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WO2022173110A1 - Robot nettoyeur et son procédé de commande - Google Patents

Robot nettoyeur et son procédé de commande Download PDF

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Publication number
WO2022173110A1
WO2022173110A1 PCT/KR2021/019261 KR2021019261W WO2022173110A1 WO 2022173110 A1 WO2022173110 A1 WO 2022173110A1 KR 2021019261 W KR2021019261 W KR 2021019261W WO 2022173110 A1 WO2022173110 A1 WO 2022173110A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
robot cleaner
cleaner
guide
manual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2021/019261
Other languages
English (en)
Korean (ko)
Inventor
이소운
나누리
김아현
이준호
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of WO2022173110A1 publication Critical patent/WO2022173110A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/24—Hand-supported suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to a robot cleaner and a control method thereof, and more particularly, cooperatively cleaning through information shared with other cleaners, and providing integrated information and an optimal cleaning method for each cleaner It relates to a robot cleaner capable of providing a cleaning guide to a user and a control method thereof.
  • robots are developed for industrial use and are widely used in various industrial sites.
  • the field of using robots has been further expanded, and it is being used not only in the medical field and aerospace field, but also in general households.
  • a typical example of robots used at home is a robot vacuum cleaner.
  • the robot vacuum cleaner performs the function of cleaning while inhaling foreign substances such as dust while driving in the indoor space of the home by itself.
  • the present disclosure has been made in response to the above-described needs, and an object of the present disclosure is to cooperatively perform cleaning through communication with a manual vacuum cleaner and other robot cleaners, and to provide integrated information and an optimal cleaning method for each vacuum cleaner.
  • An object of the present invention is to provide a robot cleaner capable of providing an integrated cleaning guide to a user and a control method thereof.
  • a robot cleaner includes a driving device, a communication interface capable of communicating with the manual cleaner, and the robot based on use history information of the manual cleaner obtained through the communication interface. and a processor for providing an integrated cleaning guide for a plurality of cleaners including a cleaner and the manual cleaner, wherein the processor determines whether a cleaning operation is necessary based on use history information of the manual cleaner, and a result of the determination Generates the integrated cleaning guide based on , and controls the driving device to perform a cleaning operation according to the integrated cleaning guide.
  • the use history information may include at least one of a date, number of times, use time, and period in which the manual cleaner is used.
  • the use history information includes a use period of the manual cleaner, and the processor generates the integrated cleaning guide when the use history does not occur within the use period from the time when the manual cleaner was last used.
  • the robot cleaner further includes a sensor, and the processor generates a map based on information obtained through the sensor while driving in a space in which the robot cleaner is located when the robot cleaner is initially operated, and generates the map.
  • the processor generates a map based on information obtained through the sensor while driving in a space in which the robot cleaner is located when the robot cleaner is initially operated, and generates the map.
  • the processor calculates an area of a cleaning area to be cleaned based on the generated map information and an expected time required for cleaning of the cleaning area to be completed, the area of the cleaning area and the calculation An estimated time can be provided.
  • the integrated cleaning guide includes cleaning progress status information of each of the plurality of cleaners, and the cleaning progress status information includes a location of each cleaner, a cleaning start time, a cleaning end time, a cleaning completed area, and an uncleaned area. It may include at least one of information about
  • the robot cleaner may further include a speaker, and the processor may control the speaker to output a guide message corresponding to the integrated cleaning guide.
  • the robot cleaner may further include a display, and the processor may control the display to display an image corresponding to an operating state of the robot cleaner.
  • the processor may control the communication interface to transmit a signal for providing the integrated cleaning guide to the manual cleaner.
  • the processor may generate the integrated cleaning guide to guide the cleaning operation using the robot cleaner when it is identified that the battery of the manual cleaner is less than a preset value based on the information received from the manual cleaner. .
  • the method for controlling a robot cleaner includes acquiring use history information of a manual cleaner, and integrating the plurality of cleaners including the robot cleaner and the manual cleaner based on the use history information Providing a cleaning guide and controlling a driving device of the robot cleaner to perform a cleaning operation according to the integrated cleaning guide, wherein the providing of the integrated cleaning guide includes: and determining whether a cleaning operation is necessary based on the determination result, and generating the integrated cleaning guide based on a result of the determination.
  • the use history information may include at least one of a date, number of times, use time, and period in which the manual cleaner is used.
  • the use history information includes a use period of the manual cleaner
  • the determining may include that when the use history does not occur within the use period from the time the manual cleaner was last used, a cleaning operation is required.
  • the integrated cleaning guide may be generated so that the cleaning operation by the robot cleaner can be performed.
  • generating a map based on information obtained through a sensor while driving in a space in which the robot cleaner is located, and providing information that map generation is in progress while generating the map may further include.
  • control method may include calculating an area of a cleaning area to be cleaned and an expected time required for cleaning of the cleaning area to be completed based on the generated map information, and the area of the cleaning area and the The method may further include providing the calculated estimated time.
  • the integrated cleaning guide includes cleaning progress status information of each of the plurality of cleaners, and the cleaning progress status information includes a location of each cleaner, a cleaning start time, a cleaning end time, a cleaning completed area, and an uncleaned area. It may include at least one of information about
  • control method may further include outputting a guide message corresponding to the integrated cleaning guide through a speaker.
  • control method may further include displaying an image corresponding to the operating state of the robot cleaner through a display.
  • control method may further include transmitting a signal for providing the integrated cleaning guide to the manual cleaner.
  • the integrated cleaning guide when the battery of the manual cleaner is identified as less than a preset value based on the information received from the manual cleaner, the integrated cleaning is performed to guide the cleaning operation using the robot cleaner. You can create a guide.
  • the function guide is provided through at least one.
  • the step of providing the function guide may include controlling the movement of the wheels of the robot cleaner and providing a guide message related to the driving function of the robot cleaner.
  • the step of providing the guide message includes controlling the speaker to output a voice message including information on the wheels and controlling the display to display a visual message corresponding to the driving state of the robot cleaner may include the step of
  • the providing of the function guide may include controlling an operation of a suction motor of the robot cleaner and providing a guide message related to a dust suction function of the robot cleaner.
  • the providing of the function guide may include controlling the operation of the lidar sensor of the robot cleaner and providing a guide message related to the function of the lidar sensor.
  • control method may further include providing a mobile connection guide guiding a method for connecting the robot cleaner to communicate with a mobile device.
  • control method may further include providing a connection completion message when the connection with the mobile device is detected.
  • control method may further include providing a charger installation guide guiding a suitable location and an installation method for installing a charger for charging the robot cleaner.
  • control method may further include providing a charging start message when it is detected that the robot cleaner is docked with the charger.
  • control method may further include providing an expected charging completion time based on the remaining battery level of the robot cleaner.
  • control method may further include providing a greeting message to the user when it is determined that the robot cleaner has been operated for the first time.
  • FIG. 1 is a view for schematically explaining an integrated cleaning system according to an embodiment of the present disclosure.
  • FIG. 2 is a block diagram illustrating a configuration of a robot cleaner according to an embodiment of the present disclosure.
