the battery is expected to discharge.

[0020]

[0021] As described above, the robot vacuum cleaner system according to the present invention has the effect of extending the expected life of the battery by charging the battery capacity required for cleaning the cleaning area based on information such as the area of ​​the cleaning area and the presence or absence of obstacles.

[0022]

[0023] FIG. 1 is a drawing for explaining a control system of a robot vacuum cleaner according to an embodiment of the present invention.

[0024] FIG. 2A is a perspective view illustrating a first robot vacuum cleaner according to an embodiment of the present invention.

[0025] Fig. 2b is a drawing showing some components separated from the first robot cleaner illustrated in Fig. 2a.

[0026] Figure 2c is a rear view illustrating the first robot cleaner illustrated in Figure 2a.

[0027] FIG. 2d is a bottom view illustrating a first robot vacuum cleaner according to an embodiment of the present invention.

[0028] Figure 2e is an exploded perspective view showing the first robot vacuum cleaner.

[0029] FIG. 2f is a cross-sectional view schematically illustrating a first robot vacuum cleaner and its components according to an embodiment of the present invention.

[0030] FIG. 3 is a block diagram of a first robot vacuum cleaner according to an embodiment of the present invention.

[0031] FIG. 4a and FIG. 4b are schematic drawings illustrating a second robot vacuum cleaner according to an embodiment of the present invention.

[0032] FIG. 5 is a block diagram of a second robot vacuum cleaner according to an embodiment of the present invention.

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

[0034] Figure 7 is a flowchart of a control method for a robot vacuum cleaner according to an embodiment of the present invention.

[0035] FIG. 8 is a drawing showing a map to explain a situation in which the required battery capacity varies depending on the area of ​​the cleaning area in a control method of a robot vacuum cleaner according to an embodiment of the present invention.

[0036] FIG. 9 is a diagram showing a map to explain a situation in which the required battery capacity varies depending on whether an obstacle is placed in a cleaning area in a control method of a robot vacuum cleaner according to an embodiment of the present invention.

[0037]

[0038] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0039] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and specifically described 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.

[0040] 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."

[0041] The term "and / or" may include any combination of multiple related listed items or any one of multiple related listed items.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047]

[0048] FIG. 1 is a drawing for explaining a control system of a robot cleaner according to an embodiment of the present invention, FIG. 2a is a perspective view illustrating a first robot cleaner according to an embodiment of the present invention, FIG. 2b is a drawing illustrating some components of the first robot cleaner illustrated in FIG. 2a separately, FIG. 2c is a rear view illustrating the first robot cleaner illustrated in FIG. 2a, FIG. 2d is a bottom view illustrating the first robot cleaner according to an embodiment of the present invention, FIG. 2e is an exploded perspective view illustrating the first robot cleaner, and FIG. 2f is a cross-sectional view schematically illustrating the first robot cleaner and its components according to an embodiment of the present invention.

[0049] The control system of the first robot cleaner (1) of the present invention will be described with reference to FIGS. 1 to 2f as follows.

[0050] The first robot cleaner (1) is placed on the floor and moves along the floor surface (B) to clean the floor using a mop. Accordingly, the following description will be given with the up-down direction as the standard when the first robot cleaner (1) is placed on the floor.

[0051] And, based on the first rotating plate (10) and the second rotating plate (20), the side to which the first lower sensor (123) to be described later is connected is set to the front.

[0052] The 'lowest part' of each configuration described in the present invention may be the part that is positioned lowest in each configuration when the first robot cleaner (1) is placed on the floor and used, or may be the part closest to the floor.

[0053] The first robot vacuum cleaner (1) may include a body (50), a rotating plate (10, 20), and a mop (30, 40). At this time, the rotating plates (10, 20) may be formed as a pair including a first rotating plate (10) and a second rotating plate (20), and the mop (30, 40) may include a first mop (30) and a second mop (40).

[0054] The body (50) may form the overall exterior of the first robot cleaner (1) or may be formed in the form of a frame. Each component of the robot cleaner (1) may be combined into the body (50), and some components of the first robot cleaner (1) may be accommodated inside the body (50). The body (50) may be divided into a lower body (50a) and an upper body (50b), and components of the first robot cleaner (1), including a battery (135), a water tank (141), and motors (56, 57), may be provided in a space formed by combining the lower body (50a) and the upper body (50b) (see FIG. 1e).

[0055] The first rotary plate (10) can be rotatably placed on the lower surface of the body (50), and the first mop (30) can be coupled to the lower side.

[0056] The first rotating plate (10) is formed to have a predetermined area and is formed in the form of a flat plate or a flat frame. The first rotating plate (10) is generally laid horizontally, and thus, the horizontal width (or diameter) is formed to be sufficiently larger than the vertical height. The first rotating plate (10) coupled to the body (50) may be parallel to the bottom surface (B), or may be inclined with the bottom surface (B). The first rotating plate (10) may be formed in the form of a circular plate, the bottom surface of the first rotating plate (10) may be generally circular, and the first rotating plate (10) may be formed in an overall rotationally symmetrical form.

[0057] The second rotary plate (20) can be rotatably placed on the lower surface of the body (50), and the second mop (40) can be coupled to the lower side.

[0058] The second rotating plate (20) is formed to have a predetermined area and is formed in the form of a flat plate or a flat frame. The second rotating plate (20) is generally laid horizontally, and thus, the horizontal width (or diameter) is formed to be sufficiently larger than the vertical height. The second rotating plate (20) coupled to the body (50) may be parallel to the bottom surface (B), or may be inclined with the bottom surface (B). The second rotating plate (20) may be formed in the form of a circular plate, the bottom surface of the second rotating plate (20) may be generally circular, and the second rotating plate (20) may be formed in an overall rotationally symmetrical form.

[0059] In the first robot cleaner (1), the second rotating plate (20) may be formed identically to the first rotating plate (10), or may be formed symmetrically. If the first rotating plate (10) is positioned on the left side of the first robot cleaner (1), the second rotating plate (20) may be positioned on the right side of the robot cleaner (1), and in this case, the first rotating plate (10) and the second rotating plate (20) may be symmetrical to each other.

[0060] The first mop (30) can be coupled to the lower side of the first rotating plate (10) so as to face the floor surface (B).

