U.S. patent application number 16/947058 was filed with the patent office on 2020-11-05 for cleaning robot and method for controlling cleaning robot.
The applicant listed for this patent is Samsung Electronics Co., Ltd.. Invention is credited to Seong Joo HAN.
Application Number | 20200348666 16/947058 |
Document ID | / |
Family ID | 1000004958075 |
Filed Date | 2020-11-05 |
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United States Patent
Application |
20200348666 |
Kind Code |
A1 |
HAN; Seong Joo |
November 5, 2020 |
CLEANING ROBOT AND METHOD FOR CONTROLLING CLEANING ROBOT
Abstract
A cleaning robot includes a user interface to display a map
image including one or more divided regions, and the user interface
displays an icon corresponding to a state value of a main device on
the map image.
Inventors: |
HAN; Seong Joo; (Yongin-si,
KR) |
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Applicant: |
Name |
City |
State |
Country |
Type |
Samsung Electronics Co., Ltd. |
Suwon-si |
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KR |
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Family ID: |
1000004958075 |
Appl. No.: |
16/947058 |
Filed: |
July 16, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16061262 |
Jun 11, 2018 |
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PCT/KR2016/015379 |
Dec 28, 2016 |
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16947058 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A47L 9/2842 20130101;
A47L 9/2857 20130101; G05D 1/0044 20130101; G05D 2201/0215
20130101; A47L 2201/04 20130101; A47L 9/2894 20130101; A47L 9/2847
20130101; A47L 9/2889 20130101; A47L 9/009 20130101; A47L 11/4011
20130101; A47L 2201/06 20130101; A47L 9/2852 20130101; A47L 2201/00
20130101; A47L 9/2805 20130101; A47L 9/2826 20130101 |
International
Class: |
G05D 1/00 20060101
G05D001/00; A47L 9/28 20060101 A47L009/28; A47L 9/00 20060101
A47L009/00; A47L 11/40 20060101 A47L011/40 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 28, 2015 |
KR |
10-2015-0187427 |
Mar 4, 2016 |
KR |
10-2016-0026295 |
Claims
1. A cleaning robot comprising: a body; a wheel assembly configured
to move the body; a brush unit configured to perform cleaning on a
bottom surface of a moving path; a communicator configured to
communicate with a remote device; and a controller configured to:
determine a virtual region based on a user input received through
the remote device, and control the wheel assembly and the brush
unit to clean a region excluding the virtual region among a
cleanable region.
2. The cleaning robot of claim 1, wherein the controller is
configured to determine a region among the cleanable region
corresponding to a region selected by a user from a map image of
the cleanable region as the virtual region.
3. The cleaning robot of claim 2, wherein the user input is
received by drag and drop in the map image.
4. The cleaning robot of claim 2, wherein the controller is
configured to control the wheel assembly to limit entry into the
virtual region.
5. The cleaning robot of claim 2, wherein the controller is
configured to control the wheel assembly to autonomously travel in
the region other than the virtual region among the cleanable
region.
6. The cleaning robot of claim 2, wherein the virtual region
comprises a space in a virtual wall forming a closed loop.
7. The cleaning robot of claim 2, wherein the controller is further
configured to: divide the cleanable region into at least one
divided region based on a structure of the cleanable region,
generate the map image comprising the at least one divided region,
and control the communicator to transmit the map image to the
remote device.
8. The cleaning robot of claim 2, wherein the controller is further
configured to determine at least one virtual wall that restricts
passage in the cleanable region based on a user input received
through the remote device.
9. The cleaning robot of claim 8, wherein the controller is further
configured to control the wheel assembly and the brush unit to
clean a region of the cleanable region before passing through the
at least one virtual wall.
10. The cleaning robot of claim 8, wherein the at least one virtual
wall is formed in a straight line or a curve line in the cleanable
region.
11. A remote device comprising: a communicator configured to
communicate with a cleaning robot; a user interface configured to:
display a map image of a cleanable region, and receive input from a
user; and a controller configured to control the communicator to
transmit information about a virtual region to the cleaning robot
in response to receiving the input for the virtual region
restricting cleaning of the cleaning robot in the map image.
12. The remote device of claim 11, wherein the controller is
further configured to determine the virtual region based on drag
and drop in the map image.
13. The remote device of claim 11, wherein the virtual region is
formed as a closed loop in the cleanable region.
14. The remote device of claim 11, wherein the controller is
further configured to transmit information about at least one
virtual wall to the cleaning robot in response to receiving input
for the at least one virtual wall that restricts passage of the
cleaning robot in the map image.
15. The remote device of claim 14, wherein the at least one virtual
wall is formed in a straight line or a curve line in the cleanable
region.
16. The remote device of claim 11, wherein the controller is
further configured to control the user interface to display the map
image as at least one divided area in which the cleanable region is
divided based on a structure of the cleanable region.
17. A cleaning robot control system comprising: a cleaning robot;
and a remote device configured to receive input from a user and
communicate with the cleaning robot, wherein the cleaning robot is
configured to: determine a virtual region based on input received
through the remote device, and clean a region excluding the virtual
region among a cleanable region.
18. The cleaning robot control system of claim 17, wherein the
remote device is configured to receive the input for the virtual
region based on drag and drop in a map image for the cleanable
region.
19. The cleaning robot control system of claim 17, wherein the
cleaning robot is configured to restrict entry into the virtual
region.
20. The cleaning robot control system of claim 17, wherein the
cleaning robot is further configured to: determine at least one
virtual wall that restricts passage in the cleanable region based
on input received through the remote device, and control a wheel
assembly and a brush unit to clean a region of the cleanable region
before passing through the at least one virtual wall.
21. A cleaning robot comprising: a body; a wheel assembly
configured to move the body; a brush unit configured to perform
cleaning on a bottom surface of a moving path; a communicator
configured to communicate with a remote device; and a controller
configured to: generate a map corresponding to a cleanable area;
transmit, via the communicator, the map to the remote device;
receiving, from the remote device, a user input on the map
corresponding to the cleanable area; based on the user input
received via the remote device, identify a virtual region in the
map to be excluded during cleaning; and after the virtual region in
the map is identified, control the wheel assembly and the brush
unit to perform cleaning with respect to a first portion of the
cleanable area without cleaning with respect to a second portion of
the cleanable area corresponding to the virtual region of the
map.
22. The cleaning robot of claim 21, wherein the remote device is
configured to provide a user interface for displaying the map
corresponding to the cleanable area generated by the cleaning robot
and for receiving a user input to drag and drop the virtual region
over an area of the displayed map to be excluded during cleaning.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
16/061,262, which is the 371 National Stage of International
Application No. PCT/KR2016/015379, filed Dec. 28, 2016, which
claims priority to Korean Patent Application No. 10-2015-0187427,
filed Dec. 28, 2015 and Korean Patent Application No.
10-2016-0026295, filed Mar. 4, 2016, the disclosures of which are
herein incorporated by reference in their entirety.
BACKGROUND
1. Field
[0002] The present disclosure relates to a cleaning robot and a
method of controlling the same.
2. Description of Related Art
[0003] A cleaning robot is an apparatus that automatically cleans a
space to be cleaned by suctioning foreign substances such as dust
accumulated on a floor while traveling the space to be cleaned
without a user's manipulation. That is, the cleaning robot cleans
the space to be cleaned while traveling the space to be
cleaned.
[0004] Conventionally, a cleaning robot performs a traveling
function and a cleaning function in a region to be cleaned in
accordance with the user command. However, since the cleaning robot
directly moves or performs cleaning from merely receiving the user
command, it is not possible for the user to check a state of the
cleaning robot.
[0005] Conventionally, in a case in which a user wishes a specific
position within a space to be cleaned to be cleaned first, the user
has to directly check a position of a cleaning robot and move the
cleaning robot to the specific position using a remote
controller.
SUMMARY
[0006] It is an aspect of the present disclosure to provide a
cleaning robot capable of intuitively displaying a state of a
cleaning robot and changes in the state thereof, and a method of
controlling the cleaning robot.
[0007] It is another aspect of the present disclosure to provide a
cleaning robot capable of providing a user interface (UI)
corresponding to a user command, and a method of controlling the
cleaning robot.
[0008] It is still another aspect of the present disclosure to
provide a cleaning robot capable of, in a divided region of an
actual space to be cleaned that corresponds to a divided region of
a virtual space to be cleaned that is selected by a user,
completely cleaning an empty space within the divided region even
when variations occur in the arrangement of obstacles within the
divided region, and a method of controlling the cleaning robot.
[0009] In accordance with one aspect of the present disclosure, a
cleaning robot includes a user interface to display a map image
including one or more divided regions, and the user interface
displays an icon corresponding to a state value of a main device on
the map image.
[0010] The state value may include any one of a first state value
which indicates that the main device is performing cleaning, a
second state value which indicates that the main device has
completed cleaning, and a third state value which indicates that an
error has occurred.
[0011] The cleaning robot may further include a controller to
control the main device to travel or perform cleaning, and the user
interface may receive a user command; and the controller may
control the main device on the basis of the user command.
[0012] The user interface may receive a command to designate at
least one divided region, and may change an outline display
attribute of the at least one designated divided region.
[0013] In a case in which the user interface may receive the
command to designate at least one divided region, the user
interface may change an outline color or an outline thickness of
the at least one designated divided region.
[0014] In a case in which the main device is traveling, the user
interface displays a translucent layer over the map image.
[0015] In a case in which the main device is traveling, the user
interface may display an animation which indicates that the main
device is traveling.
[0016] The user interface may further display a message
corresponding to the state value of the main device.
[0017] The user interface may receive a command to designate at
least one divided region and may change a name display attribute of
the at least one designated divided region.
[0018] The cleaning robot may further include a controller to set a
target point within the divided region, set a virtual wall on the
map image, and control the main device to perform cleaning from the
target point.
[0019] The cleaning robot may further include a storage unit to
store the map image, and a controller to set a target point within
the divided region, set a virtual wall on the map image, and
control the main device to perform cleaning from the target
point.
[0020] The storage unit may include information on a region
dividing point corresponding to each divided region, and the
controller may set the virtual wall at the region dividing
point.
[0021] The cleaning robot may further include a driving wheel
driver to control driving of a wheel and a main brush driver to
control driving of a main brush unit, and the controller may
control the driving wheel driver to allow the main device to move
to the target point, and control the main brush driver to perform
cleaning from the target point.
[0022] The cleaning robot may further include a main device sensor
unit, and the main device sensor unit may match a position of the
main device with the map image based on position information
generated by the main device sensor unit.
[0023] The user interface may receive a selection of the divided
region from a user; and the controller may set the target point
within the divided region selected by the user.
[0024] The controller may set at least one of a central point of a
divided region, a point farthest from surrounding obstacles within
the divided region, and another point that is present within the
divided region selected by the user from the map image and the
closest to the current position of the main device as the target
point.
[0025] The controller may set a virtual region on the map
image.
[0026] The user interface may receive a command to designate a
virtual region form the user.
[0027] The controller may control the main device to perform
cleaning within the virtual region.
[0028] The controller may control the main device to perform
cleaning outside the virtual region.
[0029] The user interface may receive a selection about whether the
main device perform cleaning within the virtual region or the
outside the virtual region from the user.
[0030] The virtual area may include a space in a virtual wall
forming a closed loop.
[0031] The controller may set a movement path from the current
position of the main device to the target point, and move the main
device along the movement path.