  • FIG. 3 is a block diagram illustrating a detailed configuration of a robot cleaner according to an embodiment of the present disclosure.
  • FIG. 4 is a diagram for explaining an operation in which the robot cleaner generates an integrated cleaning guide based on use history information of the manual cleaner.
  • FIG. 5 is a view for explaining an operation in which the robot cleaner generates a cleaning guide when a use history of the manual cleaner does not occur within a predetermined period of time from when the manual cleaner was last used.
  • FIG. 6 is a view for explaining an integrated cleaning guide UI that integrally provides cleaning progress status information of each cleaner included in the integrated cleaning system according to an embodiment of the present disclosure.
  • FIG. 7 is a view for explaining an integrated cleaning guide UI according to an embodiment of the present disclosure.
  • FIG. 8 is a view for explaining an operation of generating an integrated cleaning guide to guide the cleaning operation using the robot cleaner when the battery of the manual cleaner is identified as being less than a preset value.
  • FIG. 9 is a view for explaining an operation of generating an integrated cleaning guide to use a manual cleaner when an uncleaned area exists after a cleaning operation by the robot cleaner is completed.
  • FIG. 10 is a view for explaining an integrated cleaning guide UI that guides a cleaning operation through a manual cleaner.
  • 11 is a view for explaining an operation in which a robot cleaner communicates with another robot cleaner to perform cooperative cleaning.
  • FIG. 12 is a view for explaining another example of an operation in which a robot cleaner communicates with another robot cleaner to perform cooperative cleaning.
  • FIG. 13 is a view for explaining an integrated cleaning guide UI that provides cleaning progress status information for each of a plurality of robot cleaners.
  • FIG. 14 is a view for explaining a control method of a robot cleaner according to an embodiment of the present disclosure.
  • 15 is a view for explaining a map generation control operation when the robot cleaner is initially operated according to an embodiment of the present disclosure.
  • FIG. 16 is a diagram for explaining an operation of providing an Out of Box Experience (OOBE) to a user by a robot cleaner according to an embodiment of the present disclosure.
  • OOBE Out of Box Experience
  • 17 is a view for explaining an operation in which the robot cleaner provides a lighting animation through a display provided in the robot cleaner according to an embodiment of the present disclosure.
  • FIG. 18 is a diagram illustrating an example in which the robot cleaner according to an embodiment of the present disclosure displays status information of the robot cleaner through a display provided in the robot cleaner.
  • each step should be understood as non-limiting unless the preceding step must be logically and temporally performed before the subsequent step. That is, except for the above exceptional cases, even if the process described as the subsequent step is performed before the process described as the preceding step, the essence of the disclosure is not affected, and the scope of rights should also be defined regardless of the order of the steps.
  • expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of a corresponding characteristic (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.
  • first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms may be used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, a first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.
  • the present specification describes components necessary for the description of each embodiment of the present disclosure, the present disclosure is not necessarily limited thereto. Accordingly, some components may be changed or omitted, and other components may be added. In addition, they may be distributed and arranged in different independent devices.
  • FIG. 1 is a view for schematically explaining an integrated cleaning system according to an embodiment of the present disclosure.
  • the integrated cleaning system 1000 may include various cleaners 100 and 200 that perform a cleaning operation, a server 300 , and a user terminal device 400 .
  • the cleaning operation may mean that the cleaner sucks foreign substances such as dirt and dust present on the floor surface.
  • the cleaners 100 and 200 may include a cleaning device (ie, a cleaning tool) for sucking in foreign substances.
  • the cleaning device is rotatably installed and may include a brush for collecting foreign substances, and may generate a suction force through a motor or the like to suck the foreign substances from the floor.
  • the sucked foreign substances may be accommodated in the dust bin provided in the cleaners 100 and 200 .
  • the vacuum cleaner may include a robot cleaner 100 that automatically performs a cleaning operation while traveling in space, and a manual cleaner 200 that a user directly moves and performs a cleaning operation.
  • the integrated cleaning system 1000 of FIG. 1 is illustrated as including the first robot cleaner 100-1, the second robot cleaner 100-2, and the manual cleaner 200, the types and number of cleaners are limited thereto. doesn't happen In addition, by including various electronic devices that perform a cleaning operation as well as a cleaner, each device may cooperatively perform cleaning.
  • the first robot cleaner 100-1 and the second robot cleaner 100-2 may perform different cleaning functions.
  • the first robot cleaner 100-1 may be a robot cleaner performing a dry cleaning function
  • the second robot cleaner 100-2 may be a robot cleaner capable of performing a wet cleaning function, that is, a wet mop function. have.
  • the plurality of cleaners 100-1, 100-2, and 200 included in the integrated cleaning system 1000 communicate directly or communicate through an external device such as the server 300, respectively. information about the cleaning operation of the user can be shared, and thus, cleaning can be performed cooperatively. A detailed description related thereto will be provided later.
  • the server 300 may refer to an electronic device that collects and processes data of an external device.
  • the server 300 is not only a device that performs a function dedicated to the server, such as a cloud server, but also various electronic devices such as a smartphone, tablet, wearable device, and PC that can perform the function of the server together with other functions. may be implemented. However, this is only an example, and the server 300 may be implemented with various types of electronic devices not listed here. Also, the server 300 may be implemented as a single device or as an aggregate comprising a plurality of devices.
  • the user terminal device 400 is a device capable of performing various functions, such as providing information to a user or receiving a user command, and may be various electronic devices such as a smart phone, a tablet, a wearable device, and a PC.
  • the user terminal device 400 may receive a user command from the user and transmit it to the robot cleaner 100 through the server 300 or directly to the robot cleaner 100 .
  • communication may be performed using a short-range wireless communication method such as wifi direct or Bluetooth.
  • the robot cleaner 100 may transmit and receive various information (or data) by communicating with the server 300 or the user terminal device 400 through the communication interface 110 .
  • the user terminal device 400 Based on the information received from the robot cleaner 100 and the manual cleaner 200 , the user terminal device 400 guides the user with integrated information on each of the plurality of cleaners and an integrated cleaning method using the plurality of cleaners It is possible to provide an integrated cleaning guide UI for A detailed description related thereto will be provided later.
  • FIG. 2 is a block diagram illustrating a configuration of a robot cleaner according to an embodiment of the present disclosure.
  • the robot cleaner 100 may include a communication interface 110 and a processor 120 .
  • the communication interface 110 may transmit/receive various types of data by performing communication with an external device (eg, a server, a smart phone, etc.) according to various types of communication methods.
  • the communication interface 110 transmits information obtained by the sensor 140 to an external device such as the server 300 or the user terminal device 400 , or a control command for driving the robot cleaner 100 . may be received from an external device.
  • the communication interface 110 includes a Bluetooth chip (not shown), a Wi-Fi chip (not shown), a wireless communication chip (not shown) and an NFC chip (not shown) for performing wireless communication, and an Ethernet module for performing wired communication. It may include at least one of (not shown) and a USB module (not shown). In this case, an Ethernet module and a USB module performing wired communication may communicate with an external device through an input/output port (not shown).