[0061] The first mop (30) is formed so that the bottom surface facing the floor has a predetermined area, and the first mop (30) is formed in a flat shape. The first mop (30) is formed so that the horizontal width (or diameter) is sufficiently larger than the vertical height. When the first mop (30) is coupled to the body (50), the bottom surface of the first mop (30) can be parallel to the floor surface (B), or can be inclined with the floor surface (B).

[0062] The bottom surface of the first mop (30) may be generally circular, and the first mop (30) may be formed in an overall rotationally symmetrical shape. In addition, the first mop (30) may be detachably attached to the bottom surface of the first rotary plate (10), and may be coupled to the first rotary plate (10) to rotate together with the first rotary plate (10).

[0063] The second mop (40) can be coupled to the lower side of the second rotating plate (20) so as to face the floor surface (B).

[0064] The second mop (40) is formed so that the bottom surface facing the floor has a predetermined area, and the second mop (40) is formed in a flat shape. The second mop (40) is formed so that the horizontal width (or diameter) is sufficiently larger than the vertical height. When the second mop (40) is coupled to the body (50), the bottom surface of the second mop (40) can be parallel to the floor surface (B), or can be inclined with the floor surface (B).

[0065] The bottom surface of the second mop (40) may be generally circular, and the second mop (40) may be formed in an overall rotationally symmetrical shape. In addition, the second mop (40) may be detachably attached to the bottom surface of the second rotary plate (20), and may be coupled to the second rotary plate (20) to rotate together with the second rotary plate (20).

[0066] When the first turntable (10) and the second turntable (20) rotate at the same speed in opposite directions, the first robot cleaner (1) can move in a straight line and move forward or backward. For example, when viewed from above, when the first turntable (10) rotates counterclockwise and the second turntable (20) rotates clockwise, the first robot cleaner (1) can move forward.

[0067] When only one of the first turntable (10) and the second turntable (20) rotates, the first robot cleaner (1) can change direction and turn.

[0068] When the rotation speeds of the first rotary plate (10) and the second rotary plate (20) are different from each other, or when the first rotary plate (10) and the second rotary plate (20) rotate in the same direction, the first robot cleaner (1) can move while changing direction and can move in a curved direction.

[0069] The first robot vacuum cleaner (1) may further include a first lower sensor (123).

[0070] The first lower sensor (123) is formed on the lower side of the body (50) and is configured to detect the relative distance from the floor surface (B). The first lower sensor (123) can be formed in various ways within a range that can detect the relative distance between the point where the first lower sensor (123) is formed and the floor surface (B).

[0071] When the relative distance from the floor surface (B) detected by the first lower sensor (123) (which may be a vertical distance from the floor surface or a sloped distance from the floor surface) exceeds a predetermined value or a predetermined range, it may be a case where the floor surface suddenly lowers, and accordingly, the first lower sensor (123) can detect a cliff.

[0072] The first lower sensor (123) may be formed as a light sensor and may include a light emitting portion that irradiates light and a light receiving portion where reflected light is incident. The first lower sensor (123) may be formed as an infrared sensor.

[0073] The first lower sensor (123) may be referred to as a cliff sensor.

[0074] The first robot vacuum cleaner (1) may further include a second lower sensor (124) and a third lower sensor (125).

[0075] The second lower sensor (124) and the third lower sensor (125) can be formed on the lower side of the body (50) on the same side as the first lower sensor (123) with respect to the connection line (L1), when the virtual line connecting the center of the first turntable (10) and the center of the second turntable (20) along the horizontal direction (the direction parallel to the floor surface (B)) is referred to as the connection line (L1), and can be configured to detect the relative distance from the floor surface (B) (see FIG. 1d).

[0076] The third lower sensor (125) can be formed on the opposite side of the second lower sensor (124) with respect to the first lower sensor (123).

[0077] Each of the second lower sensor (124) and the third lower sensor (125) can be configured in various ways within a range capable of detecting a relative distance from the floor surface (B). Each of the second lower sensor (124) and the third lower sensor (125) can be configured in the same manner as the first lower sensor (123) described above, except for the position at which they are formed.

[0078] The first robot vacuum cleaner (1) may further include a first motor (56), a second motor (57), a battery (135), a water tank (141), and a water supply tube (142).

[0079] The first motor (56) is coupled to the body (50) and configured to rotate the first rotary plate (10). Specifically, the first motor (56) may be an electric motor coupled to the body (50), and may be connected to one or more gears to transmit rotational force to the first rotary plate (10).

[0080] The second motor (57) is coupled to the body (50) to rotate the second rotary plate (20). Specifically, the second motor (57) may be formed as an electric motor coupled to the body (50), and may be connected to one or more gears to transmit rotational force to the second rotary plate (20).

[0081] In this way, in the first robot vacuum cleaner (1), the first rotating plate (10) and the first mop (30) can rotate by the operation of the first motor (56), and the second rotating plate (20) and the second mop (40) can rotate by the operation of the second motor (57).

[0082] The second motor (57) can be symmetrical (left-right symmetrical) with the first motor (56).

[0083] The battery (135) is coupled to the body (50) to supply power to other components that make up the first robot cleaner (1). The battery (135) can supply power to the first motor (56) and the second motor (57).

[0084] The battery (135) can be charged by an external power source, and for this purpose, a charging terminal for charging the battery (135) may be provided on one side of the body (50) or on the battery (135) itself.

[0085] In the first robot vacuum cleaner (1), the battery (135) can be coupled to the body (50).

[0086] The water tank (141) is formed in the form of a container having an internal space for storing a liquid such as water. The water tank (141) may be fixedly connected to the body (50), or may be detachably connected to the body (50).

[0087] In the first robot cleaner (1), the water supply tube (142) is formed in the form of a tube or pipe and is connected to the water tank (141) so that the liquid inside the water tank (141) can flow through the inside thereof. The water supply tube (142) is formed so that the opposite end connected to the water tank (141) is positioned above the first rotating plate (10) and the second rotating plate (20), thereby allowing the liquid inside the water tank (141) to be supplied toward the first mop (30) and the second mop (40).

[0088] In the first robot cleaner (1), the water supply tube (142) may be formed in the form of a single tube branched into two, and at this time, one of the branched ends may be located above the first rotating plate (10), and the other branched end may be located above the second rotating plate (20).

[0089] The first robot cleaner (1) may be equipped with a separate water pump (143) to move liquid through a water supply tube (142).

[0090] The first robot vacuum cleaner (1) may further include a bumper (58), a first sensor (121), and a second sensor (122).