[0032] The controller may set the virtual wall when the main device
is located at the target point.
[0033] The controller may control the main device to perform
autonomous traveling from the target point, and restrict entry of
the main device into the virtual wall.
[0034] The controller may set a cleaning order for at least one of
the divided regions, and move, when the main device completes
cleaning for one of the divided areas, the main device to a next
divided area
[0035] When the main device completes cleaning for the one of the
divided areas, the controller may remove the virtual wall and move
the main device to the next divided area.
[0036] The controller may set the target point of the next divided
area and move the main device to the target point of the next
divided area.
[0037] In accordance with another aspect of the present disclosure,
a method of controlling a cleaning robot includes displaying a map
image including one or more divided regions; and displaying an icon
corresponding to a state value of a main device on the map
image.
[0038] The method may further include setting a target point within
the divided region; setting a virtual wall on the map image; and
performing cleaning from the target point.
[0039] According to the above-described cleaning robot and method
of controlling the cleaning robot, since a user can intuitively
recognize a state of the cleaning robot or changes in the state
thereof from a map image, an error in the user's recognition of the
state of the cleaning robot can be reduced.
[0040] Further, according to the above-described cleaning robot and
method of controlling the cleaning robot, by a user recognizing a
state of the cleaning robot from a map image, the user can control
the cleaning robot in various ways through a user interface (UI) on
the basis of state information of the cleaning robot.
[0041] Further, according to the above-described cleaning robot and
method of controlling the cleaning robot, by a virtual wall being
set around a divided region selected from a map image, a main
device can be blocked from entering a space outside the virtual
wall.
[0042] Further, according to the above-described cleaning robot and
method of controlling the cleaning robot, by a target point of a
main device being set within a divided region selected from a map
image and cleaning being started after the main device is first
moved to the set target point, a user can complete cleaning in an
actual region intended by the user even in a case in which the
divided region displayed on the map image does not exactly
correspond to the actual area.
BRIEF DESCRIPTION OF THE DRAWINGS
[0043] FIG. 1 is an exterior view of a cleaning robot.
[0044] FIG. 2A is a bottom view of a main device according to one
embodiment, and FIG. 2B is an interior view of the main device
according to one embodiment.
[0045] FIG. 3 is a block diagram of a control configuration of the
cleaning robot.
[0046] FIG. 4A is a control block diagram of a communication unit
according to one embodiment.
[0047] FIG. 4B is a control block diagram of a communication unit
according to another embodiment.
[0048] FIG. 5 is an exemplary view of a home screen of a remote
device UI.
[0049] FIG. 6 is an exemplary view of a menu selection screen of
the remote device UI.
[0050] FIG. 7 is an exemplary view of a map image displayed by the
remote device UI of the cleaning robot according to one
embodiment.
[0051] FIG. 8 is an exemplary view of a map image displayed by the
remote device UI of the cleaning robot according to another
embodiment.
[0052] FIGS. 9 to 16 are conceptual diagrams for describing
processes in which the user commands cleaning operations of the
cleaning robot on the basis of a map image displayed by the remote
device UI of the cleaning robot and screens output by the remote
device UI in accordance with user commands or states of the main
device according to one embodiment.
[0053] FIGS. 17 and 18 are conceptual views of screens of a UI
according to another embodiment.
[0054] FIG. 19 is a conceptual diagram of a screen through which
commands for specifying and designating a plurality of divided
regions and a cleaning order of the plurality of divided regions
are received.
[0055] FIG. 20 is a detailed control block diagram of the main
device according to one embodiment.
[0056] FIG. 21 is a control block diagram of a virtual wall setter,
a virtual region setter.
[0057] FIGS. 22 and 23 are exemplary views for describing a method
of setting a movement path of a main device set by a movement path
generator and a target point of the main device.
[0058] FIG. 24 is an exemplary view of a virtual wall set by a
virtual wall setter.
[0059] FIG. 25 is a view for describing a process in which a main
device performs cleaning in a divided region of an actual space to
be cleaned in a case in which the virtual wall is set.
[0060] FIGS. 26 and 27 are exemplary views of a virtual region set
by a virtual region setter automatically or manually.
[0061] FIG. 28 is an exemplary view of a plurality of virtual walls
set in accordance with a user command.
[0062] FIG. 29 is a flowchart of a method of controlling the
cleaning robot according to one embodiment.
[0063] FIG. 30 is a flowchart of a method of controlling the
cleaning robot according to another embodiment.
DETAILED DESCRIPTION
[0064] Hereinafter, the present disclosure will be described in
detail using embodiments, which will be described with reference to
the accompanying drawings, for those of ordinary skill in the art
to easily understand and practice the disclosure. However, in
describing the present disclosure, when it is judged that detailed
descriptions on a known function or configuration related to the
disclosure might unnecessarily blur the gist of the embodiments of
the disclosure, the detailed descriptions thereof will be
omitted.
[0065] The terms used below are terms selected in consideration of
functions in the embodiments, and meanings of the terms may vary in
accordance with an intention, practice, or the like of a user or an
operator. Thus, in a case in which the terms used in the
embodiments, which will be described below, are specifically
defined below, the terms should be interpreted as having the
specifically-defined meanings, and in a case in which the terms are
not specifically defined below, the terms should be interpreted as
having meanings generally understood by those of ordinary skill in
the art.
[0066] Further, even when configurations of aspects or embodiments
selectively described below are illustrated as a single integrated
configuration in the drawings, it should be understood that the
configurations may be freely combined with each other when it is
not clear to those of ordinary skill in the art that such
combinations are technically contradictory, unless described
otherwise.
[0067] Hereinafter, embodiments of a cleaning robot and a method of
controlling the cleaning robot will be described with reference to
the accompanying drawings.
[0068] Hereinafter, a configuration of a cleaning robot according
to one embodiment will be described with reference to FIG. 1.
[0069] FIG. 1 is an exterior view of a cleaning robot, FIG. 2A is a
bottom view of a main device according to one embodiment, and FIG.
2B is an interior view of the main device according to one
embodiment.
[0070] Referring to FIG. 1, a cleaning robot 1 performs cleaning or
moves at least one time, generates a map including obstacle
information of a space in which the cleaning robot 1 is currently
present, generates a map image that is similar to the generated
map, and displays the map image on a user interface (UI.) Here,
"map" refers to spatial image information generated by the cleaning
robot 1 on the basis of sensed values prior to structural analysis,
and "map image" refers to spatial image information including
structural information generated by the cleaning robot 1 as a
result of the structural analysis. By the generation of the map
image, a virtual space to be cleaned which matches an actual space
to be cleaned in which the cleaning robot 1 is present may be
provided to a user.
[0071] Specifically, the cleaning robot 1 may grasp the obstacle
information of the space in which the cleaning robot 1 is currently
present through a sensor unit by performing cleaning or moving at
least one time in the space in which the cleaning robot 1 is
currently present. The cleaning robot 1 may generate a map
including the obstacle information of the space in which the
cleaning robot 1 is currently present on the basis of the grasped
obstacle information. The cleaning robot 1 may analyze a structure
of the map including the obstacle information, and divide the space
grasped through performing cleaning or moving at least one time
into a plurality of divided regions on the basis of the analyzed
structure.
[0072] The cleaning robot 1 may substitute the plurality of divided
regions with preset figures and generate a map image in which the
plurality of preset figures are combined to have different areas or
positions.
[0073] The cleaning robot 1 may generate a map image that
substitutes for the map on the basis of a plan view that
corresponds to the analyzed structure among pieces of pre-stored
plan view data. The cleaning robot 1 may display the generated map
image on the UI for the user to easily grasp the structure of the
space in which the cleaning robot 1 is currently present and the
position of the cleaning robot 1.
[0074] The cleaning robot 1 may include a main device 200
configured to perform cleaning while moving on a space to be
cleaned, and a remote device 100 configured to control the
operation of the main device 200 from a remote distance and display
a current situation or the like of the main device 200. Although a
mobile phone may be employed as the remote device 100 as
illustrated in FIG. 1, the remote device 100 is not limited
thereto, and various hand-held devices other than a mobile phone
such as a personal digital assistant (PDA), a laptop, a digital
camera, an MP3 player, and a remote controller may also be employed
as the remote device 100.
[0075] The remote device 100 may include a remote device UI 110
configured to provide the UI. The remote device UI 110 may include
a remote device input unit 111 and a remote device display unit
112. The remote device UI 110 may receive a user command for
control of the main device 200 or display various pieces of
information of the main device 200.
[0076] The remote device input unit 111 may include hardware
devices such as various buttons or switches, a pedal, a keyboard, a
mouse, a track-ball, various levers, a handle, or a stick for a
user input. The remote device input unit 111 may also include a
graphical UI (GUI) such as a touch pad, i.e., a software device,
for a user input. The touch pad may be implemented as a touchscreen
panel (TSP) and form a layered structure with the remote device
display unit 112.
[0077] A cathode ray tube (CRT), a digital light processing (DLP)
panel, a plasma display panel, a liquid crystal display (LCD)
panel, an electro-luminescence (EL) panel, an electrophoretic
display (EPD) panel, an electrochromic display (ECD) panel, a light
emitting diode (LED) panel, an organic LED (OLED) panel, or the
like may be provided as the remote device display unit 112, but the
remote device display unit 112 is not limited thereto.
[0078] In a case in which the remote device display unit 112 is
configured as a TSP that forms a layered structure with the touch
pad as described above, the remote device display unit 112 may also
be used as an input unit in addition to being used as a display
unit. Hereinafter, for convenience of descriptions, descriptions
will be given by assuming that the remote device display unit 112
is configured as a TSP.
[0079] As illustrated in FIGS. 1 to 2B, the main device 200 may
include a body 2 including a main body 2-1 and a sub-body 2-2, a
driving wheel assembly 30, a main brush unit 20, a power supply
unit 250, a dust collector, a main device communication unit 220,
and a user interface unit 210. As illustrated in FIG. 1, the main
body 2-1 may have a substantially semicircular shape, and the
sub-body 2-2 may have a rectangular parallelepiped shape. Exteriors
of the remote device 100 and the main device 200 are merely
examples of an exterior of the cleaning robot 1, and the cleaning
robot 1 may have various shapes.
[0080] The main device power supply unit 250 supplies driving power
for driving the main device 200. The main device power supply unit
250 includes a battery that is electrically connected to driving
devices for driving various components mounted on the body 2 and
configured to supply the driving power. The battery may be provided
as a rechargeable secondary battery and may be charged by receiving
electric power from a docking station. Here, the docking station is
a device at which the main device 200 is docked when the main
device 200 has completed a cleaning process or when a residual
amount of the battery is lower than a reference value. The docking
station may supply electric power to the docked main device 200
using an external or internal power supply.
[0081] The main device power supply unit 250 may be mounted at the
bottom of the body 2 as illustrated in FIGS. 2A and 2B, but
embodiments are not limited thereto.
[0082] Although not illustrated, the main device communication unit
220 may be disposed inside the body 2 and allow the body 2 to
communicate with the docking station, a virtual guard, the remote
device 100, and the like. The main device communication unit 220
may transmit whether the main device 200 has completed cleaning, a
residual amount of battery provided in the body 2, a position of
the body 2, and the like to the docking station, and receive a
position of the docking station and a docking signal that guides
docking of the main device 200 from the docking station.