  • the input/output port may be implemented as a wired port such as an HDMI port, a display port, an RGB port, a Digital Visual Interface (DVI) port, a Thunderbolt, a LAN port, a USB port, a Lightning cable port, and a component port.
  • the input/output port can transmit and receive various types of data by performing communication with various types of external devices through each communication standard.
  • the robot cleaner 100 may communicate with the manual cleaner 200 and other robot cleaners through the communication interface 110 to transmit/receive various information related to a cleaning operation.
  • the robot cleaner 100 acquires the use history information of the manual cleaner 200 through the communication interface 110 or shares the map information on the space with the manual cleaner 200 that cannot generate a map by itself. can do. A detailed description related thereto will be provided later.
  • the processor 120 may control the overall operation of the robot cleaner 100 .
  • the processor 120 includes a RAM (not shown), a ROM (not shown), a graphic processing unit (not shown), a main CPU (not shown), first to n interfaces (not shown), and a bus (not shown).
  • a RAM not shown
  • ROM not shown
  • graphic processing unit not shown
  • main CPU not shown
  • first to n interfaces not shown
  • bus not shown
  • the processor 120 provides an integrated cleaning guide for a plurality of cleaners including the robot cleaner 100 and the manual cleaner 200 based on the use history information of the manual cleaner 200 acquired through the communication interface 110 . can do.
  • the processor 120 determines whether a cleaning operation is necessary based on the use history information of the manual cleaner 200 , generates an integrated cleaning guide based on the determination result, and performs a cleaning operation according to the integrated cleaning guide.
  • the driving device 150 may be controlled.
  • the processor 120 determines that the cleaning operation has not been performed for a longer period of time than the existing use period of the manual cleaner 200 based on the use history information of the manual cleaner 200 , the user selects the robot cleaner 100 .
  • an integrated cleaning guide for guiding a cleaning operation to be performed using the manual cleaner 200 may be generated. A detailed description related thereto will be provided later.
  • the processor 120 controls to provide the integrated cleaning guide through the output interface 170 such as the display 171 or the speaker 172 built in the robot cleaner 100, or the integrated cleaning guide is provided through an external device.
  • the communication interface 110 may be controlled to transmit a signal for providing the integrated cleaning guide to an external device.
  • the external device may be various electronic devices such as the manual cleaner 200 , the server 300 , the user terminal device 400 , or other robot cleaners. A detailed description related to the provision of the integrated cleaning guide through the external device will be described later.
  • FIG. 3 is a block diagram illustrating a detailed configuration of a robot cleaner according to an embodiment of the present disclosure.
  • the robot cleaner 100 includes a communication interface 110 , a processor 120 , a memory 130 , a sensor 140 , a driving device 150 , an input interface 160 , and an output interface 170 . may include. A detailed description of the portion overlapping with the configuration shown in FIG. 2 among the configuration shown in FIG. 3 will be omitted.
  • Various instructions, programs, or data necessary for the operation of the robot cleaner 100 or the processor 120 may be stored in the memory 130 .
  • information acquired by the sensor 140 and data received from an external electronic device may be stored in the memory 130 .
  • the memory 130 includes volatile memories such as static random access memory (S-RAM) and dynamic random access memory (D-RAM), flash memory, read only memory (ROM), erasable programmable read only memory (EPROM), and EEPROM. It may be implemented as a non-volatile memory such as (Electrically Erasable Programmable Read Only Memory), a hard disk drive (HDD), or a solid state drive (SSD).
  • S-RAM static random access memory
  • D-RAM dynamic random access memory
  • flash memory read only memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • the memory 130 is accessed by the processor 120 , and reading/writing/modification/deletion/update of data by the processor 120 may be performed.
  • the term memory of the present disclosure refers to a memory 130, a RAM (not shown) in the processor 120, a ROM (not shown), or a memory card (not shown) mounted in the robot cleaner 100 (eg, micro SD). cards, memory sticks, etc.).
  • the processor 120 and the memory 130 may be implemented in a physically separate configuration, or may be implemented in a single configuration, such as the processor 120 including the memory 130 .
  • a single configuration or a plurality of configurations of the processor 120 may be implemented as one system.
  • the memory 130 may also be implemented in a single configuration or a plurality of configurations as one system.
  • the sensor 140 may acquire various information related to the robot cleaner 100 and the robot cleaner 100 .
  • the sensor 140 may transmit an electrical signal to the processor 120 or store the detection result in the memory 130 of the robot cleaner 100 or an external device.
  • the sensor 140 may include a light detection and ranging (LiDAR) sensor (or a laser distance sensor (LDS)).
  • LiDAR light detection and ranging
  • LDS laser distance sensor
  • the lidar sensor rotates 360 degrees and irradiates a laser, and when the irradiated laser is reflected from an object around the robot cleaner 100 and is received, the distance to the object is sensed based on the time when the laser is received, or , it is possible to detect the distance to the object by measuring the amount of phase change of the received laser.
  • the driving device 150 is configured to move the robot cleaner 100 .
  • the driving device 150 may include wheels installed on the left and right sides of the main body of the robot cleaner 100 , respectively, and a motor for driving the wheels. Accordingly, the driving device 150 may perform various driving operations such as movement, stopping, speed control, direction change, and angular velocity change of the robot cleaner 100 .
  • the input interface 160 may receive various user commands.
  • the input interface 160 may receive a user command for controlling the robot cleaner 100 .
  • the input interface 160 may include a microphone (not shown) that receives a user's spoken voice, and may include a display 171 that receives a user command through a touch screen.
  • the output interface 170 may include at least one of a display 171 and a speaker 172 .
  • the display is a device for outputting information in a visual form (eg, text, image, etc.).
  • the display may display the image frame in all or part of the display area.
  • the display area may refer to the entire area of a pixel unit in which information or data is visually displayed.
  • a speaker is a device that outputs information in an audible form (eg, voice).
  • the speaker may directly output various kinds of notification sounds or voice messages as well as various audio data on which various processing operations such as decoding, amplification, and noise filtering have been performed by an audio processing unit (not shown).
  • the robot cleaner 100 may output a cleaning guide through an output interface 170 such as a display 171 and a speaker 172 .
  • the display 171 may be implemented as an LED panel, and the processor 120 controls the brightness, color, lighting range, lighting cycle, lighting pattern, etc. of light output through the LED panel through the display 171 . You can output a lighting animation. A detailed description related thereto will be provided later.
  • FIG. 4 is a diagram for explaining an operation in which the robot cleaner generates an integrated cleaning guide based on use history information of the manual cleaner.
  • the robot cleaner 100 may communicate with the manual cleaner 200 through the communication interface 110 to obtain information on the use history of the manual cleaner 200 .
  • information such as the date, number of times, use time, and period of use of the manual vacuum cleaner may be acquired.
  • the robot cleaner 100 may analyze the user's use pattern of the manual cleaner 200 based on the acquired use history information. For example, the robot cleaner 100 may generate an analysis result that the user uses the manual vacuum cleaner 3 times a week on average, cleans every other day, and performs a cleaning operation for an average of 20 minutes when used once.