[0091] The bumper (58) is coupled along the edge of the body (50), but is configured to move relative to the body (50). For example, the bumper (58) may be coupled to the body (50) so as to be able to reciprocate in a direction approaching the center of the body (50).

[0092] The bumper (58) may be joined along a portion of the edge of the body (50), or may be joined along the entire edge of the body (50).

[0093] The first sensor (121) can be coupled to the body (50) and configured to detect movement (relative movement) of the bumper (58) relative to the body (50). This first sensor (121) can be configured using a microswitch, a photo interrupter, a tact switch, or the like.

[0094] The second sensor (122) may be coupled to the body (100) and configured to detect a relative distance from an obstacle. The second sensor (122) may be configured as a distance sensor.

[0095] Meanwhile, the first robot cleaner (1) according to the embodiment of the present invention may further include a displacement sensor (126).

[0096] The displacement sensor (126) is placed on the bottom (back) of the body (50) and can measure the distance moved along the bottom surface.

[0097] For example, the displacement sensor (126) may use an optical flow sensor (OFS) that acquires image information of the floor surface using light. Here, the optical flow sensor (OFS) is configured to include an image sensor that captures an image of the floor surface to acquire image information of the floor surface, and one or more light sources that control the amount of light.

[0098] The operation of the displacement sensor (126) will be described using an optical flow sensor as an example. The optical flow sensor is installed on the bottom (rear) of the first robot cleaner (1) and captures images of the downward direction, i.e., the floor, while moving. The optical flow sensor converts the downward image input from the image sensor to generate downward image information in a predetermined format.

[0099] With this configuration, the displacement sensor (126) can detect the relative position of a predetermined point and the first robot cleaner (1) regardless of slipping. That is, by observing the downward direction of the first robot cleaner (1) using the optical flow sensor, position correction due to slipping is possible.

[0100] Meanwhile, the first robot cleaner (1) according to the embodiment of the present invention may further include an angle sensor (127).

[0101] The angle sensor (127) is placed inside the body (50) and can measure the movement angle of the body (50).

[0102] For example, the angle sensor (127) may use a gyro sensor that measures the rotational speed of the body (50). The gyro sensor may detect the direction of the first robot cleaner (1) using the rotational speed.

[0103] With this configuration, the angle sensor (127) can detect the angle with respect to the direction in which the first robot cleaner (1) is moving based on a predetermined virtual line.

[0104] Meanwhile, the present invention may further include a virtual connecting line (L1) connecting the rotation axes of a pair of rotating plates (10, 20). Specifically, the connecting line (L1) may mean a virtual line connecting the rotation axis of the first rotating plate (10) and the rotation axis of the second rotating plate (20).

[0105] The connecting line (L1) can be a reference for dividing the front and rear of the first robot cleaner (1). For example, the direction in which the first lower sensor (123) is arranged based on the connecting line (L1) can be referred to as the front of the first robot cleaner (1), and the direction in which the water tank (141) is arranged based on the connecting line (L1) can be referred to as the rear of the first robot cleaner (1).

[0106] Accordingly, a first lower sensor (123), a second lower sensor (124), and a third lower sensor (125) may be arranged on the front lower side of the body (50) with respect to the connection line (L1), a first sensor (121) may be arranged on the inner side of the front outer surface of the body (50), and a second sensor (122) may be arranged on the front upper side of the body (50). In addition, a battery (135) may be inserted and coupled in a direction perpendicular to the bottom surface (B) at the front of the body (50) with respect to the connection line (L1). In addition, a displacement sensor (126) may be arranged at the rear of the body (50) with respect to the connection line (L1).

[0107] Meanwhile, the present invention may further include a virtual driving direction line (H) that intersects the connecting line (L1) perpendicularly at the midpoint (C) of the connecting line (L1) and extends parallel to the floor surface (B). Specifically, the driving direction line (H) may include a forward driving direction line (Hf) that extends parallel to the floor surface (B) toward the direction in which the battery (135) is arranged based on the connecting line (L1), and a rearward driving direction line (Hb) that extends parallel to the floor surface (B) toward the direction in which the water tank (141) is arranged based on the connecting line (L1). Accordingly, the battery (135) and the first lower sensor (123) may be arranged on the forward driving direction line (Hf), and the displacement sensor (126) and the water tank (141) may be arranged on the rearward driving direction line (Hb). And the first rotating plate (10) and the second rotating plate (20) can be arranged symmetrically (line-symmetrically) with the driving direction line (H) as the center (reference).

[0108] With this configuration, the driving direction line (H) may mean the direction in which the first robot cleaner (1) drives.

[0109] Meanwhile, to aid understanding, the front end of the first robot cleaner (1) of the present invention will be described as follows. The front end of the first robot cleaner (1) in the present invention may refer to a point that protrudes the farthest distance forward in a horizontal direction based on a connecting line (L1). For example, the front end of the first robot cleaner (1) may refer to a point on the outer surface of the bumper (58) through which a forward travel direction line (Hf) passes.

[0110] In addition, the rear end of the first robot cleaner (1) may refer to the point that protrudes the farthest distance rearward in the horizontal direction based on the connecting line (L1). For example, the rear end of the first robot cleaner (1) may refer to the point on the outer surface of the water tank (141) through which the rearward travel direction line (Hb) passes.

[0111]

[0112] Meanwhile, FIG. 3 discloses a block diagram of the first robot vacuum cleaner illustrated in FIG. 1 of the present invention.

[0113] Referring to FIG. 3, the first robot cleaner (1) may include a control unit (110), a sensor unit (120), a power supply unit (130), a water supply unit (140), a driving unit (150), a communication unit (160), a display unit (170), and a memory (180). The components illustrated in the block diagram of FIG. 3 are not essential for implementing the first robot cleaner (1), and thus the first robot cleaner (1) described in this specification may have more or fewer components than the components listed above.

[0114] First, the control unit (110) may be placed inside the body (50) and may be wirelessly connected to a control device (not shown) via a communication unit (160) to be described later. In this case, the control unit (110) may transmit various data regarding the first robot cleaner (1) to the connected control device (not shown). In addition, the control unit may receive data from the connected control device and store the data. Here, the data input from the control device may be a control signal for controlling at least one function of the first robot cleaner (1).

[0115] In other words, the first robot cleaner (1) can receive a control signal based on user input from the control device and operate according to the received control signal.