[0083] The main device communication unit 220 may transmit and
receive an entry restriction signal to and from a virtual guard
configured to form a virtual wall. The virtual guard is an external
device configured to transmit an entry restriction signal to a
connected path between any divided region and a specific divided
region when the main device 200 is traveling. The virtual guard
forms the virtual wall. For example, the virtual guard may sense
entry of the main device 200 into the specific divided region using
an infrared sensor, a magnetic sensor, or the like, and transmit an
entry restriction signal to the main device communication unit 220
via a wireless communication network. Here, "region to be cleaned"
refers to an entire region on which the main device 200 may travel
that includes a plurality of divided regions.
[0084] In this case, the main device communication unit 220 may
receive an entry restriction signal and block the main device 200
from entering a specific region.
[0085] The main device communication unit 220 may receive a command
input by a user via the remote device 100. For example, the user
may input a cleaning start/end command, a cleaning region map
generation command, a main device 200 moving command, and the like
via the remote device 100, and the main device communication unit
220 may receive a user command from the remote device 100 and allow
the main device 200 to perform an operation corresponding to the
received user command. The main device communication unit 220 will
be described in further detail below.
[0086] A plurality of driving wheel assemblies 30 may be present.
As illustrated in FIGS. 2A and 2B, two driving wheel assemblies 30
may be provided at left and right edges to be symmetrical to each
other from the center of the bottom of the body 2. The driving
wheel assemblies 30 respectively include driving wheels 33 and 35
that allow moving operations such as moving forward, moving
backward, and rotating during a process of performing cleaning. The
driving wheel assemblies 30 may be modularized and be detachably
mounted on the bottom of the body 2. Therefore, in a case in which
a failure occurs in the driving wheels 33 and 35 and repairing is
required, only the driving wheel assemblies 30 may be separated
from the bottom of the body 2 for repair without disassembling the
entire body 2. The driving wheel assemblies 30 may be mounted on
the bottom of the body 2 by methods such as hook coupling, screw
coupling, and fitting.
[0087] A castor 31 is provided at a front edge from the center of
the bottom of the body 2 to allow the body 2 to maintain a stable
posture. The castor 31 may also constitute a single assembly like
the driving wheel assemblies 30.
[0088] The main brush unit 20 is mounted at a side of a suction
hole 23 formed at the bottom of the body 2. The main brush unit 20
includes a main brush 21 and a roller 22. The main brush 21 is
disposed at an outer surface of the roller 22 and whirls dust
accumulated on a floor surface in accordance with rotation of the
roller 22 to guide the dust to the suction hole 23. In this case,
the main brush 21 may be formed with various materials having an
elastic force. The roller 22 may be formed of a rigid body, but
embodiments are not limited thereto.
[0089] Although not illustrated in the drawings, a blower device
configured to generate a suction force may be provided inside the
suction hole 23, and the blower device may move the dust introduced
into the suction hole 23 to the dust collector configured to
collect and filter the dust.
[0090] Various sensors may be mounted on the body 2. The various
sensors may include at least one of an obstacle sensor 261 and an
image sensor 263.
[0091] The obstacle sensor 261 is a sensor configured to sense an
obstacle present on a traveling path of the main device 200, e.g.,
an appliance, a piece of furniture, a wall surface, a wall corner,
or the like inside a house. The obstacle sensor 261 may be provided
in the form of an ultrasonic sensor capable of recognizing a
distance, but embodiments are not limited thereto.
[0092] A plurality of obstacle sensors 261 may be provided at a
front portion and a side surface of the body 2 and form a
circumference of the body 2. A sensor window may be provided at
front surfaces of the plurality of obstacle sensors 261 to protect
and block the obstacle sensors 261 from the outside.
[0093] The image sensor 263 refers to a sensor configured to
recognize the position of the main device 200 and form a map of a
region to be cleaned by the main device 200. The image sensor 263
may be implemented with a device capable of acquiring image data
such as a camera and be provided at the top portion of the body 2.
In other words, in addition to extracting a feature point from
image data of the top of the main device 200, allowing the position
of the main device 200 to be recognized using the feature point,
and allowing a map image of a region to be cleaned to be generated,
the image sensor 263 may also allow the current position of the
main device 200 to be grasped from the map image. The obstacle
sensor 261 and the image sensor 263 which may be mounted on the
body 2 will be described in further detail below.
[0094] A main device UI 280 may be disposed at the top portion of
the body 2. The main device UI 280 may include a main device input
unit 281 configured to receive a user command and a main device
display unit 282 configured to display various states of the main
device 200, and provide a UI. For example, a battery charging
state, whether the dust collector is fully filled with dust, a
cleaning mode, a dormant mode of the main device 200, or the like
may be displayed on the main device display unit 282. Since the
forms in which the main device input unit 281 and the main device
display unit 282 are implemented are the same as the
above-described forms of the remote device input unit 111 and the
remote device display unit 112, descriptions thereof will be
omitted.
[0095] The exterior of the cleaning robot according to one
embodiment has been described above. Hereinafter, a configuration
of the cleaning robot according to one embodiment will be described
in detail with reference to FIG. 3.
[0096] FIG. 3 is a block diagram of a control configuration of the
cleaning robot.
[0097] The cleaning robot 1 may include the remote device 100 and
the main device 200 connected to each other by wired and wireless
communications. The remote device 100 may include a remote device
communication unit 120, a remote device controller 130, a remote
device storage unit 140, and a remote device UI 110.
[0098] The remote device communication unit 120 transmits and
receives various signals and data to and from the main device 200
or an external server via wired and wireless communications. For
example, in accordance with a user command through the remote
device UI 110, the remote device communication unit 120 may
download an application for managing the main device 200 from an
external server (for example, a web server, a mobile communication
server or the like). The remote device communication unit 120 may
also download plan view data of a region to be cleaned from the
external server. Here, a plan view is a figure depicting a
structure of a space in which the main device 200 is present, and
plan view data is data in which a plurality of different plan views
of a house are gathered.
[0099] The remote device communication unit 120 may transmit a
"generate map" command of the user to the main device 200 and
receive a generated map image from the main device 200. The remote
device communication unit 120 may transmit a map image edited by
the user to the main device 200.
[0100] The remote device communication unit 120 may also transmit
commands for controlling the main device 200, such as a "start
cleaning" command, an "end cleaning" command, and a "designate
divided region" command input by the user, to the main device
200.
[0101] In a case in which the remote device controller 130
generates a movement path of the main device 200, the remote device
communication unit 120 may also transmit information on the
generated movement to the main device 200.
[0102] For this, the remote device communication unit 120 may
include various communication modules such as a wireless Internet
module, a short range communication module, and a mobile
communication module.
[0103] The remote device communication unit 120 will be described
in detail below with reference to FIG. 4A.
[0104] The remote device controller 130 controls the overall
operation of the remote device 100. The remote device controller
130 may control each of the configurations of the remote device
100, i.e., the remote device communication unit 120, the remote
device display unit 112, the remote device storage unit 140, and
the like, on the basis of a user command input via the remote
device UI 110.
[0105] The remote device controller 130 may generate a control
signal for the remote device communication unit 120.
[0106] For example, in a case in which the user inputs the
"generate map" command, the remote device controller 130 may
generate a control signal so that the command to generate a map
image including one or more divided regions is transmitted to the
main device 200.
[0107] In a case in which the user inputs the "start cleaning"
command, the remote device controller 130 may generate a control
signal so that the start cleaning command, which moves the main
device 200 to a designated divided region (hereinafter, a
designated region) and makes the main device 200 perform cleaning
in the designated region, is transmitted to the main device 200.
Here, in a case in which the user designates a plurality of divided
regions, the remote device controller 130 may generate a movement
path of the main device 200 so that the main device 200 moves to
any one divided region of the plurality of designated divided
regions (for example, a divided region that is the closest to the
main device 200), and the main device 200 moves along the plurality
of designated divided regions in accordance with a set order (for
example, an order starting from a divided region which is the
closest to the main device 200). Even when the user does not input
the "start cleaning" command, the remote device controller 130 may
control the start cleaning command to be automatically transmitted
to the main device 200 when a predetermined amount of time elapses
after the user designates a divided region.
[0108] In a case in which the remote device controller 130
generates the movement path, the remote device controller 130 may
extract region dividing points that respectively correspond to the
plurality of divided regions. In a case in which the divided
regions are configured as "rooms," the region dividing points may
correspond to "doors" of the rooms. A method of generating the
movement path and a method of extracting the region dividing points
will be described in detail below.
[0109] In a case in which the user inputs the "end cleaning"
command, the remote device controller 130 may generate the stop
cleaning command for the main device 200 to stop cleaning that is
being performed. The remote device controller 130 may generate a
control signal to transmit the end cleaning command to the main
device 200.
[0110] The remote device controller 130 may generate a control
signal for the remote device display unit 112.
[0111] Specifically, the remote device controller 130 may generate
a control signal so that a screen corresponding to a user command
or a state of the main device 200 is output. The remote device
controller 130 may generate a control signal so that a screen is
switched in accordance with the user command or the state of the
main device 200.
[0112] For example, in a case in which the user inputs the
"generate map" command, the remote device controller 130 may
generate a control signal so that a map image including one or more
divided regions is displayed.
[0113] In a case in which the user inputs the "designate divided
region" command, the remote device controller 130 may generate a
control signal so that a designated region outline display
attribute is changed or a designated region name display attribute
is changed in accordance with the user command. As an example, the
remote device controller 130 may allow color of an outline or name
of a designated region to be changed or allow the outline or name
of the designated region to be displayed in bold font.
[0114] In a case in which the user has input the "start cleaning"
command and the main device 200 is moving to a designated region,
the remote device controller 130 may generate a control signal so
that the remote device display unit 112 outputs an animation, which
indicates that the main device 200 is moving.
[0115] In a case in which the user has input the "start cleaning"
command and the main device 200 is performing cleaning in a
designated region, the remote device controller 130 may generate a
control signal so that the remote device display unit 112 outputs
an icon, which indicates that the main device 200 is performing
cleaning.
[0116] In a case in which a movement path of the main device 200 is
generated, the remote device controller 130 may generate a control
signal so that the remote device display unit 112 outputs the
generated movement path.
[0117] In a case in which the main device 200 has completed
cleaning in the designated region, the remote device controller 130
may generate a control signal so that the remote device display
unit 112 outputs an icon, which indicates that cleaning by the main
device 200 is completed.
[0118] In a case in which an error occurs while the main device 200
is moving or performing cleaning, the remote device controller 130
may generate a control signal so that the remote device display
unit 112 outputs an icon notifying of the occurrence of an error in
the main device 200.
[0119] Screens respectively corresponding to user commands or
states of the main device 200 will be described in detail
below.
[0120] The remote device controller 130 may generate a control
signal for the remote device storage unit 140. The remote device
controller 130 may generate a control signal so that a map image is
stored.
[0121] The remote device controller 130 may be various processors
including at least one chip in which an integrated circuit is
formed. Although the remote device controller 130 may be provided
in a single processor, the remote device controller 130 may also be
separately provided in a plurality of processors.
[0122] The remote device storage unit 140 temporarily or
non-temporarily stores data and programs for the operation of the
remote device 100. For example, the remote device storage unit 140
may store an application for managing the main device 200. The
remote device storage unit 140 may also store the map image
received from the main device 200 and store plan view data
downloaded from an external server.