  • the robot cleaner 100 may determine whether a cleaning operation is necessary based on the use history information of the manual cleaner 200 . For example, when a use history does not occur within an existing use cycle from the time when the manual cleaner 200 was last used (refer to FIGS. 4 and 410 ), it may be determined that a cleaning operation is necessary.
  • the robot cleaner 100 may generate an integrated cleaning guide for a plurality of cleaners including the robot cleaner 100 and the manual cleaner 200 based on usage history information.
  • the integrated cleaning guide is a guide for providing a user with integrated information about each vacuum and an optimal cleaning method for cooperative cleaning using a plurality of cleaners.
  • the integrated cleaning guide may include information about a UI related to a control signal for controlling each cleaner and a guide message provided to a user, and the like.
  • the robot cleaner 100 when it is determined that the user uses the manual cleaner 200 less than the usual usage pattern, the robot cleaner 100 provides an integrated cleaning guide that suggests to the user to perform a cleaning operation through the robot cleaner 100 .
  • a guide message 420 may be provided.
  • the robot cleaner 100 may control the driving device 150 of the robot cleaner 100 to perform the cleaning operation according to the generated cleaning guide. Meanwhile, when it is determined that the cleaning operation is necessary, the robot cleaner 100 may automatically perform the cleaning operation. That is, the integrated cleaning guide may include a guide for suggesting to the user to perform a cleaning operation by the robot cleaner 100 or a control signal for automatically controlling the cleaning operation of the robot cleaner 100 .
  • FIG. 5 is a view for explaining an operation in which the robot cleaner generates a cleaning guide when a use history of the manual cleaner does not occur within a predetermined period of time from when the manual cleaner was last used.
  • the integrated cleaning guide generated by the robot cleaner 100 when the use history does not occur within the use period from the time when the manual cleaner 200 was last used, the cleaning operation by the robot cleaner 100 will be performed.
  • An integrated cleaning guide that controls to be able to do so can be created.
  • the integrated cleaning guide may include a guide for suggesting to the user to perform a cleaning operation by the robot cleaner 100 or a control signal for automatically controlling the cleaning operation of the robot cleaner 100 .
  • the robot cleaner 100 removes the robot cleaner 100 . It is possible to provide a guide message 520 according to the integrated cleaning guide that suggests to the user to perform a cleaning operation through the
  • the robot cleaner 100 controls the driving device 150 of the robot cleaner 100 to perform a cleaning operation according to the generated integrated cleaning guide, or automatically It is also possible to control the driving device 150 through a control signal for controlling to perform the cleaning operation.
  • FIG. 6 is a view for explaining an integrated cleaning guide UI that integrally provides cleaning progress status information of each cleaner included in the integrated cleaning system according to an embodiment of the present disclosure.
  • the cleaning progress status information may include a location of each cleaner, a cleaning start time, an expected cleaning end time, information on a cleaning completed area and an uncleaned area, and the like.
  • the robot cleaner 100 may provide map information 610 on the cleaning area and cleaning progress information 631 , 632 , 633 of each cleaner through the integrated cleaning guide UI. have.
  • the integrated cleaning guide UI includes an icon indicating the position of the cleaning robot 621 that is a robot cleaner on the map information 610 , an icon indicating the position of the wet mop robot 622 , and a stick cleaner 623 that is a manual cleaner.
  • An icon indicating the location of can be displayed.
  • the cleaning robot 621 is cleaning the living room 611 and is scheduled to be cleaned at 10:35 (631)
  • the wet mop robot 622 is cleaning the study 612 and is scheduled to be cleaned at 10:55 (632)
  • a stick cleaner Reference numeral 623 indicates that charging is in progress and that the charging is scheduled to be completed at 11:30 may be displayed on one UI screen. Accordingly, the user can intuitively check the location of each of the plurality of cleaners and the cleaning progress status.
  • the robot cleaner 100 cooperatively performs cleaning through communication with the manual cleaner 200 and other robot cleaners, and provides the user with an integrated cleaning guide including integrated information on each cleaner. While performing efficient cleaning, information on the cleaning progress can be intuitively provided to the user.
  • FIG. 7 is a view for explaining an integrated cleaning guide UI according to an embodiment of the present disclosure.
  • the integrated cleaning guide UI may be provided to the user in various ways.
  • the integrated cleaning guide UI may be provided in the form of an application execution screen displayed on the display of the user terminal device 400 .
  • the user can receive various cleaning-related information, such as information on each of the plurality of vacuums and cleaning progress information, through the integrated cleaning guide UI.
  • the cleaning operation can be controlled.
  • the integrated cleaning guide UI may include a UI 710 for displaying a device to be controlled, and a UI 770 for changing a device to be controlled.
  • the user may select the control target device by selecting any one of the robot cleaner 771 , the wet mop robot 772 , and the stick cleaner 773 through the control target device change UI 770 .
  • control target device change UI 770 by selecting each device, detailed information related to the corresponding device may be checked.
  • the user may include an integrated monitoring UI 720 for a plurality of cleaners in the integrated cleaning guide UI.
  • the integrated monitoring UI 720 may display the cleaning target area of each of the robot cleaner and the wet mop robot, and may display the location of each cleaner on the map.
  • the integrated monitoring UI 720 may include a cleaning start button UI for executing a cleaning operation according to the integrated cleaning guide.
  • the integrated cleaning guide UI may include an integrated cleaning mode setting UI 730 .
  • the user can perform various cleaning methods such as a cleaning mode using a robot cleaner and a wet mop robot, a mode for cleaning all rooms, a mode for cleaning around furniture, a mode for executing repeated cleaning, etc. through the integrated cleaning mode setting UI 730 . mode can be set.
  • the integrated cleaning guide UI may include a cleaning report UI 740 that reports a cleaning status to the user after a cleaning operation according to the integrated cleaning guide is completed.
  • the cleaning report UI 740 may display 741 and 742 cleaning performance areas of each cleaner.
  • cleaning may be displayed for the living room, kitchen, and study area except for the master area excluded from the cleaning target area.
  • the wet mop robot 742 cleaning is completed for the area except the carpet (C) for the living room and kitchen areas with the carpet (C) that cannot be cleaned with the wet mop and the bedroom area excluded from the cleaning target area. have.
  • the integrated cleaning guide UI may further include an integrated reservation UI 750 for setting a reservation for a cleaning operation according to the integrated cleaning guide, and a map management UI 760 for managing a map.
  • the map management UI 760 may include a map editing UI 761 and a cleaning exclusion zone setting UI 762 .
  • FIG. 8 is a view for explaining an operation of generating an integrated cleaning guide to guide the cleaning operation using the robot cleaner when the battery of the manual cleaner is identified as being less than a preset value.
  • the robot cleaner 100 identifies that the battery of the manual cleaner 200 is less than a preset value based on the information received from the manual cleaner 200, Create an integrated cleaning guide to guide the cleaning operation using the robot cleaner 100, and provide a guide message 820 according to the integrated cleaning guide that suggests to the user to perform the cleaning operation through the robot cleaner 100 have.