[0116] In addition, the control unit (110) can control the overall operation of the robot cleaner. The control unit (110) controls the first robot cleaner (1) to autonomously drive on the surface to be cleaned and perform cleaning operations according to the setting information stored in the memory (180) described later.

[0117] Meanwhile, the straight-line control of the control unit (110) in the present invention will be described later.

[0118] The sensor unit (120) may include one or more of the first lower sensor (123), the second lower sensor (124), the third lower sensor (125), the first sensor (121), and the second sensor (122) of the first robot cleaner (1) described above.

[0119] In other words, the sensor unit (120) may include a plurality of different sensors capable of detecting the environment surrounding the first robot cleaner (1), and information about the environment surrounding the first robot cleaner (1) detected by the sensor unit (120) may be transmitted to the control device by the control unit (110). Here, the information about the surrounding environment may be, for example, whether there is an obstacle, whether a cliff is detected, or whether a collision is detected.

[0120] The control unit (110) may be configured to control the operation of the first motor (56) and / or the second motor (57) based on information from the first sensor (121). For example, when the bumper (58) contacts an obstacle while the first robot cleaner (1) is driving, the position at which the bumper (58) contacted can be detected by the first sensor (121), and the control unit (110) may control the operation of the first motor (56) and / or the second motor (57) so as to avoid this contact position.

[0121] In addition, based on information from the second sensor (122), the control unit (110) can control the operation of the first motor (56) and / or the second motor (57) so that the driving direction of the first robot cleaner (1) is changed or the first robot cleaner (1) moves away from the obstacle when the distance between the first robot cleaner (1) and the obstacle is less than a predetermined value.

[0122] Additionally, depending on the distance detected by the first lower sensor (123), the second lower sensor (124), or the third lower sensor (125), the control unit (110) can control the operation of the first motor (56) and / or the second motor (57) so that the first robot cleaner (1) stops or changes its driving direction.

[0123] In addition, depending on the distance detected by the displacement sensor (126), the control unit (110) can control the operation of the first motor (56) and / or the second motor (57) so that the first robot cleaner (1) changes its driving direction. For example, when the first robot cleaner (1) slips and deviates from the input driving path or driving pattern, the displacement sensor (126) can measure the distance deviating from the input driving path or driving pattern, and the control unit (110) can control the operation of the first motor (56) and / or the second motor (57) to compensate for this.

[0124] In addition, depending on the angle detected by the angle sensor (127), the control unit (110) can control the operation of the first motor (56) and / or the second motor (57) so that the driving direction of the first robot cleaner (1) changes. For example, if the first robot cleaner (1) slips and the direction in which the first robot cleaner (1) is headed deviates from the input driving direction, the angle sensor (127) can measure the angle deviating from the input driving direction, and the control unit (110) can control the operation of the first motor (56) and / or the second motor (57) to compensate for this.

[0125] Meanwhile, the power supply unit (130) receives external power and internal power under the control of the control unit (110) and supplies the power required for the operation of each component. The power supply unit (130) may include the battery (135) of the first robot cleaner (1) described above.

[0126] The water supply unit (140) may include the water tank (141), water supply tube (142), and water pump (143) of the first robot cleaner (1) described above. The water supply unit (140) may be configured to control the amount of liquid (water) supplied to the first mop (30) and the second mop (40) during the cleaning operation of the first robot cleaner (1) according to a control signal of the control unit (110). The control unit (110) may control the driving time of the motor that drives the water pump (143) to control the amount of water supplied.

[0127] The driving unit (150) may include the first motor (56) and the second motor (57) of the first robot cleaner (1) described above. The driving unit (150) may be configured to cause the first robot cleaner (1) to rotate or move in a straight line according to a control signal of the control unit (110).

[0128] Meanwhile, the communication unit (160) may be placed inside the body (50) and may include at least one module that enables wireless communication between the first robot cleaner (1) and a wireless communication system, or between the first robot cleaner (1) and a preset peripheral device, or between the first robot cleaner (1) and a preset external server.

[0129] For example, the at least one module may include at least one of an IR (Infrared) module for infrared communication, an ultrasonic module for ultrasonic communication, or a short-range communication module such as a WiFi module or a Bluetooth module. Alternatively, the module may be configured to transmit and receive data with a preset device via various wireless technologies such as WLAN (Wireless LAN) and Wi-Fi (Wireless-Fidelity), including a wireless Internet module.

[0130] Meanwhile, the display unit (170) displays information to be provided to the user. For example, the display unit (170) may include a display that displays a screen. In this case, the display may be exposed on the upper surface of the body (50).

[0131] In addition, the display unit (170) may include a speaker that outputs sound. For example, the speaker may be built into the body (50). At this time, it is preferable that a hole through which sound can pass is formed in the body (50) corresponding to the position of the speaker. The source of the sound output by the speaker may be sound data pre-stored in the first robot cleaner (1). For example, the pre-stored sound data may be for voice guidance corresponding to each function of the first robot cleaner (1) or a warning sound that notifies an error.

[0132] Additionally, the display unit (170) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0133] The memory (180) may be arranged inside the body (50) and may include various data for driving and operating the first robot cleaner (1). The memory (180) may include an application program for autonomous driving of the first robot cleaner (1) and various related data. In addition, each piece of data sensed by the sensor unit (120) may be stored and may include setting information for various settings (values) selected or input by the user (e.g., cleaning reservation time, cleaning mode, water supply amount, LED brightness level, notification sound volume, etc.).

[0134] Meanwhile, the memory (180) may include information about the surface to be cleaned currently provided to the first robot cleaner (1). For example, the information about the surface to be cleaned may be map information mapped by the first robot cleaner (1) itself. In addition, the map information, i.e., the map, may include various pieces of information set by the user for each area constituting the surface to be cleaned.

[0135] In addition, information regarding driving patterns can be stored in the memory (180). For example, a driving pattern set by a user input can be stored in the memory (180). In addition, various types of driving patterns that repeatedly travel back and forth in a predetermined area can be stored in the memory (180).

[0136]

[0137] FIG. 4a is a perspective view of a second robot cleaner according to an embodiment of the present invention, and FIG. 4b is a view of the second robot cleaner according to an embodiment of the present invention viewed from another direction.

[0138] The second robot cleaner (2) according to the 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 made with the up-down direction defined based on the state in which the second robot cleaner (2) is placed on the floor.