[0123] Such a remote device storage unit 140 may include at least
one type of storage medium among a flash memory type, a hard disk
type, a multimedia card micro type, a card type memory (for
example, a secure digital (SD) or extreme digital (XD) memory, or
the like), a random access memory (RAM), a static RAM (SRAM), a
read-only memory (ROM), an electrically erasable programmable ROM
(EEPROM), a PROM, a magnetic memory, a magnetic disk, and an
optical disc. However, the remote device storage unit 140 is not
limited thereto and may also be implemented in other arbitrary
forms known in the same technical field. The remote device 100 may
operate a web storage that performs a storage function on the
Internet.
[0124] The remote device UI 110 may receive various commands for
controlling the main device 200 from the user. For example, the
remote device UI 110 may receive the "generate map" command for
generating the map image including one or more divided regions, or
receive a "manage map" command for modifying the generated map
image, the "designate divided region" command for a divided region
to be designated, a "manage cleaning" command for moving the main
device 200 to a designated region and making the main device 200
perform cleaning, and the like.
[0125] The remote device UI 110 may also receive a "start/end"
command or the like for starting or ending the cleaning by the main
device 200.
[0126] The remote device UI 110 may display various pieces of
information of the main device 200.
[0127] For example, the remote device UI 110 may display a map
image corresponding to a region to be cleaned along which the main
device 200 travels.
[0128] In a case in which the user inputs the "designate divided
region" command, the remote device UI 110 may change a designated
region outline display attribute or change a designated region name
display attribute in accordance with a user command. As an example,
the remote device controller 130 may allow color of an outline or
name of a designated region to be changed or allow the outline or
name of the designated region to be displayed in bold font.
[0129] In a case in which the user has input the "start cleaning"
command and the main device 200 is moving to a designated region,
the remote device UI 110 may output an animation, which indicates
that the main device 200 is moving.
[0130] In a case in which the user has input the "start cleaning"
command and the main device 200 is performing cleaning in a
designated region, the remote device UI 110 may output an icon,
which indicates that the main device 200 is performing
cleaning.
[0131] In a case in which a movement path of the main device 200 is
generated, the remote device UI 110 may display the generated
movement path.
[0132] In a case in which the main device 200 has completed
cleaning in the designated region, the remote device UI 110 may
output an icon, which indicates that cleaning by the main device
200 is completed.
[0133] In a case in which an error occurs while the main device 200
is moving or performing cleaning, the remote device UI 110 may
output an icon notifying of the occurrence of an error in the main
device 200.
[0134] The main device 200 may include the main device power supply
unit 250, a main device sensor unit 260, the main device
communication unit 220, a main device controller 230, a main device
driver 270, a main device UI 280, and a main device storage unit
240.
[0135] As described with reference to FIGS. 2A and 2B, the main
device power supply unit 250 is provided as a battery and supplies
driving power for driving the main device 200.
[0136] The main device communication unit 220 transmits and
receives various signals and data to and from the remote device 100
or an external device via wired and wireless communications.
[0137] For example, the main device communication unit 220 may
receive the "generate map" command of the user from the remote
device 100 and transmit a generated map image to the remote device
100. The main device communication unit 220 may receive a map image
stored in the remote device 100 and a cleaning schedule stored in
the remote device 100. In this case, the stored map image may refer
to a finally-stored map image, and the stored cleaning schedule may
refer to a finally-stored cleaning schedule.
[0138] The main device communication unit 220 may also transmit a
current state value of the main device 200 and cleaning history
data to the remote device 100.
[0139] The main device communication unit 220 may receive the
"start cleaning" command of the user and data related to a
designated region from the remote device 100. When a situation in
which a transmitted environment is inconsistent occurs while the
main device 200 is performing cleaning, the main device
communication unit 220 may transmit an error state value, which
indicates that the environment is inconsistent, to the remote
device 100. Likewise, in a case in which a region that is unable to
be cleaned is generated, the main device communication unit 220 may
transmit a state value, which indicates that cleaning is
impossible, to the remote device 100.
[0140] In a case in which the remote device 100 generates a
movement path, the main device communication unit 220 may also
receive information on the generated movement path.
[0141] The main device communication unit 220 may also receive the
"end cleaning" command of the user from the remote device 100.
[0142] The main device communication unit 220 will be described in
detail below with reference to FIG. 4A.
[0143] The main device sensor unit 260 performs sensing of an
obstacle and a state of the ground, which is required for traveling
of the main device 200. The main device sensor unit 260 may include
the obstacle sensor 261 and the image sensor 263.
[0144] A plurality of obstacle sensors 261 are provided at an outer
circumferential surface of the body 2 and configured to sense an
obstacle present in front of or beside the main device 200 and
transmits a sensed result to the main device controller 230.
[0145] The obstacle sensors 261 may be provided as contact type
sensors or non-contact type sensors in accordance with whether the
obstacle sensors 261 come into contact with an obstacle, or may
also be provided as a combination of a contact type sensor and a
non-contact type sensor. A contact type sensor refers to a sensor
that senses an obstacle by the body 2 actually colliding with an
obstacle, and a non-contact type sensor refers to a sensor that
senses an obstacle without the body 2 colliding with the obstacle
or before the body 2 collides with the obstacle.
[0146] The non-contact type sensor may include an ultrasonic
sensor, an optical sensor, a radiofrequency (RF) sensor, or the
like. In a case in which the obstacle sensors 261 are implemented
as ultrasonic sensors, the obstacle sensor 261 may transmit
ultrasonic waves to a path on which the main device 200 travels,
receive reflected ultrasonic waves, and sense an obstacle. In a
case in which the obstacle sensors 261 are implemented as optical
sensors, the obstacle sensors 261 may project light in an infrared
region or visible light region, receive reflected light, and sense
an obstacle. In a case in which the obstacle sensors 261 are
implemented as RF sensors, the obstacle sensors 261 may transmit a
radio wave having a specific frequency, for example, a microwave,
using the Doppler effect, detect changes in a frequency of a
reflected wave, and sense an obstacle.
[0147] The image sensor 263 may be provided as a device capable of
acquiring image data such as a camera, and may be mounted on the
top portion of the body 2 to recognize the position of the main
device 200. The image sensor 263 extracts a feature point from
image data of the top of the main device 200 and recognizes the
position of the main device 200 using the feature point. Position
information sensed by the image sensor 263 may be transmitted to
the main device controller 230.
[0148] Sensor values of the main device sensor unit 260, i.e.,
sensor values of the obstacle sensors 261 and the image sensor 263,
may be transmitted to the main device controller 230, and the main
device controller 230 may generate a map of a region to be cleaned
on the basis of the received sensor values. Since a method of
generating a map on the basis of sensor values is a known
technique, descriptions thereof will be omitted. FIG. 4A merely
illustrates one example of the main device sensor unit 260. The
main device sensor unit 260 may further include other types of
sensors or some sensors may be omitted from the main device sensor
unit 260 as long as a map of a region to be cleaned may be
generated.
[0149] The main device driver 270 may include a driving wheel
driver 271 configured to control driving of the driving wheel
assemblies 30, and a main brush driver 272 configured to control
driving of the main brush unit 20.
[0150] The driving wheel driver 271 is controlled by the main
device controller 230 to control the driving wheels 33 and 35
mounted on the bottom of the body 2 and allow the main device 200
to move. In a case in which the "generate map" command, the "start
cleaning" command, a "move region" command, or the like of the user
is transmitted to the main device 200, the driving wheel driver 271
controls driving of the driving wheels 33 and 35, and the main
device 200 travels in accordance with the control. The driving
wheel driver 271 may also be included in the driving wheel
assemblies 30 and be modularized together with the driving wheel
assemblies 30.
[0151] The main brush driver 272 drives the roller 22 mounted at
the side of the suction hole 23 of the body 2 in accordance with
control by the main device controller 230. In accordance with
rotation of the roller 22, the main brush 21 may be rotated and
clean a floor surface. When the "start cleaning" command of the
user is transmitted to the main device 200, the main brush driver
272 controls driving of the roller 22.
[0152] The main device controller 230 controls the overall
operation of the main device 200. The main device controller 230
may control the configurations of the main device 200, i.e., the
main device communication unit 220, the main device driver 270, the
main device storage unit 240, and the like, and generate a map
image.
[0153] Specifically, the main device controller 230 may generate a
control signal for the main device driver 270.
[0154] For example, in a case in which the main device controller
230 receives the "generate map" command, the main device controller
230 may generate a control signal for the driving wheel driver 271
to drive the driving wheels 33 and 35. While the driving wheels 33
and 35 are driven, the main device controller 230 may receive
sensor values from the main device sensor unit 260 and generate a
map image of a region to be cleaned on the basis of the received
sensor values.
[0155] In a case in which the main device controller 230 receives
the "start cleaning" command and data related to a designated
region, the main device controller 230 may generate a control
signal for the driving wheel driver 271 for the main device 200 to
be moved to the designated region by the user. In a case in which
the main device 200 is moved to the designated region, the main
device controller 230 may control the main brush driver 272 to
drive the main brush unit 20 while generating a control signal
related to the driving wheel driver 271 to drive the driving wheels
33 and 35.
[0156] The main device controller 230 may generate a map image.
[0157] Specifically, in a case in which the main device controller
230 receives the "generate map" command, the main device controller
230 may receive sensor values from the main device sensor unit 260,
generate a map including obstacle information, analyze a structure
of the generated map, and divide the map into a plurality of
regions.
[0158] The main device controller 230 may substitute the plurality
of divided regions with preset figures different from each other
and generate a map image in which the plurality of preset figures
are combined.
[0159] The main device controller 230 may find a plan view
corresponding to the analyzed map structure among pieces of plan
view data stored in the main device storage unit 240 and
postprocess the corresponding plan view to generate a map
image.
[0160] In a case in which the user designates a plurality of
divided regions, although it has been described in the
above-described embodiment that the remote device controller 130
generates a movement path of the main device 200, the main device
controller 230 may also generate the movement path. In this case,
the main device controller 230 may generate a control signal so
that the main device communication unit 220 transmits information
on the generated movement path to the remote device 100, and the
main device driver 270 travels and performs cleaning along the
generated movement path.
[0161] When the user inputs the "start cleaning" command or even
when the user does not input the "start cleaning" command, the
remote device controller 130 may generate a control signal so that
the main device driver 270 travels and performs cleaning along the
generated movement path when a predetermined amount of time elapses
after the user designates a divided region.
[0162] Hereinafter, for convenience of description, a case in which
the main device controller 230 generates the movement path will be
described as an example.
[0163] The main device controller 230 may generate control signals
for the main device communication unit 220 and the main device UI
280.
[0164] For example, the main device controller 230 may generate a
control signal so that the main device communication unit 220
transmits a generated map image to the remote device 100, and may
generate a control signal so that the main device UI 280 displays
the generated map image.
[0165] In a case in which the main device controller 230 receives
the "start cleaning" command and data related to a designated
region, the main device controller 230 may generate a control
signal so that the main device communication unit 220 transmits a
state value of the main device 200 (for example, whether the main
device 200 is moving or performing cleaning, has completed
cleaning, or whether an error has occurred) to the remote device
100.
[0166] In a case in which the main device controller 230 generates
the movement path of the main device 200, the main device
controller 230 may also generate a control signal so that the main
device communication unit 220 transmits information on the
generated movement to the remote device 100.