  • the robot cleaner 100 may perform a cleaning operation for the entire cleaning area using the manual cleaner 200 due to the lack of battery in the manual cleaner 200 based on the information received from the manual cleaner 200 . If it is determined that there is no, an integrated cleaning guide that proposes to finish cleaning the unfinished area through the robot cleaner 100 instead of the manual cleaner 200 may be generated.
  • the integrated cleaning guide is a robot cleaner with respect to an incomplete cleaning area 812 other than the areas 811 , 813 , and 814 that have been cleaned by the manual cleaner 200 ). It may include a guide for suggesting to the user to perform the cleaning operation by (100).
  • the integrated cleaning guide generated by the robot cleaner 100 is not limited to controlling and guiding the cleaning operation of the robot cleaner 100 based on the use history information of the manual cleaner 200 , and It may be generated to suggest to the user to perform a cleaning operation through the manual cleaner 200 based on the cleaning progress status information.
  • FIG. 9 is a view for explaining an operation of generating an integrated cleaning guide to use a manual cleaner when an uncleaned area exists after a cleaning operation by the robot cleaner is completed.
  • an integrated cleaning guide is generated to guide the cleaning operation using the manual cleaner 200 and , a guide message 920 according to an integrated cleaning guide suggesting to the user to perform a cleaning operation through the manual cleaner 200 may be provided.
  • the robot cleaner 100 fails to clean the specific area 913 because the door is closed or fails to perform a cleaning operation due to an obstacle (912), detailed information on this is provided to the user, It may be suggested to perform an additional cleaning operation on the area using the manual cleaner 200 .
  • FIG. 10 is a view for explaining an integrated cleaning guide UI that guides a cleaning operation through a manual cleaner.
  • the integrated cleaning guide UI may include a UI 1010 for displaying a device to be controlled and a UI 1020 for providing information according to the integrated cleaning guide.
  • the integrated cleaning guide UI provides information that the cleaning operation for a specific area has not been completed through the robot cleaner and a message suggesting that cleaning is performed through the stick cleaner, It may include a UI 1021 displayed on the , a UI 1022 displaying a scheduled cleaning completion time, and a cleaning start button UI 1023 for executing a cleaning operation according to the integrated cleaning guide.
  • 11 is a view for explaining an operation in which a robot cleaner communicates with another robot cleaner to perform cooperative cleaning.
  • the robot cleaner 100 includes a first robot cleaner 100-1 performing a dry cleaning operation and a second robot cleaner 100-2 performing a wet cleaning operation
  • the second robot cleaner 100 - 2 automatically performs a cooperative cleaning operation in which the wet cleaning is performed.
  • a signal for controlling the cleaning operation of the second robot cleaner 100-2 may be transmitted.
  • FIG. 12 is a diagram for explaining another example of an operation in which a robot cleaner communicates with another robot cleaner to perform cooperative cleaning.
  • a first robot cleaner 100-1 which is a dry cleaning robot
  • a second robot cleaner 100-2 which is a wet cleaning robot
  • share location information in real time thereby simultaneously performing dry and wet cleaning operations. can do. Accordingly, it is possible to shorten the cleaning time compared to the case where the plurality of robot cleaners separately perform the cleaning operation.
  • FIG. 13 is a view for explaining an integrated cleaning guide UI that provides cleaning progress status information for each of a plurality of robot cleaners.
  • the integrated cleaning guide UI includes a UI 1310 for displaying a device to be controlled, a UI 1320 for indicating location information of each cleaner, and a UI 1330 for providing information according to the integrated cleaning guide. may include.
  • the UI 1330 providing information according to the integrated cleaning guide may provide a guide message indicating that the cleaning operation is temporarily stopped because the cleaning operation of the wet mop robot cannot be performed on the area on which the carpet (C) is laid. , a UI 1340 for displaying a scheduled cleaning completion time, and a pause button UI 1350 for temporarily pausing a cleaning operation according to the integrated cleaning guide.
  • FIG. 14 is a view for explaining a control method of a robot cleaner according to an embodiment of the present disclosure.
  • the control method of the robot cleaner 100 includes a robot cleaner and a manual cleaner based on the step of obtaining use history information of the manual cleaner ( S1410 ) and the use history information and providing an integrated cleaning guide for a plurality of cleaners ( S1420 ).
  • the robot cleaner 100 may acquire usage history information of the manual cleaner 200 ( S1410 ).
  • the use history information may include at least one of the date, the number of times, the use time, and the period of use of the manual cleaner 200 .
  • the robot cleaner 100 may provide an integrated cleaning guide for a plurality of cleaners including the robot cleaner 100 and the manual cleaner 200 based on the use history information of the manual cleaner 200 (S1420). have.
  • the robot cleaner 200 determines whether a cleaning operation is necessary based on the use history information of the manual cleaner 200 , generates an integrated cleaning guide based on the determination result, and provides the generated integrated cleaning guide to the user. can provide
  • the robot cleaner 200 may receive use history information including information such as the date, number of times, use time, and period of use of the manual cleaner 200 to determine whether a cleaning operation is required.
  • the robot cleaner 200 is cleaned when, based on the use history information received from the manual cleaner 200 , a use history does not occur within a period of use from the time when the manual cleaner 200 was last used. Action may be judged to be necessary.
  • the robot cleaner 100 may generate an integrated cleaning guide so that the cleaning operation by the robot cleaner 100 can be performed.
  • the integrated cleaning guide may include cleaning progress information of each of the plurality of cleaners.
  • the cleaning progress status information may include a location of each cleaner, a cleaning start time, an expected cleaning end time, and information on a cleaning completed area and an uncleaned area.
  • the robot cleaner 100 when the use history does not occur within the use period from the time when the manual cleaner 200 was last used, the robot cleaner 100 An integrated cleaning guide that controls the cleaning operation to be performed may be generated.
  • the integrated cleaning guide may include a guide for suggesting to the user to perform a cleaning operation by the robot cleaner 100 or a control signal for automatically controlling the cleaning operation of the robot cleaner 100 .
  • the robot cleaner 100 when the robot cleaner 100 identifies that the battery of the manual cleaner 200 is less than a preset value based on the information received from the manual cleaner 200 , the robot cleaner 100 guides the cleaning operation using the robot cleaner 100 .
  • An integrated cleaning guide can be created to do this.
  • the integrated cleaning guide may include a guide for suggesting to the user to perform a cleaning operation by the robot cleaner 100 for an unfinished area other than the area cleaned by the manual cleaner 200 .
  • the robot cleaner 100 may provide an integrated cleaning guide to the user through an output interface provided in the robot cleaner 100 .
  • the robot cleaner 100 may output a guide message corresponding to the integrated cleaning guide through the speaker 172 .
  • the robot cleaner 100 may provide the generated integrated cleaning guide to an external device through the communication interface 110 .
  • the robot cleaner 100 may transmit a signal for providing the integrated cleaning guide to the server 300 or the user terminal device 400 through the communication interface 110 .