[0139] And, based on the first driving wheel (221a) and the second driving wheel (221b), the side to which the agitator (232) to be described later is coupled is set to the front.

[0140] 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 second robot cleaner (2) according to the embodiment of the present invention is placed on the floor and used, or may be the part closest to the floor.

[0141] A second robot vacuum cleaner (2) according to an embodiment of the present invention comprises a body (210), a driving unit (220), a cleaning unit (230), a sensor unit (240), a battery (250), and a control unit (260).

[0142] The body (210) may form the overall exterior of the second robot cleaner (2) or may be formed in the form of a frame. Each component of the second robot cleaner (2) may be combined into the body (210), and some components of the second robot cleaner (2) may be accommodated within the body (210).

[0143] Specifically, the body (210) can be divided into a lower body (211) and an upper body (212) covering the lower body (211), and parts of the second robot cleaner (2) can be provided in a space formed by combining the lower body (211) and the upper body (212). For example, the body (210) can accommodate a battery (250) and at least one motor in the space within the body.

[0144] When viewed from above or below, the body (210) can be formed in various shapes, such as circular, oval, or square.

[0145] The lower body (211) can be combined with the upper body (212) to form a space that can accommodate a suction motor (233), a battery (250), at least one sensor, and at least one motor therein.

[0146] Additionally, an intake port and a pair of wheel holes may be formed in the lower body (211).

[0147] The suction port may be a passage through which dust from the floor surface is drawn in. For example, the suction port may be formed in the shape of a rectangular hole. With this configuration, when the suction motor (233) is operated, air containing dust can be drawn in through the suction port, and the dust contained in the air can be captured in a dust bin (not shown).

[0148] An agitator (232), which will be described later, can be rotatably accommodated inside the suction port. With this configuration, dust around the suction port can be guided into the suction port by the rotation of the agitator (232), thereby increasing the efficiency of suctioning dust.

[0149] A pair of wheel holes can be formed in the lower body (211), can be formed symmetrically on the left and right, and can each accommodate a driving wheel (221) therein.

[0150] Although not shown, it is also possible to further equip the lower body (211) with side brushes. The side brushes can rotate to collect dust existing on the left and right sides of the driving direction of the second robot cleaner (2) and guide it to the suction port.

[0151] Additionally, at least one auxiliary wheel (211a) may be provided on the bottom surface of the lower body (211). For example, one auxiliary wheel (211c) may be provided at the front and one at the rear of the bottom surface of the lower body (211). With this configuration, the auxiliary wheel (211c) can guide the movement of the second robot cleaner (2) while minimizing friction between the second robot cleaner (2) and the floor.

[0152] The upper body (212) may form the upper exterior of the second robot cleaner (2). Although not shown, the upper body (212) may be equipped with a display.

[0153] The second robot cleaner (2) of the present invention may include a bumper (213). The bumper (213) is coupled along the edge of the body (210) and is configured to move relative to the body (210). For example, the bumper (213) may be coupled to the body (210) so as to be able to move back and forth in a direction approaching the center of the body (210).

[0154] The bumper (213) may be coupled along a portion of the edge of the body (210), or may be coupled along the entire edge of the body (210). At least one elastic member (not shown) may be provided between the bumper (213) and the body (210). With this configuration, when the bumper (213) comes into contact with an obstacle or the like and moves relatively toward the center of the body (210), the bumper (213) 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 (213) to prevent and reduce the shock from being transmitted to the body (210).

[0155] The driving part (220) is provided in the body (210) and can drive on the floor surface.

[0156] The driving unit (220) may include a driving wheel (221) and an actuator (222). At this time, the driving wheel (221) may be accommodated in a wheel hole formed in the lower body (211) and may be coupled with the actuator (222). At this time, the actuator (222) may be coupled to the body (210).

[0157] The driving wheel (221) is provided on the body (210) and can roll on the floor surface.

[0158] The driving wheel (221) may be composed of a first driving wheel (221a) and a second driving wheel (221b). At this time, the first driving wheel (221a) may be formed identically to the second driving wheel (221b), or may be formed symmetrically. For example, if the first driving wheel (221a) is positioned on the left side of the second robot cleaner (2), the second driving wheel (221b) may be positioned on the right side of the second robot cleaner (2), and at this time, the first driving wheel (221a) and the second driving wheel (221b) may be symmetrical to each other.

[0159] The actuator (222) may include a first driving motor (222a), a second driving motor (222b), and a gear. At this time, the first driving motor (222a) and the second driving motor (222b) are housed inside the body (210) and can provide power to the first driving wheel (221a) and the second driving wheel (221b), respectively.

[0160] At this time, the first driving motor (222a) and the second driving motor (222b) may be formed of electric motors. At least one gear is provided and can rotate by interlocking with each other. The gear connects the driving motors (222a, 222b) and the driving wheels (221a, 221b), and transmits the rotational power of the driving motors (222a, 222b) to the driving wheels (221a, 221b).

[0161] With this configuration, when the first driving motor (222a) and the second driving motor (222b) are operated, the first driving wheel (221a) and the second driving wheel (221b) rotate, and the body (210) can drive at a predetermined driving speed on the floor surface.

[0162]

[0163] The cleaner (230) can capture dust by sucking dust and air from the floor surface.

[0164] The cleaner (230) may include a suction nozzle (231), an agitator (232), a suction motor (233), and a dust bin (not shown).

[0165] The suction nozzle (231) can guide dust and air flowing into the suction port into a dust bin (not shown). For example, the suction nozzle (231) can be formed in a tube shape to connect the suction port and the dust bin (not shown). That is, the suction nozzle (231) can connect the suction port and the internal space of the dust bin (not shown).

[0166] The agitator (232) is equipped with a plurality of rotatable brushes to guide external dust and air into the dust bin. At this time, the agitator (232) may be equipped with at least one gear.

[0167] Meanwhile, the agitator (232) according to the present embodiment may receive rotational power from a separate agitator motor installed, and may also receive rotational power from a driving motor (222a, 222b) according to the embodiment, and may also receive rotational power from a suction motor (233).

[0168] A dust bin (not shown) can store dust that is introduced through a suction nozzle (231). The dust bin can be formed with a dust inlet that is connected to the suction nozzle (231), a space that can store dust, and an air outlet through which air can be discharged.

[0169] The suction motor (233) can generate suction power capable of sucking in external dust and air. For example, the suction motor (233) can be an electric motor.