[0167] The main device controller 230 may determine whether an
environment is inconsistent while the main device 200 performs
cleaning. In a case in which the environment is inconsistent, the
main device controller 230 may control the main device
communication unit 220 to transmit an error state value, which
indicates that the environment is inconsistent, to the remote
device 100. The user may check an error state and decide whether to
update a map image. In a case in which the main device controller
230 receives an "update map" command, the main device controller
230 updates the map image on the basis of a user command. In a case
in which the environment is inconsistent, the main device
controller 230 may also automatically update the map image.
[0168] To prevent malfunctioning due to the environmental
inconsistency, in a case in which the environment is inconsistent,
the main device controller 230 may control the main device 100 to
stop cleaning and return to be charged.
[0169] While the main device 200 performs cleaning, the main device
controller 230 may determine whether a region that is unable to be
cleaned is present. In a case in which a region unable to be
cleaned is present, the main device controller 230 may control the
main device communication unit 220 to transmit the error state
value, which indicates that the region unable to be cleaned is
present. The user may check that the region unable to be cleaned is
present and determine whether to change a region to be cleaned. In
a case in which the main device controller 230 receives a "move
divided region" command, the main device controller 230 generates a
control signal so that the main device moves to the next divided
region. In a case in which a region unable to be cleaned is
present, the main device controller 230 may automatically generate
a control signal for the main device 200 to move to the next
divided region along the generated movement path. For example, the
order of divided regions in which the main device 200 moves may be
set to be clockwise or counterclockwise from a divided region that
is the closest to the main device 200 or from a divided region that
is the farthest from the main device 200, may be set to be from the
largest divided region to the smallest divided region, or may be
set to be from the smallest divided region to the largest divided
region. In this way, various methods may be employed in accordance
with the user's setting. Even in this case, the main device
controller 230 may control the main device 100 to stop cleaning and
return to be charged.
[0170] The main device controller 230 may generate a control signal
for the main device storage unit 240. The main device controller
230 may also generate a control signal so that a generated map
image is stored. The main device controller 230 may generate a
control signal so that a map image and a cleaning schedule received
from the remote device 100 are stored.
[0171] The main device controller 230 may be various processors
including at least one chip in which an integrated circuit is
formed. Although the main device controller 230 may be provided in
a single processor, the main device controller 230 may also be
separately provided in a plurality of processors.
[0172] The main device UI 280 may display a current operation
situation of the main device 200 and a map image of a section in
which the main device 200 is currently present, and display the
current position of the main device 200 on the displayed map image.
The main device UI 280 may receive an operation command of the user
and transmit the received operation command to a controller. The
main device UI 280 may be the same as or different from the main
device UI 280 which has been described with reference to FIGS. 1 to
2B.
[0173] The main device UI 280 may include the main device input
unit 281 and the main device display unit 282. Since the forms in
which the main device input unit 281 and the main device display
unit 282 are implemented may be the same as the above-described
forms of the remote device input unit 111 and the remote device
display unit 112, descriptions thereof will be omitted.
[0174] Although it has been described in the above-described
embodiment that the remote device input unit 111 of the remote
device UI 110 receives the generate map command, the designate
divided region command, the start cleaning command, and the end
cleaning command, such user commands may also be directly received
by the main device input unit 281 of the main device UI 280.
[0175] Although it has been described in the above-described
embodiment that the remote device display unit 112 of the remote
device UI 110 outputs a screen corresponding to a user command or a
state of the main device 200, the screen corresponding to a user
command or a state of the main device 200 may also be directly
output by the main device display unit 282 of the main device UI
280.
[0176] The main device storage unit 240 temporarily or
non-temporarily stores data and programs for the operation of the
main device 200. For example, the main device storage unit 240 may
temporarily or non-temporarily store a state value of the main
device 200. The main device storage unit 240 may store cleaning
history data, and the cleaning history data may be periodically or
non-periodically updated. In a case in which the main device
controller 230 generates a map image or updates the map image, the
main device storage unit 240 may store the generated map image or
the updated map image. The main device storage unit 240 may store a
map image received from the remote device 100.
[0177] The main device storage unit 240 may store a program for
generating the map image or updating the map image. The main device
storage unit 240 may store a program for generating or updating the
cleaning history data. The main device storage unit 240 may also
store a program for determining whether an environment is
consistent, a program for determining whether a certain region is a
region unable to be cleaned, or the like.
[0178] Such a main device storage unit 240 may include at least one
type of storage medium from among a flash memory type, a hard disk
type, a multimedia card micro type, a card type memory (for
example, a SD or XD memory, or the like), a RAM, a SRAM, a ROM, an
EEPROM, a PROM, a magnetic memory, a magnetic disk, and an optical
disc. However, the main device storage unit 240 is not limited
thereto and may also be implemented in other arbitrary forms known
in the same technical field.
[0179] FIG. 4A is a control block diagram of a communication unit
according to one embodiment, and FIG. 4B is a control block diagram
of a communication unit according to another embodiment.
[0180] Referring to FIG. 4A, a communication unit may include a
remote device communication unit 120 included in a remote device
100 and a main device communication unit 220 included in a main
device 200.
[0181] The remote device communication unit 120, the main device
communication unit 220, and a network may be connected to each
other and transmit and receive data to and from each other. For
example, the main device communication unit 220 may transmit a map
image generated by the main device controller 230, the current
position of the main device 200, and a state value of the main
device 200 to the remote device 100, and the remote device
communication unit 120 may transmit a user command to the main
device 200. The remote device communication unit 120 may be
connected to the network, receive an operation state of another
home appliance 330, and transmit a control command related thereto.
The main device communication unit 220 may be connected to another
remote device 320 and receive the control command therefrom.
[0182] Referring to FIG. 4B, the main device communication unit 220
may be connected to the network and download plan view data from a
server 310.
[0183] The remote device communication unit 120 may include a
remote device short range communication module 121, which is a
short range communication module, a remote device wired
communication module 122, which is a wired communication module,
and a remote device mobile communication module 123, which is a
mobile communication module. The main device communication unit 220
may include a main device short range communication module 221,
which is a short range communication module, a main device wired
communication module 222, which is a wired communication module,
and a main device mobile communication module 223, which is a
mobile communication module.
[0184] Here, the short range communication module may be a module
for short range communication within a predetermined distance. A
short range communication technique may include a wireless local
area network (LAN), a wireless fidelity (Wi-Fi), Bluetooth, ZigBee,
Wi-Fi Direct (WFD), ultra wideband (UWB), infrared data association
(IrDA), Bluetooth low energy (BLE), near field communication (NFC),
and the like, but is not limited thereto.
[0185] The wired communication module refers to a module for
communication using an electrical signal or an optical signal. A
wired communication technique may include a pair cable, a coaxial
cable, an optical fiber cable, an Ethernet cable, and the like, but
is not limited thereto.
[0186] The mobile communication module may transmit and receive a
wireless signal to and from at least one of a base station, an
external terminal, and the server 310 in a mobile communication
network. The wireless signal may include a voice call signal, a
video call signal, or various forms of data in accordance with
transmission and reception of text/multimedia messages.
[0187] Hereinafter, a menu selection screen displayed on a remote
device according to one embodiment will be described with reference
to FIGS. 5 and 6.
[0188] FIG. 5 is an exemplary view of a home screen of a remote
device UI.
[0189] The remote device UI 110 including the remote device input
unit 111 and the remote device display unit 112 may be provided at
a front surface of the remote device 100. The remote device input
unit 111 may include a plurality of buttons. In this case, the
buttons may be hardware buttons or software buttons. The remote
device display unit 112 may be configured as a TSP and sense a
user's input.
[0190] An application for managing the main device 200 may be
installed in the remote device 100. In this case, the application
for managing the main device 200 will be simply referred to as a
"cleaning robot application."
[0191] Although a case in which the cleaning robot application is
installed in the remote device 100 is employed in the embodiment
below, embodiments are not necessarily limited thereto, and the
cleaning robot application may also be directly installed in the
main device 200.
[0192] The remote device display unit 112 may display the installed
application on the home screen and provide convenience for the user
to access the application. For example, the remote device display
unit 112 may display the installed application with an icon 150
titled "cleaning robot."
[0193] The user may execute the cleaning robot application by
touching the "cleaning robot" icon 150. When the cleaning robot
application is executed, the remote device display unit 112 may
switch the screen to the one illustrated in FIG. 6.
[0194] FIG. 6 is an exemplary view of a menu selection screen of
the remote device UI.
[0195] A "home screen" icon 190a may be displayed at the top of a
remote device display unit 112 for returning to the home screen.
That is, when the "home screen" icon 190a is selected, the screen
may be switched back to the one illustrated in FIG. 5. A "map
management" icon 160 and a "cleaning management" icon 170 may be
sequentially displayed in that order below the "home screen" icon
190a. Here, the "map management" icon 160 is an icon provided for
generating or managing a map image of a region in which the main
device 200 travels or cleans, i.e., a region to be cleaned. The
"cleaning management" icon 170 is an icon provided for designating
a specific divided region on the basis of a generated map image and
making the main device 200 move or perform cleaning.
[0196] The user may select the "cleaning management" icon 170 and
switch the screen of the remote device display unit 112 to a screen
for making the main device 200 move or perform cleaning.
[0197] FIG. 7 is an exemplary view of a map image displayed by the
remote device UI of the cleaning robot according to one embodiment,
and FIG. 8 is an exemplary view of a map image displayed by the
remote device UI of the cleaning robot according to another
embodiment.
[0198] In accordance with a user's input on a "map generation"
icon, a main device controller 230 may perform cleaning or move at
least one time in a space in which a main device 200 is currently
present, generate a map including obstacle information, and analyze
a structure of the map on the basis of the generated map. The main
device controller 230 may divide the map into a plurality of
regions on the basis of the analyzed map structure, and generate a
map image including the plurality of divided regions.
[0199] The map image generated by the main device controller 230
according to one embodiment may be transmitted to a remote device
100 via a main device communication unit 220 and a remote device
communication unit 120, and the transmitted map image may be
displayed on a remote device UI 110.
[0200] Specifically, in a case in which the main device controller
230 combines four divided regions (first to fourth regions Z1 to
Z4) and generates a map image depicting one living room and three
rooms, the map image may be generated so that a fourth region Z4,
which is a living room, is disposed at the center, a first region
Z1, which is a room, is disposed at the left from the fourth region
Z4, and a second region 410 and a third region Z3 are disposed at
the right from the fourth region Z4 as shown in FIG. 7. A map image
161 in which figures corresponding to sizes of the divided regions
are placed as the first region Z1 to the third region Z3 may be
generated, and the generated map image 161 may be displayed on the
remote device UI 110. Here, the figures include free figures formed
as closed loops.
[0201] The main device controller 230 according to another
embodiment may search for a plan view 162 corresponding to a map
image as shown in FIG. 8 from the main device storage unit 240 and
allow the found plan view 162 to be displayed on the remote device
UI 110.
[0202] Cleaning operations and screens of the cleaning robot 1
disclosed in FIGS. 9 to 19 may be performed and displayed in a case
in which the user selects the "cleaning management" icon 170
illustrated in FIG. 6, or may be automatically performed and
displayed after a map image is generated.
[0203] Hereinafter, for convenience of description, a process
performed in a case in which a "manage cleaning" command is input
to the cleaning robot will be described using the map image 161
according to one embodiment illustrated in FIG. 7 as an example.
FIGS. 9 to 16 are conceptual diagrams for describing processes in
which the user commands cleaning operations of the cleaning robot
on the basis of a map image displayed by the remote device UI of
the cleaning robot and screens output by the remote device UI in
accordance with user commands or states of the main device
according to one embodiment.