  • the user terminal device 400 receives the integrated cleaning guide through the server 300 or receives it directly from the robot cleaner 100 , and provides an integrated cleaning guide to the user through an output interface such as a display and a speaker of the user terminal device 400 . can provide
  • the robot cleaner 100 may provide the integrated cleaning guide not only to the server 300 and the user terminal device 400 , but also to the manual cleaner 200 or other robot cleaners.
  • the robot cleaner 100 may transmit a signal for providing the integrated cleaning guide to the manual cleaner 200 or another robot cleaner through the communication interface 110 .
  • the manual cleaner 200 or other robot cleaner may provide an integrated cleaning guide to the user through an output interface such as a display and a speaker, respectively.
  • the robot cleaner 100 when the robot cleaner 100 is operated for the first time, it is possible to acquire characteristic information of the space related to the map creation and cleaning operation through learning of the space in which the robot cleaner 100 is located.
  • 15 is a view for explaining a map generation control operation when the robot cleaner is initially operated according to an embodiment of the present disclosure.
  • the control method of a robot cleaner includes generating a map based on information obtained through a sensor while driving in a space in which the robot cleaner is located when the robot cleaner is first operated ( S1510), a step of providing information that map generation is in progress while generating a map (S1520), the area of the cleaning area to be cleaned based on the generated map information, and the area of the cleaning area to be cleaned and necessary for cleaning the cleaning area to be completed It may include calculating the expected time (S1530) and providing the area of the cleaning area and the calculated expected time (S1540).
  • the robot cleaner 100 when the robot cleaner 100 is initially operated, it may travel in a space in which the robot cleaner is located and generate a map based on information obtained through a sensor ( S1510 ).
  • the robot cleaner 100 generates a map for the space in which the robot cleaner 100 is located through sensing the distance to the object using the lidar sensor and object recognition using the camera, and identifies the objects placed in the space. Characteristic information of a space related to a cleaning operation may be acquired.
  • the robot cleaner 100 may acquire information about the structure of the space through the sensor.
  • the robot cleaner 100 may acquire information on a plurality of spaces separated by a wall, and based on this, it may be recognized that each space separated by a wall forms an individual room.
  • the robot cleaner 100 may learn about the space through the sensor. For example, after recognizing the structure of the space, the robot cleaner 100 may move to the central area of the space to operate the lidar sensor.
  • information on the space in which the robot cleaner 100 is located can be obtained more precisely by performing the space learning alone, compared to the case where the space learning is performed while the cleaning operation is performed.
  • the robot cleaner 100 may provide information indicating that map generation is in progress while the map is being generated ( S1520 ).
  • the robot vacuum cleaner 100 may output a guide voice indicating that map generation starts upon initial operation (for example, “before full-scale cleaning, learn the structure by quickly looking around the house.”) through the speaker. .
  • the robot cleaner 100 receives state information that the robot cleaner 100 is performing an operation of outputting sound through a speaker through the display 171 (refer to FIGS. 17 and 18 ) provided in the robot cleaner 100 . can provide
  • the robot cleaner 100 controls the display 171 to have a lighting range corresponding to the size of the sound output when the sound is output through the speaker, and the sound is output through the speaker can be visually indicated.
  • the display 171 may be implemented as an LED panel.
  • the robot cleaner 100 controls the brightness, color, lighting range, lighting cycle, lighting pattern, etc. of the light output through the display 171 to control the state of the robot cleaner 100 (for example, running state, scanning state, etc.) A lighting animation corresponding to each may be provided.
  • the robot cleaner 100 may provide status information of the robot cleaner 100 by displaying text through the display 171 (refer to FIG. 18 ).
  • the robot cleaner 100 provides status information (eg, an image displaying the text “Moving” through the display 171 ) indicating that it is driving while traveling in space, and each through the lidar sensor
  • status information eg, an image displaying the text “Moving” through the display 171
  • information about the state of being scanned eg, an image displaying the text “Scanning” through the display 171
  • Such text may be displayed by controlling the lighting pattern of the display 171 implemented as an LED panel.
  • the spatial learning operation of the robot cleaner 100 can be intuitively recognized by the user, and the user's trust in the product can be improved.
  • the robot cleaner 100 calculates the area of the cleaning area to be cleaned and the expected time required to complete the cleaning of the cleaning area based on the generated map information (S1530), and calculates the area and calculation of the cleaning area
  • the estimated time may be provided (S1540).
  • the robot cleaner 100 when the map creation operation is completed, the robot cleaner 100 provides a guide voice (eg, “draw the map and return to the charger.” SmartThings App) Please check the map.”) can be output through the speaker.
  • the robot cleaner 100 may provide a message guiding an area requiring cleaning and an estimated cleaning time accordingly based on the map information.
  • the user can intuitively recognize the spatial learning operation provided when the robot cleaner 100 is initially operated, and the user's trust in the product can be improved.
  • OOBE out of box experience
  • 16 is a diagram for explaining an operation in which a robot cleaner provides an OOBE to a user according to an embodiment of the present disclosure.
  • the operation of the robot cleaner providing OOBE to the user includes determining whether the robot cleaner is initially operated ( S1610 ), providing a greeting message ( S1620 ), and a function It may include providing a guide guide (S1630), providing a mobile connection guide (S1640), and providing a charger installation guide (S1650).
  • the robot cleaner 100 may determine whether the robot cleaner 100 is initially operated ( S1610 ). For example, the robot cleaner 100 may determine that the robot cleaner 100 operates first when there is no use history information, based on the use history information of the robot cleaner stored in the memory. On the other hand, it may be determined that the robot cleaner 100 operates for the first time even when the robot cleaner 100 is reset and operates for the first time after the memory is initialized as in the case of factory initialization.
  • the robot cleaner 100 may provide a greeting message (S1620), a function guide guide (S1630), a mobile connection guide (S1640), a charger installation guide (S1650), etc. have.
  • the robot cleaner 100 When providing a greeting message (S1620), the robot cleaner 100 is "Hello? Nice to meet you.” can be output through the speaker. In addition, after outputting a voice message such as “I will show you how to clean in the future,” the robot cleaner 100 may provide a function guide for explaining function information of the robot cleaner 100 .
  • the robot cleaner 100 may provide a guide explaining operations related to main functions of the robot cleaner 100, such as a driving operation, an operation of a lidar sensor, and a dust suction operation. .
  • the robot cleaner 100 may provide a function guide through a sound output through a speaker, an image output through a display, and a motion of the robot cleaner 100 .
  • the processor 120 may control the driving device to rotate the robot cleaner 100 left and right, and may provide a guide message related to a driving function of the robot cleaner 100 .
  • the processor 120 outputs a voice message including information on the wheels of the robot cleaner 100 (for example, “Do you see the wheels on either side of me? Please look forward to a sleek but delicate driving.”)
  • the speaker can be controlled, and the display 171 can be controlled to display a visual message corresponding to the driving state of the robot cleaner 100 (eg, text such as “Moving” or a lighting animation corresponding to the driving state). have.