[0170] Meanwhile, although not shown, the dustbin of the present embodiment may be equipped with at least one filter. The filter can separate fine dust contained in the air and prevent the fine dust from being released back into the air.

[0171]

[0172] Meanwhile, FIG. 5 discloses a drawing for explaining control of a robot vacuum cleaner according to one embodiment of the present invention.

[0173] Referring to Fig. 5, the sensor unit (240) can detect obstacles in the cleaning area of ​​the second robot cleaner (2).

[0174] The sensor unit (240) may include a first sensor (241), a second sensor (242), and a third sensor (243).

[0175] The first sensor (241) may be coupled to the body (210) and configured to detect movement (relative movement) of the bumper (213) relative to the body (210). This first sensor (410) may be configured using a microswitch, a photo interrupter, a tact switch, or the like.

[0176] The second sensor (242) may be coupled to the body (210) and configured to detect a relative distance from an obstacle. The second sensor (242) may be configured as a distance sensor.

[0177] The third sensor (243) can be coupled to the body (210) and configured to detect a relative distance from the floor surface.

[0178] If the relative distance from the floor surface (which may be a vertical distance from the floor surface or a sloped distance from the floor surface) detected by the third sensor (243) exceeds a predetermined value or a predetermined range, it may be the case that the floor surface is lowered, and accordingly, the third sensor (243) can detect a cliff.

[0179] The third sensor (243) may be formed as a light sensor and may include a light emitting portion that irradiates light and a light receiving portion into which reflected light is incident. The third sensor (243) may be formed as an infrared sensor.

[0180] The third sensor (243) may be referred to as a cliff sensor.

[0181] Meanwhile, the second robot cleaner (2) according to the embodiment of the present invention may further include a displacement sensor (244).

[0182] The displacement sensor (244) is placed on the bottom (back) of the body (210) and can measure the distance moved along the bottom surface.

[0183] For example, the displacement sensor (244) may use an optical flow sensor (OFS) that acquires image information of the floor surface using light. Here, the optical flow sensor (OFS) is configured to include an image sensor that captures an image of the floor surface to acquire image information of the floor surface, and one or more light sources that control the amount of light.

[0184] With this configuration, the displacement sensor can detect the relative position of a given point and the second robot cleaner (2) regardless of slipping. That is, by observing the downward direction of the second robot cleaner (2) using the optical flow sensor, position correction due to slipping is possible.

[0185] Meanwhile, the second robot cleaner (2) according to the embodiment of the present invention may further include an angle sensor (245).

[0186] The angle sensor (245) is placed inside the body (210) and can measure the movement angle of the body (210).

[0187] For example, the angle sensor may use a gyro sensor that measures the rotational speed of the body (100). The gyro sensor may detect the direction of the second robot cleaner (2) using the rotational speed.

[0188] With this configuration, the angle sensor can detect the angle with respect to the direction in which the second robot cleaner (2) is moving.

[0189] In the second robot vacuum cleaner (2) according to the embodiment of the present invention, the battery (250) can be accommodated in an internal space formed by combining the lower body (211) and the upper body (212).

[0190] The battery (250) is coupled to the body (210) to supply power to other components forming the second robot cleaner (2). The battery (250) can supply power to the first driving motor (222a) and the second driving motor (222b).

[0191] Additionally, the battery (250) can supply power to the suction motor (233), sensor unit (240), and control unit (260).

[0192] In an embodiment of the present invention, the battery (250) can be charged by an external power source, and for this purpose, a charging terminal for charging the battery (250) may be provided on one side of the body (210) or on the battery (250) itself.

[0193] The control unit (260) may be configured to control the operation of the first driving motor (222a) and the second driving motor (222b) according to preset information or real-time information. In order to control the control unit (260), the second robot cleaner (2) may be equipped with a storage medium in which an application program is stored, and the control unit (260) may be configured to control the second robot cleaner (2) by driving the application program according to information input to the second robot cleaner (2), information output from the second robot cleaner (2), etc.

[0194] The control unit (260) can control the driving direction of the second robot cleaner (2). That is, the control unit (260) can control the rotation direction and rotation speed of the first driving motor (222a) and the second driving motor (222b), thereby controlling the rotation direction and rotation speed of the driving wheel (221).

[0195] At this time, the control unit (260) can control the second robot cleaner (2) to drive straight or back and forth in a straight line, and can control the second robot cleaner (2) to drive according to a preset driving pattern.

[0196] The control unit (260) can control the second robot cleaner (2) to perform an evasive maneuver when the bumper (213) of the second robot cleaner (2) comes into contact with an obstacle, and can control the operation of the first driving motor (222a) and the second driving motor (222b) according to information from the first sensor (241).

[0197] The control unit (260) can control the operation of the first driving motor (222a) and the second driving motor (222b) to change the driving direction of the second robot cleaner (2) or move the second robot cleaner (2) away from the obstacle when the distance between the second robot cleaner (2) and the obstacle is less than a predetermined value based on information from the second sensor (242).

[0198] Additionally, the control unit (260) can control the operation of the first driving motor (222a) and the second driving motor (222b) so that the second robot cleaner (2) stops or changes its driving direction according to the distance detected by the third sensor (243).

[0199] The control unit (260) can control the cleaning unit (230). Specifically, the control unit (260) can control the output of the suction motor (233). That is, the control unit (260) can control the rotation speed of the suction motor (233). In addition, the control unit (260) can also control the rotation speed of the agitator (232).

[0200] Additionally, the control unit (260) can control the output of the suction motor (233) according to the amount of dust on the floor surface.

[0201] The communication unit (270) may be placed inside the body (210) and may include at least one module that enables wireless communication between the second robot cleaner (2) and a wireless communication system, or between the second robot cleaner (2) and a preset peripheral device, or between the second robot cleaner (2) and a preset external server.

[0202] For example, the at least one module may include at least one of an IR (Infrared) module for infrared communication, an ultrasonic module for ultrasonic communication, or a short-range communication module such as a WiFi module or a Bluetooth module. Alternatively, the module may be configured to transmit and receive data with a preset device via various wireless technologies such as WLAN (Wireless LAN) and Wi-Fi (Wireless-Fidelity), including a wireless Internet module.

[0203] Meanwhile, the display unit (280) displays information to be provided to the user. For example, the display unit (280) may include a display that displays a screen. In this case, the display may be exposed on the upper surface of the body (210).