[0204] Referring to FIG. 9, a "home screen" icon 190a and a
"previous screen" icon 190b for returning to the previous screen
may be displayed at the top of the remote device UI 110 according
to one embodiment. That is, when the "previous screen" icon 190b is
selected, the screen may be switched back to the previous
screen.
[0205] The remote device UI 110 may display (171a) a map image 171a
showing that a main device 200 is currently at the center of the
bottom of a fourth region Z4, which is a living room.
[0206] The current position of the main device 200 may be
determined by a main device controller 230 on the basis of values
sensed by a main device sensor unit 260, and the main device
controller 230 may match the current position of the main device
200 to the map image 171a stored in a main device storage unit 240
to control the UI 110 to display the position of the main device
200 on the map image 171a.
[0207] As illustrated in FIG. 10, a user U may specify and
designate a second region 410, in which the user U wishes to
perform cleaning or to which the user U wishes to move a main
device 200, from a map image 17 lb-1 using his or her finger. In a
case in which the user U designates the second region 410, a remote
device UI 110 may change an outline display attribute of the second
region 410 by displaying an outline of the second region 410 in a
different color or displaying (171b-1) the outline of the second
region 410 in bold font so that the second region 410, which is a
designated region 410, is differentiated from the other divided
regions.
[0208] In a case in which at least one divided region is designated
by the user U, the remote device UI 110 may display a "start
cleaning" icon it at the bottom of the screen.
[0209] By selecting the "start cleaning" icon it at the bottom of
the screen, the user U may input the start cleaning command so that
the main device 200 moves to the designated region 410 along a
generated movement path and performs cleaning. In addition, the
user U may input the start cleaning command using various other
methods such as a voice command. Various known techniques may be
employed as a method of inputting the start cleaning command. The
main device 200 may also automatically start cleaning along the
movement path when a predetermined amount of time elapses after the
designate divided region command is input.
[0210] In a case in which the start cleaning command is input, the
remote device communication unit 120 transmits information on the
input start cleaning command and the designated region 410
designated by the user U to the main device communication unit 220.
Then, a main device controller 230 moves the main device 200 to the
designated region 410 and, in a case in which the main device 200
is moved to the designated region 410, controls the main device 200
to perform cleaning. In this case, a main device communication unit
220 may transmit a current state value of the main device 200 (for
example, whether the main device 200 is moving or performing
cleaning, has completed cleaning, or whether an error occurred) and
cleaning history data to the remote device communication unit
120.
[0211] In a case in which the main device 200 moves to the
designated region 410, the main device 200 may move along a
movement path generated by the main device controller 230 or the
remote device controller 130. The generation of the movement path
will be described below.
[0212] According to one embodiment, in a case in which the remote
device communication unit 120 receives a "moving" state value as
the current state value of the main device 200 from the main device
communication unit 220, as illustrated in FIG. 11, the remote
device UI 110 may display a translucent layer 191a over a map image
171c-1, and the main device 200 may display an animation 191b from
which a user may intuitively recognize that the main device 200 is
moving. In addition, the remote device UI 110 may display a message
192, which indicates that the main device 200 is moving.
[0213] In a case in which the start cleaning command is input, the
"start cleaning" icon it at the bottom of the screen may be changed
to an "end cleaning" icon i2.
[0214] By selecting the "end cleaning" icon i2 at the bottom of the
screen, the user U may input the end cleaning command so that the
main device 200 stops cleaning that was being performed. In
addition, the user U may input the end cleaning command using
various other methods such as a voice command. Various known
techniques may be employed as a method of inputting the end
cleaning command.
[0215] According to another embodiment, as illustrated in FIG. 12,
in a case in which a remote device communication unit 120 receives
a "moving" state value as a current state value of a main device
200 from a main device communication unit 220, a remote device UI
110 may display a movement path 193 of the main device 200. The
movement path may be a predicted movement path to the designated
region 410 that is arbitrarily generated by a remote device
controller 130 or a main device controller 230 regardless of an
actual movement path of the main device 200, may be an actual path
along which the main device 200 moves in real time, or may include
both the predicted movement path and the actual path.
[0216] For example, a predicted movement path 193 may be generated
for the main device 200 to move upward from the fourth region Z4
and then move rightward so as to move from the point at which the
main device 200 is currently present to the designated region 410.
In a case in which a plurality of designated regions are present,
the predicted movement path 193 may also be a path indicating an
order of designated regions in which the main device 200 moves.
[0217] In a case in which the movement path includes both the
predicted movement path and the actual path, a path through which
the main device 200 has already passed may be removed from the
predicted movement path in real time. A path through which the main
device 200 has already passed may also be removed in a case in
which the main device 200 has completed moving.
[0218] In a case in which the main device 200 is moving, the remote
device UI 110 may re-change the outline display attribute of the
designated region 410 on a map image 171c-2 and may also change the
outline display attribute to correspond to that prior to a divided
region being designated. However, since the outline display
attribute may also be re-changed in a case in which the remote
device communication unit 120 receives a "cleaning completed" state
value as the current state value of the main device 200 from the
main device communication unit 220, the outline display attribute
being re-changed in a case in which the cleaning completed state
value is transmitted will be described below as an example.
[0219] In a case in which the remote device communication unit 120
receives a "cleaning" state value as the current state value of the
main device 200 from the main device communication unit 220, as
illustrated in FIG. 13, the remote device UI 110 may display a
"cleaning" icon (for example, a hollow circular icon), which
indicates that cleaning is being performed, above a name 194 of the
designated region 410. As illustrated in FIG. 14, a "cleaning icon"
190c may also be displayed in the form of animation that moves
within the designated region 410.
[0220] The remote device UI 110 may also display a message 192,
which indicates that the main device 200 is performing
cleaning.
[0221] In a case in which the remote device communication unit 120
receives the "cleaning completed" state value as the current state
value of the main device 200 from the main device communication
unit 220, as illustrated in FIG. 15, the remote device UI 110 may
display a "cleaning completed" icon (for example, a check icon),
which indicates that cleaning is completed, above the name 194 of
the designated region 410. In a case in which cleaning is
completed, the remote device UI 110 may re-change the outline
display attribute of the designated region 410 on the map image
171c-2 or change the outline display attribute to correspond to
that prior to a divided region being designated.
[0222] The remote device UI 110 may also display a message 192,
which indicates that the main device 200 has completed
cleaning.
[0223] In a case in which a movement environment is determined to
be different from a map image or is determined to not be possible
for the main device 200 to move or perform cleaning therein while
the main device 200 is moving or performing cleaning, the main
device communication unit 220 may transmit a state value, which
indicates that cleaning is not possible, to the remote device
communication unit 120 as illustrated in FIG. 16. In a case in
which the remote device communication unit 120 has received such a
state value, the remote device UI 110 may display an "error
occurrence" icon (for example, an exclamation mark icon), which
indicates that an error has occurred.
[0224] The remote device UI 110 may also display a message 192,
which notifies the user of the occurrence of an error.
[0225] Although the outline display attribute of the designated
region 410 being changed in accordance with the current state value
of the main device 200 has been described as an example in the
above-described embodiment, a display attribute of the name 194 of
the designated region 410 may also be changed.
[0226] FIGS. 17 and 18 are conceptual views of screens of a UI
according to another embodiment. FIG. 17 illustrates a screen
through which a designate divided region command is received, and
FIG. 18 illustrates a screen displayed in a case in which cleaning
is completed.
[0227] Referring to FIG. 17, in a case in which a user U designates
a second region 410, a remote device UI 110 may change a display
attribute of the name of the designated region 410 by displaying a
name 194 of the second region 410 in a different color or
displaying (171b-2) the name 194 in bold font so that the second
region 410, which is the designated region 410, is differentiated
from the other divided regions.
[0228] In a case in which a main device 200 is moving, the remote
device UI 110 may re-change a name display attribute of the
designated region 410 on a map image 171c-2 and may also change the
name display attribute to correspond to that prior to a divided
region being designated. The name display attribute may also be
re-changed in a case in which the remote device communication unit
120 receives the "cleaning completed" state value as the current
state value of the main device 200 from a main device communication
unit 220 as illustrated in FIG. 18.
[0229] Although it has been disclosed in the above-described
embodiment that the user U specifies only one divided region using
his or her finger, the user U may also specify and designate a
plurality of divided regions on a map image and a cleaning order of
the plurality of divided regions.
[0230] FIG. 19 is a conceptual diagram of a screen through which
commands for specifying and designating a plurality of divided
regions and a cleaning order of the plurality of divided regions
are received.
[0231] Referring to FIG. 19, a remote device UI 110 may
sequentially receive designations of a plurality of divided regions
410 and 420 from a user U, and an order in which the plurality of
divided regions 410 and 420 are designated may be stored in a
remote device storage unit 140.
[0232] In a case in which the user U designates the plurality of
divided regions 410 and 420 and an order thereof (410->420) and
inputs a start cleaning command, a main device 200 may receive
information on the designated divided regions 410 and 420 and the
order in which the divided regions are designated, generate a
movement path in accordance with the designation order, and move
and perform cleaning along the movement path.
[0233] Even in a case in which the user U designates only the
plurality of divided regions 410 and 420 and does not designate a
cleaning order thereof, a main device controller 230 may generate a
movement path in accordance with a pre-stored cleaning order (for
example, 410->420) and control the main device 200 to move and
perform cleaning along the generated movement path. In this case,
the remote device UI 110 may display the generated movement
path.
[0234] For example, the cleaning order may be set to be clockwise
or counterclockwise from a divided region that is the closest to
the current position of the main device 200 or from a divided
region that is the farthest from the current position of the main
device 200, may be set to be from the largest divided region to the
smallest divided region, may be set to be from the smallest divided
region to the largest divided region, or may be set to be from a
divided region that is the most adjacent to the current position of
the main device 200. In this way, various methods may be
employed.
[0235] Hereinafter, a process in which the main device 200
generates a movement path and moves and performs cleaning along the
generated movement path will be described in detail with reference
to FIG. 20. FIG. 20 is a detailed control block diagram of the main
device according to one embodiment.
[0236] Referring to FIG. 20, a main device 200 may include a main
device sensor unit 260, a main device storage unit 240, a main
device controller 230, and a main device driver 270.
[0237] The main device sensor unit 260 may recognize a position of
the main device 200 through movement of the main device 200 in a
space to be cleaned in which the main device 200 is present, and
transmit the position information to the main device controller
230. Since detailed descriptions related to the main device sensor
unit 260 have been given above with reference to FIG. 3, repetitive
descriptions will be omitted.
[0238] The main device storage unit 240 stores a map image 241
including one or more divided regions. In this case, the main
device storage unit 240 may store the map image 241 generated by
the "generate map" command of the user.
[0239] The main device storage unit 240 may store a program for
generating a movement path or store the map image 241 downloaded
from the outside. Since detailed descriptions related to the main
device storage unit 240 have been given above with reference to
FIG. 3, repetitive descriptions will be omitted.
[0240] The main device controller 230 may include a position
determiner 231, a movement path generator 232, a movement
controller 233, a virtual wall setter 234, and a cleaning
controller 235.
[0241] On the basis of position information of the main device 260
received from the main device sensor unit 260 and the map image 241
stored in the main device storage unit 240, the position determiner
231 matches the current position of the main device 200 with the
map image 241.
[0242] The movement path generator 232 selects a divided region to
which the main device 200 moves in accordance with a user command
and sets a target point to which the main device 200 moves within
the selected divided region. Then, the movement path generator 232
sets a path along which the main device 200 moves to the target
point.