  • the processor 120 controls the lidar sensor to move up and down, and a guide message related to the lidar sensor (for example, through a speaker, “This is a lidar sensor. Thanks to this, I can draw a map meticulously while avoiding obstacles. By outputting a voice message such as “.” or controlling to display text such as “Scanning” through the display 171), it is possible to provide information about the location and function of the lidar sensor to the user.
  • the processor 120 sets the speaker to provide a guide message related to the dust suction operation of the robot cleaner 100 (for example, “I will show you a strong suction power that absorbs all the dust. Leave your worries about the dust.”) control, and may control a motor included in the driving device to perform a suction operation. Also, the processor 120 may control the text “Cleaning” to be displayed on the display 171 (refer to FIG. 18 ). In this case, in order to effectively transmit the suction power of the robot cleaner 100 to the user, the processor 120 may control the motor to operate with the maximum suction power.
  • a guide message related to the dust suction operation of the robot cleaner 100 for example, “I will show you a strong suction power that absorbs all the dust. Leave your worries about the dust.”
  • the processor 120 may control the text “Cleaning” to be displayed on the display 171 (refer to FIG. 18 ). In this case, in order to effectively transmit the suction power of the robot cleaner 100 to the user, the processor 120 may control the motor to
  • the robot cleaner 100 When the mobile connection guide is provided (S1640), the robot cleaner 100 provides a guide message guiding the need for mobile connection and installation method (for example, “Shall we set up a mobile connection for more functions?”, “SmartThings app”). After downloading, please connect with 'Add device'.
  • the robot cleaner 100 may provide a guide message indicating that the connection is complete (eg, “Registration to SmartThings has been completed”). .
  • the user terminal device 400 may provide a connection completion message through an application linked to the robot cleaner 100 .
  • the robot cleaner 100 When the charger installation guide is provided (S1650), the robot cleaner 100 provides a guide message that guides the location and installation method suitable for installing the charger (for example, “Please install the charger.” An open place is good.”, “After installation, put it on the charger and charge it.”) can be provided. In addition, when it is detected that the charger is installed and the robot cleaner 100 is docked with the charger, the robot cleaner 100 may provide a guide message indicating that charging is started and a guide message about the expected time until charging is completed.
  • the robot cleaner 100 may not only provide an audible guidance message through a speaker, but may also provide status information of the robot cleaner 100 through the display 171 .
  • the robot cleaner 100 may include a display 171 having an arc shape.
  • the display 171 may be disposed on the upper edge area of the robot cleaner 100 to increase the user's visual accessibility.
  • the display 171 may be implemented as an LED panel in which a plurality of LEDs are arranged.
  • the robot cleaner 100 can control each of a plurality of LEDs, and specifically, the brightness, color, lighting range, lighting cycle, lighting pattern, etc. of the light output through the display 171 are controlled to control the robot cleaner 100 .
  • a lighting animation corresponding to an operation state may be provided.
  • the processor 120 performs lighting corresponding to the current state of the robot cleaner 100 using lighting animation control information stored in the memory 130 for each state such as driving or scanning operation, sound output, and the like.
  • An animation may be displayed on the display 171 .
  • the robot cleaner 100 displays the display 171 to have a lighting range corresponding to the amplitude of the output sound, for example, the size of the output sound. By controlling it, you can visually indicate that sound is being output through the speaker.
  • the robot cleaner 100 lights some of the plurality of LEDs on the display 171 implemented as an LED panel, and “Cleaning”, “Moving”, and “Scanning” through the arrangement of the lit LEDs. ”, “Speaking”, etc. can be controlled to form text.
  • the plurality of LEDs may be arranged in a matrix to display text on the LED panel at once, or may be provided in the form of an image in which text is scrolled and moved.
  • the robot cleaner 100 turns on some of the plurality of LEDs on the LED panel and when the power of the robot cleaner 100 is turned on through the LED arrangement, “Power ON”, when a voice is output “Speaking”, cleaning operation Text corresponding to each state, such as “Cleaning” during execution, “Moving” during movement, and “Charging” during charging, may be formed. Accordingly, when the robot cleaner 100 operates for the first time, that is, the user When the cleaner 100 is used for the first time, the user's understanding and reliability of the product may be improved by effectively guiding the main functions and installation methods of the product.
  • the robot cleaner 100 may provide, in addition to a general function, an event-specific specification that is difficult for a user to predict, that is, an Easter egg. For example, when a preset event occurs during operation or a preset condition is met, the robot cleaner 100 may arouse the user's interest by providing an operation or message that is difficult to predict in the general robot cleaner 100 . and can improve intimacy with the device.
  • the robot cleaner 100 may check whether the cleaning operation by the robot cleaner 100 is continuously performed for several days based on the use history information stored in the memory. For example, if the processor 120 determines that it is the 7th day after the robot cleaner 100 continuously performs the cleaning operation, a message praising the user's neatness (for example, "I see that you are cleaning every day You are very neat. I will clean it today too.”)), you can control the speaker or display, and you can control the robot cleaner 100 to perform a cleaning operation.
  • a message praising the user's neatness for example, "I see that you are cleaning every day You are very neat. I will clean it today too.”
  • the robot cleaner 100 may provide a message and a cleaning mode corresponding thereto based on the weather information received through the communication interface 110 after receiving the cleaning start command. For example, when the yellow dust condition is very bad according to the received weather information, the processor 120 sends a message indicating that the robot cleaner performs weather-customized cleaning (eg, “Cleaning begins. The fine dust outside is very bad. I'll do it more carefully.") and control the robot cleaner 100 to perform a cleaning operation in a cleaning mode in which a cleaning operation is performed more meticulously than in a general cleaning mode.
  • weather-customized cleaning eg, “Cleaning begins. The fine dust outside is very bad. I'll do it more carefully.
  • the robot cleaner 100 may provide a message and a cleaning mode corresponding thereto according to the indoor air condition as well as the external weather.
  • the processor 120 receives indoor air condition information from the air purifier disposed in the room through the communication interface 110, and when the indoor air condition is 'very bad', it indicates that the indoor air condition customized cleaning is performed. Provides a message (for example, “Cleaning begins. I will be more careful because the indoor air is very bad.”) can be controlled
  • the robot cleaner 100 When it is determined that the robot cleaner 100 collides with a person or object during cleaning or driving, it may provide a message and an operation corresponding to each case.
  • the processor 120 is provided in the robot cleaner 100 to detect a collision through a sensor (eg, a bumper sensor, etc.) that detects a collision, and analyzes an image of the surrounding environment captured by the camera. If it is determined that the collision target is a human through the system, driving is paused at the same time as the collision is detected, and an apology message for the collision can be provided (for example, “I’m sorry. I wanted to be close, so I got too close.”). . After providing the message, the robot cleaner 100 may reverse the cleaning operation and resume the cleaning operation.
  • a sensor eg, a bumper sensor, etc.
  • the robot cleaner 100 may resume the cleaning operation by moving backward after providing the message.
  • the robot cleaner 100 may provide a message related to the cleaning result while moving to the charger. For example, if the time of inhaling large dust particles during cleaning is 180 seconds or more, the processor 120 reports that there was a lot of dust (eg, “Cleaning is complete and return to the charger. Today, more than usual It was more rewarding because there was a lot of dust.”) and the robot vacuum cleaner 100 can be controlled to move to the charger.