[0204] Additionally, the display unit (280) may include a speaker that outputs sound. For example, the speaker may be built into the interior of the body (210).

[0205] Additionally, the display unit (280) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0206] The memory (290) may be arranged inside the body (210) and may include various data for driving and operating the second robot cleaner (2). The memory (290) may include an application program for autonomous driving of the second robot cleaner (2) and various related data. In addition, each data sensed by various sensors may be stored, and setting information for various settings (values) selected or input by the user (e.g., cleaning reservation time, cleaning mode, water supply amount, LED brightness level, notification sound volume, etc.) may be stored.

[0207] Meanwhile, the memory (290) may include information about the surface to be cleaned currently provided to the second robot cleaner (2). For example, the information about the surface to be cleaned may be map information mapped by the second robot cleaner (2) itself. Alternatively, the information about the surface to be cleaned may be map information mapped by the first robot cleaner (1). In addition, the map information, i.e., the map, may include various pieces of information set by the user for each area constituting the surface to be cleaned.

[0208] In addition, information regarding driving patterns can be stored in the memory (290). For example, a driving pattern set by a user input can be stored in the memory (290). In addition, various types of driving patterns that repeatedly travel back and forth in a predetermined area can be stored in the memory (290).

[0209]

[0210] Figure 6 is an internal block diagram of a terminal (5) according to one embodiment of the present invention.

[0211] The terminal (5) is communicatively connected to a robot cleaner (1, 2) including a first robot cleaner (1) and a second robot cleaner (2) (hereinafter, when the first robot cleaner (1) or the second robot cleaner (2) is not distinguished, it may be referred to as a robot cleaner (1, 2)), and can receive data from the robot cleaner (1, 2) and transmit cleaning commands and data to the robot cleaner (1, 2).

[0212] 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, 2), and a control unit (580) that controls the screen of an application for controlling the robot cleaner (1, 2) to be displayed on a display unit (551) according to an input from a user executing the application.

[0213] 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).

[0214] An application for controlling a robot cleaner (1, 2) may include a control screen that can receive user input related to a control signal for controlling the robot cleaner (1, 2).

[0215] Meanwhile, the wireless communication unit (510) can receive location information, status information, etc. directly from the robot cleaner (1, 2), or can receive location information, status information, etc. of the robot cleaner (1, 2) through the server.

[0216] 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).

[0217] 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.

[0218] Broadcast signals and / or broadcast-related information received through the broadcast reception module (511) can be stored in the memory (560).

[0219] 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.

[0220] 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 mounted on a terminal (5) that controls the robot cleaner (1, 2). For example, the wireless Internet module (515) can perform wireless communication based on WiFi or wireless communication based on WiFi Direct.

[0221] 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.

[0222] This short-range communication module (517) can support wireless communication between a terminal (5) controlling a robot cleaner (1, 2) 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).

[0223] The GPS (Global Position System) module (519) can receive location information from multiple GPS satellites.

[0224] Meanwhile, the wireless communication unit (510) can exchange data with the server using one or more communication modules.

[0225] 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.

[0226] 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).

[0227] 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.

[0228] 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).

[0229] 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.

[0230] The output unit (550) may include a display unit (551), an audio output module (553), an alarm unit (555), and a haptic module (557).

[0231] 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.

[0232] At this time, a screen for receiving input from the user of setting values ​​related to control signals for controlling the robot cleaner (1, 2) 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.

[0233] 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.

[0234] 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.

[0235] 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.

[0236] 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.

[0237] 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.).

[0238] 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, 2)).

[0239] 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).

[0240] In addition, the control unit (580) can display a control screen for controlling the robot cleaner (1, 2) 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, 2) to the robot cleaner (1, 2) based on the user input entered through the display unit (551).

[0241] The power supply unit (590) receives external power and internal power under the control of the control unit (580) and supplies power necessary for the operation of each component.

[0242] Meanwhile, the block diagram of the terminal (5) illustrated in Fig. 6 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.

[0243] 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.

[0244]

[0245] FIG. 7 is a flowchart for a control method of a robot cleaner according to an embodiment of the present invention, FIG. 8 is a diagram showing a map to explain a situation in which the required battery capacity varies depending on the area of ​​a cleaning area in a robot cleaner system according to an embodiment of the present invention, and FIG. 9 is a diagram showing a map to explain a situation in which the required battery capacity varies depending on whether an obstacle is placed on a cleaning area in a robot cleaner system according to an embodiment of the present invention.

[0246] Referring to FIGS. 7 to 9, a robot vacuum cleaner system according to an embodiment of the present invention is described as follows.

[0247] A robot cleaner system according to an embodiment of the present invention may include a robot cleaner (1, 2) and a charging station (not shown).

[0248] A battery (135, 250) (hereinafter, when the battery (135) of the first robot cleaner (1) or the battery (250) of the second robot cleaner (2) is not distinguished, it may be referred to as a battery (135, 250)) may be accommodated inside the robot cleaner (1, 2). The robot cleaner (1, 2) may move around the cleaning area and clean the floor surface according to a cleaning command input from the terminal (5).

[0249] The charging station can charge the battery (135, 250). Specifically, when the robot vacuum cleaner (1, 2) is docked to the charging station and electrically connected, the battery (135, 250) can be charged by the charging station.

[0250] As a premise of the present invention, the robot cleaner (1) may include information regarding the cleaning area. That is, a map of the cleaning area may be stored in the memory (180) of the robot cleaner (1). For example, the information regarding the cleaning area may be map information mapped by the robot cleaner (1) itself.

[0251] 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 around 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 in a state where there is no map.

[0252] 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.

[0253] The battery (135, 250) can be charged to a preset capacity based on information about the cleaning area.

[0254] For example, information about a cleaning area may be information about the area of ​​the cleaning area. That is, as the area of ​​the cleaning area increases, the capacity of the battery (135, 250) required for the robot cleaner (1, 2) to clean the cleaning area also increases. Accordingly, the capacity of the battery (135, 250) required for the robot cleaner (1, 2) to clean the cleaning area varies depending on the area of ​​the cleaning area.

[0255] Specifically, referring to FIG. 8, area A1 may be the first bedroom, area A2 may be the dressing room, area A3 may be the second bedroom, area A4 may be the first living room area, area A5 may be the second living room area, area A6 may be the third living room area, area A7 may be the kitchen and dining room, and area A9 may be the third bedroom. Here, since the area of ​​each cleaning area is different, as the area increases, the capacity of the battery (135, 250) required for the robot cleaner (1, 2) to clean the cleaning area may vary.