[0243] According to one embodiment, the target point to which the
main device 200 moves is a point at which the main device 200 is
the most likely to be actually present within the divided region
selected by the user. The target point to which the main device 200
moves may be a central point of the divided region or a point
farthest from surrounding obstacles within the divided region. The
target point to which the main device 200 moves will be described
below with reference to FIG. 23.
[0244] Since the generation of a path along which the main device
200 moves has been described above, repetitive descriptions will be
omitted.
[0245] The movement controller 233 controls a driving wheel driver
271 of the main device driver 270 to allow the main device 200 to
move to the target point along the generated movement path.
[0246] In a case in which the main device 200 is present at the
target point, the virtual wall setter 234 generates a virtual wall
around the selected divided region. At the virtual wall, an entry
of the main device 200 is restricted. For example, the virtual wall
may be set in the vicinity of a region dividing point of the
divided region.
[0247] The virtual wall setter 234 may also set a virtual wall in
accordance with a user command.
[0248] A detailed control process of the virtual wall setter 230
will be described below with reference to FIGS. 24 to 28.
[0249] The cleaning controller 235 controls the main device 200 to
perform cleaning.
[0250] Specifically, the cleaning controller 235 may control the
driving wheel driver 271 of the main device driver 270 to allow the
main device 200 to travel, and may control the main brush driver
272 and a side-brush driver 273 to allow the main device 200 to
perform cleaning while traveling.
[0251] According to one embodiment, the cleaning controller 235 may
allow the driving wheel driver 271 to perform autonomous traveling.
In this case, since an actual space to be cleaned in which the main
device 200 is present is similar to the map image 241 stored in the
storage unit 240, the main device 200 may perform cleaning within
the divided region intended by the user by partitions surrounding
the divided region of the actual space to be cleaned and the
virtual wall set by the virtual wall setter 230.
[0252] In this way, in a case in which the main device 200 starts
autonomous traveling from the target point, since the main device
200 performs cleaning throughout the entire divided region of the
actual space to be cleaned even in a case in which the main image
and the actual space to be cleaned do not exactly match each other,
i.e., even when a position recognition error occurs in the main
device 200, the actual space to be cleaned may be thoroughly
cleaned.
[0253] In a case in which a virtual wall is set at a region
dividing point, since movement of the main device 200 at the
virtual wall is restricted even when the main device 200 approaches
the region dividing point while performing autonomous traveling,
the main device 200 may be prevented from moving out of the divided
region intended by the user.
[0254] According to another embodiment, the main device controller
230 may further include a virtual region setter configured to set a
virtual region. FIG. 21 is a control block diagram of a virtual
wall setter, a virtual region setter, and a cleaning controller of
the main device controller 230 according to the other
embodiment.
[0255] A virtual region setter 236 may set a virtual region having
a boundary spaced a preset reference distance apart from a divided
region on a map image selected by the user. The virtual region
allows the main device 200 to thoroughly perform cleaning within
the divided region of the actual space to be cleaned even when
there is an error between the divided region of the actual space to
be cleaned and a divided region of the map image. The virtual
region may be a space within a virtual wall forming a closed
loop.
[0256] In this case, the cleaning controller 235 may allow the
driving wheel driver 271 to perform autonomous traveling within the
virtual region set by the virtual region setter 236 and allow the
main brush driver 272 and the side-brush driver 273 to perform
cleaning while traveling.
[0257] In a case in which the virtual region is set, since movement
of the main device 200 is restricted to be within the virtual
region, the main device 200 may be prevented from moving out of the
divided region intended by the user.
[0258] The cleaning controller 235 may also allow the driving wheel
driver 271 to perform autonomous traveling outside the virtual
region set by the virtual region setter 236 and allow the main
brush driver 272 and the side-brush driver 273 to perform cleaning
while traveling. Here, whether autonomous traveling is performed
within the virtual region or outside the virtual region may be
selected by the user through UI. The virtual region setter 236 may
also set the virtual region in accordance with a user command. A
method of setting the virtual region in accordance with a user
command will be described below with reference to FIG. 27.
[0259] Hereinafter, a detailed process in which the movement path
generator 232 of the main device controller 230 generates the
movement path, the virtual wall setter 234 sets the virtual wall,
and the virtual region setter 235 sets the virtual region according
to one embodiment will be described with reference to FIGS. 22 to
28.
[0260] FIGS. 22 and 23 are exemplary views for describing a method
of setting a movement path of a main device set by a movement path
generator and a target point of the main device.
[0261] Referring to FIG. 22, for a main device 200 to move to the
divided region Z2, which is designated in accordance with a user
command, from a point on a map image at which the main device 200
is currently present, a movement path generator 232 sets a target
point within the designated divided region Z2.
[0262] For moving the main device 200 to the target point, the
movement path generator 232 may set a movement path so that the
main device 200 moves upward by a first distance, moves rightward
by a second distance, moves upward again by a third distance, and
then moves rightward by a fourth distance. Since a method of
setting the first to fourth distances as the shortest possible
distances is a known technique, descriptions thereof will be
omitted.
[0263] In this case, a remote device UI 110 may display a position
of the main device 200 in real time and also display a generated
movement path.
[0264] Referring to FIG. 23, a target point Pd may be a central
point of a divided region Z2 selected by a user from a map image,
or may be a point farthest from surrounding obstacles P1 to P4
within the divided region Z2.
[0265] The target point Pd may also be a point that is the closest
to the central point of the divided region Z2 selected by the user
from the map image and farthest from surrounding obstacles P1 to P4
within the divided region Z2.
[0266] The target point Pd may also be any one point that is
present within the divided region Z2 selected by the user from the
map image and the closest to the current position of the main
device 200. In addition, the target point Pd may also be various
other points within the divided region Z2.
[0267] FIG. 24 is an exemplary view of a virtual wall set by a
virtual wall setter, and FIG. 25 is a view for describing a process
in which a main device performs cleaning in a divided region of an
actual space to be cleaned in a case in which the virtual wall is
set.
[0268] Referring to FIG. 24, a virtual wall setter 234 may set a
virtual wall W1 in the vicinity of a region dividing point
corresponding to a divided region Z2 selected by a user from the
map image. The virtual wall W1 may include a point at which the
region dividing point is formed.
[0269] Referring to FIG. 25, after a virtual wall W1 is set, a
cleaning controller 235 may control a main device 200 to perform
autonomous traveling and cleaning, and the main device 200 may
thoroughly perform cleaning within the region intended by a user by
a partition Z2R that surrounds a divided region of the actual space
to be cleaned and the virtual wall W1, which is set by a virtual
wall setter 234.
[0270] As an example, in a case in which cleaning is performed in a
specific divided region Z2-1, which was not sensed due to an
obstacle when a map image was generated, after the obstacle is
removed therefrom, the main device 200 may also perform cleaning in
the specific divided region Z2-1 by autonomous traveling.
[0271] In a case in which the main device 200 performs cleaning
while autonomously traveling in real time, a cleaning controller
236 may remove a path through which the main device 200 has already
passed in real time.
[0272] The main device controller 230 according to another
embodiment may further include the virtual region setter 236. FIGS.
26 and 27 are exemplary views of a virtual region set by a virtual
region setter automatically or manually.
[0273] Referring to FIG. 26, a virtual region setter 236 may set a
virtual region W2 having a boundary spaced a preset reference
distance (e.g., 30 cm) apart from a divided region Z2 selected by
the user from the map image. In this case, in accordance with
control of a cleaning controller 235, a main device 200
autonomously travels and performs cleaning within the virtual
region W2 set by the virtual region setter 236.
[0274] Even in this case, the cleaning controller 235 may restrict
movement of the main device 200 at a virtual wall W1 in a case in
which the main device 200 approaches the virtual wall W1 set by a
virtual wall setter 234. In a case in which the virtual region W2
is generated, the virtual wall W1 set by the virtual wall setter
234 may also be removed.
[0275] Referring to FIG. 27, a virtual region setter 236 may also
set a virtual region manually in accordance with a user
command.
[0276] By performing drag-and-drop from any one point of a map
image displayed on a remote device UI 110 to another point thereon,
a user U may designate a virtual region forming a certain figure.
In accordance with control of the cleaning controller 235, the main
device 200 may autonomously travel and perform cleaning within the
virtual region W2 set by the virtual region setter 236.
[0277] In addition, the user U may also designate the virtual
region by a method of drawing a closed loop at any one point of the
map image displayed on the remote device UI 110.
[0278] Although it has been described in the above-described
embodiment that only the virtual region W2 is set in accordance
with a user command, the virtual wall W1 may also be set in
accordance with a user command. In addition, a plurality of virtual
walls W1 may be set.
[0279] FIG. 28 is an exemplary view of a plurality of virtual walls
set in accordance with a user command.
[0280] By performing drag-and-drop from any one point of a map
image displayed on a remote device UI 110 to another point thereon,
a user U may designate virtual walls W3 and W4 formed in a straight
line or a curve on the map image.
[0281] The plurality of virtual walls W3 and W4 may be
designated.
[0282] In this case, a main device 200 may autonomously travel in
accordance with control of a cleaning controller 235, but in a case
in which the main device 200 approaches any one of the plurality of
virtual walls W3 and W4, traveling of the main device 200 to the
corresponding virtual wall W3 or W4 may be restricted.
[0283] In a case in which it is determined that the main device 200
has completed traveling in all paths, the cleaning controller 235
controls a main device driver 270 to stop traveling, and a movement
path generator 232 removes a virtual wall and a virtual region.
[0284] The movement path generator 232 sets a target point in the
next divided region in accordance with a set cleaning order, and
generates a movement path to the target point.
[0285] Like the target point described above, the target point in
the next divided region may also be at least one of a central point
of the divided region, a point farthest from surrounding obstacles,
and any one point that is present within the next divided region
and the closest to the current position of the main device 200.
[0286] Although it has been described in the above-described
embodiment that a position determiner 231, the movement path
generator 232, the movement controller 233, a virtual wall setter
234, the cleaning controller 235, and the virtual region setter 236
are implemented as separate modules that implement different
functions, embodiments are not necessarily limited thereto, and at
least two or more of the position determiner 231, the movement path
generator 232, the movement controller 233, the virtual wall setter
234, the cleaning controller 235, and the virtual region setter 236
may be implemented in a single module. In addition, although it has
been described in the above-described embodiment that the position
determiner 231, the movement path generator 232, the movement
controller 233, the virtual wall setter 234, the cleaning
controller 235, and the virtual region setter 236 are implemented
in the main device 200, each of the elements may also be
implemented in a remote device 100, and in this case, sensor values
of the main device sensor unit 260 and a control signal for
controlling the main device driver 270 may be transmitted and
received through the remote device communication unit 120 and the
main device communication unit 220.
[0287] Hereinafter, a method of controlling the cleaning robot 1
according to one embodiment will be described with reference to
FIG. 29. FIG. 29 is a flowchart of a method of controlling the
cleaning robot according to one embodiment.
[0288] The reference numerals of the elements described with
reference to FIGS. 1 to 28 will be referenced for reference
numerals of the elements of the cleaning robot 1 which will be
described with reference to FIG. 29.
[0289] In a method of controlling a cleaning robot 1 according to
one embodiment, at least one divided region is designated by a user
(S1110).
[0290] The designating of the divided region may be performed by a
remote device input unit 111 of a remote device UI 110.