  • the processor 120 reports that there was a lot of dust (eg, “Cleaning is complete and return to the charger. Today, more than usual It was more rewarding because there was a lot of dust.”) and the robot vacuum cleaner 100 can be controlled to move to the charger.
  • the processor 120 reports a message about the uncleaned area (for example, “Cleaning is completed and returned to the charger. Please check in the SmartThings app.”) and control the robot vacuum 100 to move to the charger.
  • the user terminal device 400 may provide the uncleaned area on the map, the name of the obstacle causing the uncleaned, and the like through the application linked to the robot cleaner 100 .
  • the processor 120 displays a message indicating that there is no uncleaned area (eg, “Cleaning has been completed. Again It is clean even if you look around! I return to the charger with a happy heart.”) and control the robot vacuum cleaner 100 to move to the charger.
  • a message indicating that there is no uncleaned area (eg, “Cleaning has been completed. Again It is clean even if you look around! I return to the charger with a happy heart.”) and control the robot vacuum cleaner 100 to move to the charger.
  • the processor 120 displays a message corresponding to this (eg, “Cleaning finished! But I am still full of energy. If you need cleaning, please call me anytime.”) and control the robot cleaner 100 to move to the charger.
  • the message provided by the robot cleaner 100 described above may be provided every time when the above-described conditions are satisfied, but is not limited thereto, and may be controlled to occur once every predetermined number of times, for example, once every 20 times.
  • the processor 120 may control the driving device to move to the charger by driving at a speed different from the normal speed of the robot cleaner 100 when the condition is satisfied. For example, if the existing running speed of the robot cleaner 100 is 35 cm/1 sec, the processor 120 drives the robot cleaner 100 to move to the charger at a reduced speed of 25 cm/1 sec when a specific condition is satisfied You can control the device.
  • the present invention is not limited thereto, and the robot cleaner 100 may travel at a speed faster than the existing speed when a specific condition is satisfied.
  • computer instructions for performing the processing operation in the robot cleaner according to various embodiments of the present disclosure described above may be stored in a non-transitory computer readable medium.
  • the specific device executes the processing operation of the robot cleaner according to the various embodiments described above.
  • the non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device.
  • a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.
  • the method according to various embodiments may be provided by being included in a computer program product.
  • Computer program products may be traded between sellers and buyers as commodities.
  • the computer program product may be distributed in the form of a machine-readable storage medium (eg, compact disc read only memory (CD-ROM)) or online through an application store (eg, Play StoreTM).
  • an application store eg, Play StoreTM
  • at least a part of the computer program product may be temporarily stored or temporarily created in a storage medium such as a server device of a manufacturer, a server device of an application store, or a memory of a relay server.
  • the program for controlling the robot cleaner according to the present disclosure may be provided to various electronic devices for cooperatively performing a cleaning function with other electronic devices.
  • various devices for performing a cleaning operation such as a robot cleaner, a stick-type cleaner, a canister-type cleaner, an upright-type cleaner, and a handy-type cleaner.
  • the present invention is not limited thereto, and may be applied to an electronic device that does not provide a cleaning function.
  • a device provided with a program for controlling the robot cleaner according to the present disclosure can share information by performing communication with other electronic devices, and based on this, the operation of the robot cleaner described above, such as generation and provision of an integrated cleaning guide, is performed. can be done

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Abstract

La présente invention concerne un robot nettoyeur. Le robot nettoyeur comprend : un dispositif d'entraînement ; une interface de communication qui peut communiquer avec un nettoyeur manuel ; et un processeur qui fournit un guide de nettoyage intégré pour une pluralité de nettoyeurs incluant le robot nettoyeur et le nettoyeur manuel sur la base d'informations d'historique d'utilisation du nettoyeur manuel, acquises par l'intermédiaire de l'interface de communication ; le processeur détermine si une opération de nettoyage est nécessaire ou non, sur la base d'informations d'historique d'utilisation du nettoyeur manuel, génère un guide de nettoyage intégré sur la base du résultat de détermination, et commande le dispositif d'entraînement de façon à amener le robot nettoyeur à effectuer une opération de nettoyage selon le guide de nettoyage intégré.
PCT/KR2021/019261 2021-02-09 2021-12-17 Robot nettoyeur et son procédé de commande Ceased WO2022173110A1 (fr)

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KR1020210018427A KR20220114873A (ko) 2021-02-09 2021-02-09 로봇 청소기 및 이의 제어 방법
KR10-2021-0018427 2021-02-09

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Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
WO2024219608A1 (fr) * 2023-04-17 2024-10-24 삼성전자주식회사 Dispositif de nettoyage, procédé de commande de dispositif de nettoyage, système de nettoyage et procédé de commande de système de nettoyage
KR20250048499A (ko) * 2023-09-22 2025-04-09 삼성전자주식회사 로봇 청소기 및 그의 청소 시간 예측 방법

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JP2020116380A (ja) * 2019-01-18 2020-08-06 フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハーＶｏｒｗｅｒｋ ＆ Ｃｏｍｐａｇｎｉｅ Ｉｎｔｅｒｈｏｌｄｉｎｇ Ｇｅｓｅｌｌｓｈａｆｔ Ｍｉｔ Ｂｅｓｃｈｒａｎｋｔｅｒ Ｈａｆｔｕｎｇ 手動でのみ誘導される床処理装置と自動でのみ走行する床処理装置とからなるシステム及びそのシステムの動作方法
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JP2016087106A (ja) * 2014-11-05 2016-05-23 シャープ株式会社 掃除支援装置及び掃除機
KR20170070607A (ko) * 2015-12-14 2017-06-22 삼성전자주식회사 전자장치 및 그의 동작 방법
KR20180015928A (ko) * 2016-08-04 2018-02-14 엘지전자 주식회사 로봇 청소기 시스템 및 그 동작 방법
JP2020116380A (ja) * 2019-01-18 2020-08-06 フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハーＶｏｒｗｅｒｋ ＆ Ｃｏｍｐａｇｎｉｅ Ｉｎｔｅｒｈｏｌｄｉｎｇ Ｇｅｓｅｌｌｓｈａｆｔ Ｍｉｔ Ｂｅｓｃｈｒａｎｋｔｅｒ Ｈａｆｔｕｎｇ 手動でのみ誘導される床処理装置と自動でのみ走行する床処理装置とからなるシステム及びそのシステムの動作方法
JP2020171684A (ja) * 2019-04-11 2020-10-22 フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハーＶｏｒｗｅｒｋ ＆ Ｃｏｍｐａｇｎｉｅ Ｉｎｔｅｒｈｏｌｄｉｎｇ Ｇｅｓｅｌｌｓｈａｆｔ Ｍｉｔ Ｂｅｓｃｈｒａｎｋｔｅｒ Ｈａｆｔｕｎｇ 手動誘導される床処理装置、自動動作専用の床処理装置及び演算ユニットを有するシステム

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