[0256] As another example, information about the cleaning area may be information about whether or not an obstacle is placed in the cleaning area. That is, if an obstacle is placed in the cleaning area, the robot cleaner (1, 2) must avoid the obstacle while driving, and thus the capacity of the battery (135, 250) for cleaning the cleaning area increases. Accordingly, the capacity of the battery (135, 250) required for the robot cleaner (1, 2) to clean the cleaning area varies depending on whether or not an obstacle is placed in the cleaning area.

[0257] Specifically, referring to FIG. 9, area A1 may be the first bedroom, area A2 may be the dressing room, area A3 may be the second bedroom, area A4 may be the first area of ​​the living room where an obstacle is placed, area A5 may be the second area of ​​the living room, area A6 may be the third area of ​​the living room, area A7 may be the kitchen and dining room, and area A9 may be the third bedroom. Here, since the placement of obstacles in each cleaning area is different, when an obstacle is placed in a specific cleaning area (area A4 in FIG. 9), the capacity of the battery (135, 250) for the robot cleaner (1, 2) to clean the specific cleaning area increases.

[0258] Meanwhile, the preset charging capacity of the battery (135, 250) may be less than the maximum charging capacity of the battery (135, 250). For example, the preset charging capacity of the battery (135, 250) may be 85% of the maximum charging capacity of the battery (135, 250). In another example, the preset charging capacity of the battery (135, 250) may be 70% of the maximum charging capacity of the battery (135, 250).

[0259] The robot vacuum cleaner system according to an embodiment of the present invention has the advantage of being able to extend the life of the battery (135, 250) by charging the battery (135, 250) by a capacity smaller than the maximum charge capacity based on information about the cleaning area.

[0260] Based on information about the cleaning area, the required capacity of the preset battery (135, 250) is compared with the remaining capacity of the battery (135, 250), and if the required capacity of the battery (135, 250) for the robot cleaner (1, 2) to clean the cleaning area is greater than the remaining capacity of the battery (135, 250), the robot cleaner (1, 2) can drive in the cleaning area and clean the floor surface (B).

[0261] At this time, if the required capacity of the battery (135, 250) for cleaning the cleaning area of ​​the robot cleaner (1, 2) is greater than the remaining capacity of the battery (135, 250), the terminal (5) can notify the user that the discharge of the battery (135, 250) is expected.

[0262] In addition, based on information about the cleaning area, the required capacity of the preset battery (135, 250) is compared with the remaining capacity of the battery (135, 250), and if the required capacity of the battery (135, 250) for the robot cleaner (1, 2) to clean the cleaning area is greater than the remaining capacity of the battery (135, 250), the robot cleaner (1, 2) can be docked to the charging station so that the battery (135, 250) can be charged.

[0263] At this time, if the required capacity of the battery (135, 250) for cleaning the cleaning area of ​​the robot cleaner (1, 2) is greater than the remaining capacity of the battery (135, 250), the terminal (5) can notify the user that the discharge of the battery (135, 250) is expected.

[0264] A control method of a robot vacuum cleaner system according to an embodiment of the present invention may include a cleaning start input step (S10), a low battery notification step (S20), and a cleaning mode selection step (S30).

[0265] In the cleaning start input step (S10), the user can input a command to start cleaning to the robot cleaner (1, 2) through the terminal (5).

[0266] In the low battery notification step (S20), the robot vacuum cleaner (1, 2) can notify the user through the terminal (5) that the battery (135, 250) has insufficient capacity to clean the entire cleaning area.

[0267] In the cleaning mode selection step (S30), a user who has been notified that the battery (135, 250) is low in capacity can select either the first cleaning step (S41) or the charging station return step (S42).

[0268] When the user selects the first cleaning stage (S41) in the cleaning mode selection stage (S30), the robot cleaner (1, 2) can drive around the cleaning area and clean while leaving enough battery (135, 250) capacity to return to the charging station (not shown).

[0269] In the charging station return step (S51), the robot cleaner (1, 2) whose battery (135, 250) has enough capacity to return to the charging station is docked to the charging station after returning to the charging station so that the battery (135, 250) can be charged.

[0270] In the second cleaning stage (S61), the robot cleaner (1, 2) with the battery (135, 250) charged can move around the cleaning area again and clean.

[0271] If the user selects the return to charging station step (S42) in the cleaning mode selection step (S30), the robot cleaner (1, 2) immediately returns to the charging station and is then docked to the charging station so that the battery (135, 250) can be charged.

[0272] In the cleaning stage (S52), the robot cleaner (1, 2) with the battery (135, 250) charged can move around the cleaning area again and clean.

[0273] 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.

[0274] 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. A robot vacuum cleaner that houses a battery inside and moves around the cleaning area and cleans the floor according to the cleaning command input from the terminal; and including a charging station for charging the above battery; A robot vacuum cleaner system characterized in that the battery is charged to a preset capacity based on information about the cleaning area.

2. In paragraph 1, A robot vacuum cleaner system, wherein the preset capacity is smaller than the maximum charge capacity of the battery.

3. In paragraph 1, A robot vacuum cleaner system characterized in that the information about the cleaning area is information about the area of ​​the cleaning area.

4. In paragraph 1, A robot vacuum cleaner system characterized in that the information about the cleaning area is information about whether an obstacle is placed on the cleaning area.

5. In paragraph 1, A robot cleaner system characterized in that, based on information about the cleaning area, the preset required capacity of the battery is compared with the remaining capacity of the battery, and if the required capacity is greater than the remaining capacity, the robot cleaner drives through the cleaning area and cleans the floor.

6. In paragraph 5, A robot vacuum cleaner system characterized in that when the required capacity is greater than the remaining capacity, the terminal notifies the user that the battery is expected to discharge.

7. In paragraph 1, A robot cleaner system characterized in that the robot cleaner is docked to the charging station and the battery is charged by comparing the preset required capacity of the battery with the remaining capacity of the battery based on information about the cleaning area, and if the required capacity is greater than the remaining capacity.

8. In paragraph 7, A robot vacuum cleaner system characterized in that when the required capacity is greater than the remaining capacity, the terminal notifies the user that the battery is expected to discharge.

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