[0291] In the method of controlling the cleaning robot 1, a
plurality of divided regions may be designated by a user, and in
this case, a remote device controller 130 may store an order in
which the divided regions are designated in a remote device storage
unit 140.
[0292] Next, in the method of controlling the cleaning robot 1
according to one embodiment, an outline display attribute of the
designated divided region is changed (S1120). In the method of
controlling the cleaning robot 1 according to another embodiment, a
name display attribute of the designated divided region may be
changed.
[0293] As an example, the changing of the outline display attribute
may include changing color of the outline of the designated region
or displaying the outline in bolt font, and the changing of the
name display attribute may include changing color of a displayed
name or displaying the name in bold font.
[0294] The changing of the outline display attribute or the name
display attribute of the divided region includes changing an
outline or name of a designated region displayed on a remote device
display unit 112 by the remote device controller 130.
[0295] Next, in the method of controlling the cleaning robot 1
according to one embodiment, a main device moving command is
received from a user (S1130).
[0296] The receiving of the main device moving command may include
receiving a "start cleaning" command from the user by a remote
device input unit 111. A separate start moving command may also be
received in accordance with an implementation form of an
application.
[0297] Next, in the method of controlling the cleaning robot 1
according to one embodiment, an animation and a message, which
indicate that the main device 200 is moving, are output
(S1140).
[0298] In a case in which the remote device communication unit 120
receives a "moving" state value from the main device 200, the
outputting of the animation and message may include displaying a
translucent layer over a map image by the remote device display
unit 112 and displaying an animation from which the user may
intuitively recognize that the main device 200 is moving.
[0299] In a case in which the remote device communication unit 120
receives the "moving" state value from the main device 200, the
remote device display unit 112 may also display a movement path of
the main device 200.
[0300] The outputting of the animation and message may include
re-changing the outline display attribute of the designated divided
region. The outputting of the animation and message may include
re-changing the name display attribute of the designated divided
region.
[0301] As an example, the re-changing of the outline display
attribute may include restoring the outline display attribute of
the designated region to that prior to changes being made, and the
re-changing of the name display attribute may include restoring the
name display attribute of the designated region to that prior to
changes being made. However, the re-changing of the outline display
attribute or the name display attribute may also be performed in a
case in which a "cleaning completed" state value is received, which
will be described below.
[0302] Next, in the method of controlling the cleaning robot 1
according to one embodiment, a main device cleaning command is
received from a user (S1150).
[0303] In a case in which receiving a main device moving command
includes receiving the "start cleaning" command from the user, the
receiving of the main device cleaning command may be omitted.
[0304] The receiving of the main device cleaning command from the
user may be performed by the remote device input unit 111.
[0305] Next, in the method of controlling the cleaning robot 1
according to one embodiment, an icon, which indicates that the main
device 200 is performing cleaning, is displayed, and a message
indicating the same is output (S1160).
[0306] In a case in which the remote device communication unit 120
receives the "cleaning" state value from the main device 200, the
displaying of the icon may include displaying a "cleaning" icon
(for example, a hollow circular icon) above the name of the
designated region by the remote device display unit 112. In
addition, the displaying of the icon may include displaying the
"cleaning" icon in the form of an animation that moves within a
designated region 410.
[0307] Next, in the method of controlling the cleaning robot 1
according to one embodiment, whether an error has occurred in the
main device 200 is determined (S1170).
[0308] The determining of whether an error has occurred includes
receiving an "error occurrence" state value from the main device
200.
[0309] Next, in the method of controlling the cleaning robot 1
according to one embodiment, in a case in which an error has
occurred, i.e., the error occurrence state value is received, the
"error occurrence" icon is displayed and an error occurrence
message is output (S1180).
[0310] The displaying of the error occurrence icon may include, for
example, displaying an exclamation mark icon above the name of the
divided region in which an error has occurred.
[0311] Next, in the method of controlling the cleaning robot 1
according to one embodiment, in a case in which an error did not
occur, i.e., the error occurrence state value is not received,
whether cleaning is completed is determined (S1190).
[0312] The determining of whether cleaning is completed includes
receiving a "cleaning completed" state value from the main device
200 by the remote device communication unit 120.
[0313] Next, in the method of controlling the cleaning robot 1
according to one embodiment, in a case in which cleaning is
completed, i.e., the cleaning completed state value is received, a
"cleaning completed" icon is displayed, and a cleaning completed
message is output (S1200).
[0314] The displaying of the cleaning completed icon may include,
for example, displaying a check icon above the name of the divided
region in which cleaning is completed.
[0315] In the method of controlling the cleaning robot 1 according
to one embodiment, in a case in which cleaning is not completed,
i.e., the cleaning completed state value is not received, the
determining of whether an error has occurred (S1170) is performed
again.
[0316] Although the case in which any one divided region is
designated has been described in the above-described embodiment, a
plurality of divided regions may be designated by the user, and a
cleaning order of the divided regions may be designated. In this
case, in the method of controlling the cleaning robot 1, the main
device may be allowed to move and perform cleaning in accordance
with the designated cleaning order, and various remote device UIs
110 may be implemented in accordance with a user command or a state
value of the main device 200.
[0317] Hereinafter, a method of controlling the cleaning robot 1
according to another embodiment will be described with reference to
FIG. 30. FIG. 30 is a flowchart of a method of controlling the
cleaning robot according to another embodiment.
[0318] The reference numerals of the elements described with
reference to FIGS. 1 to 28 will be referenced for reference
numerals of the elements of the cleaning robot 1 which will be
described with reference to FIG. 30.
[0319] In a method of controlling a cleaning robot 1 according to
another embodiment, position information related to the current
position of a main device 200 is received from a main device sensor
unit 260, and a current position of the main device 200 is matched
with a map image (S2110).
[0320] In this case, the map image may be pre-stored in a main
device storage unit 240 or pre-stored in a remote device storage
unit 140. The map image includes information on one or more divided
regions and information on a region dividing point of each divided
region.
[0321] For example, in a case in which a space to be cleaned is a
home, a divided region may correspond to a room, and a region
dividing point may correspond to a door of the room.
[0322] The matching of the current position of the main device 200
with the map image may be performed by a position determiner 231 of
a main device controller 230 or may also be performed by a remote
device controller 130.
[0323] In a case in which the matching is performed by the remote
device controller 130, a remote device communication unit 120 may
receive position information of the main device 200 from a main
device communication unit 220, and transmit the received position
information to the remote device controller 130.
[0324] Then, in the method of controlling the cleaning robot 1
according to another embodiment, at least one divided region is
received as a target divided region from a user through a remote
device UI 110 (S2120).
[0325] Here, the remote device UI 110 may directly receive the
target divided region from the user or receive a cleaning order of
a plurality of divided regions.
[0326] Then, in the method of controlling the cleaning robot 1
according to another embodiment, a target point is set within the
divided region selected by the user, and a movement path of the
main device 200 to the set target point is generated (S2130).
[0327] The target point within the divided region selected by the
user may be any one of a central point of the selected divided
region, a point farthest from surrounding obstacles within the
selected divided region, and any one point that is present within
the selected divided region and the closest to the current position
of the main device 200.
[0328] The setting of the target point and generating of the
movement path may be performed by a movement path generator 232 of
the main device controller 230 or may also be performed by the
remote device controller 130.
[0329] In a case in which the setting of the target point and
generating of the movement path are performed by the movement path
generator 232 of the main device controller 230, the main device
communication unit 220 may receive a user command from the remote
device communication unit 120, and transmit the received user
command to the movement path generator 232.
[0330] Next, in the method of controlling the cleaning robot 1
according to one embodiment, the main device 200 is moved to the
target point (S2140).
[0331] In a case in which the main device 200 is moved to the
target point, the main device 200 may pass through a region
dividing point.
[0332] The moving of the main device 200 to the target point may be
performed by a moving controller 233 of the main device controller
230 or may also be performed by the remote device controller
130.
[0333] In a case in which the moving of the main device 200 to the
target point is performed by the moving controller 233 of the main
device controller 230, the moving controller 233 may control the
driving wheel driver 271 of a main device driver 270 to move the
main device 200 along the generated movement path.
[0334] In a case in which the moving of the main device 200 to the
target point is performed by the remote device controller 130, a
control signal generated by the remote device controller 130 may be
transmitted to the main device communication unit 220 via the
remote device communication unit 120, and the main device
communication unit 220 may transmit the received control signal to
the driving wheel driver 271 of the main device driver 270.
[0335] Next, in the method of controlling the cleaning robot 1
according to one embodiment, in a case in which the main device 200
is present at the target point, a virtual wall is set (S2150).
[0336] For example, the virtual wall may be set to include a region
dividing point of a selected divided region, i.e., a divided region
on a map image in which the main device 200 is present.
[0337] The virtual wall may also be manually set in accordance with
a user command.
[0338] The setting of the virtual wall may be performed by the
virtual wall setter 234 of the main device controller 230 or may
also be performed by the remote device controller 130.
[0339] Information on the virtual wall may be stored in the main
device storage unit 240 or the remote device storage unit 140.
[0340] The method of controlling the cleaning robot 1 according to
another embodiment may further include setting a virtual region in
a case in which the main device 200 is present at the target
point.
[0341] The virtual region may be automatically set to have a
boundary spaced a preset reference distance apart from the divided
region in which the main device 200 is present, or may also be
manually set by the user.
[0342] The setting of the virtual region may be performed by the
virtual region setter 236 of the main device controller 230 or may
also be performed by the remote device controller 130.
[0343] Information on the virtual region may be stored in the main
device storage unit 240 or the remote device storage unit 140.
[0344] Next, in the method of controlling the cleaning robot 1
according to one embodiment, the main device 200 is controlled to
start cleaning (S2160).
[0345] The controlling of the main device 200 to start cleaning may
include controlling the driving wheel driver 271 of the main device
driver 270 by the cleaning controller 235 of the main device
controller 230 to control the main device 200 to perform autonomous
traveling, and controlling the main brush driver 272 and the
side-brush driver 273 of the main device driver 270 by the cleaning
controller 235 to control the main device 200 to perform cleaning
while traveling.
[0346] The controlling of the main device 200 to start cleaning may
also be performed by the remote device controller 130. In this
case, control signals for respectively controlling the driving
wheel driver 271, the main brush driver 272, and the side-brush
driver 273 may be generated by the remote device controller 130 and
transmitted to the driving wheel driver 271, the main brush driver
272, and the side-brush driver 273 via the remote device
communication unit 120 and the main device communication unit
220.
[0347] The method of controlling the cleaning robot 1 may further
include, in a case in which it is determined that cleaning is
completed in the divided region selected by the user, stopping the
cleaning performance, determining the next divided region, setting
the target point in the next divided region, and generating the
movement path.
[0348] The descriptions given above are merely exemplary
descriptions of the technical spirit of the present disclosure, and
one of ordinary skill in the art should be able to make various
modifications, changes, and substitutions to the present disclosure
within the scope not departing from the essential features of the
present disclosure. Therefore, the embodiments disclosed above and
the accompanying drawings are for describing the technical spirit
of the present disclosure instead of limiting the same, and the
scope of the technical spirit of the present disclosure is not
limited by such embodiments and accompanying drawings. The scope of
the technical spirit of the present disclosure should be
interpreted from the claims below, and all technical spirits within
the scope equivalent thereto should be construed as belonging to
the scope of the present disclosure.
* * * * *