KR101378883B1 - Robot cleaner, terminal, and system and method for remotely controlling the robot - Google Patents

Abstract

Embodiments of the present invention allow the robot cleaner to be controlled in various ways by connecting the terminal device and the robot cleaner through a network. In addition, embodiments of the present invention enable real-time confirmation of the situation of a house from the outside, and enable quick response according to the state of the robot cleaner. The robot cleaner may perform automatic cleaning, manual cleaning, reservation cleaning, cleaning mode change, or the like by a remote control by itself or a terminal device. In addition, the robot cleaner may check the state of the battery from time to time during the cleaning to perform a charging operation, and transmit the state information to the terminal device in real time.

Description

ROBOT CLEANER, TERMINAL, AND SYSTEM AND METHOD FOR REMOTELY CONTROLLING THE ROBOT}

The present invention relates to a remote controllable robot cleaner, a terminal device for remotely controlling the robot cleaner, and a remote control system and method for the robot cleaner including the robot cleaner.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A representative example of the domestic robot is a robot cleaner, which is a kind of electronic equipment that sucks dust and foreign matter around while driving a certain area by itself. Such a robot cleaner is generally equipped with a rechargeable battery and has an obstacle sensor capable of avoiding obstacles during traveling, so that it can run and clean by itself.

As a method for controlling the robot cleaner, there are a method using a remote controller which is a user interface, a method using a button provided in the robot cleaner main body, and the like. In addition, robot cleaners having a self-position recognition and mapping function using cameras and various sensors are being developed.

SUMMARY Embodiments of the present invention provide a robot cleaner which can be controlled remotely using a terminal device and performs cleaning according to a cleaning command of the terminal device.

Embodiments of the present invention provide a terminal device capable of remotely controlling a robot cleaner, performing automatic cleaning, manual cleaning, scheduled cleaning, changing a cleaning mode, and the like, and checking the status of the robot cleaner in real time. .

Embodiments of the present invention provide a robot cleaner that can remotely control a robot cleaner, monitor the periphery of the robot cleaner remotely, check the status of the robot cleaner in real time, and respond quickly, System, and method.

The robot cleaner according to an embodiment may include a communication unit configured to receive a control signal from an external terminal device and to transmit a response signal to the control signal, and to control the robot cleaner according to the control signal, and according to the control result. And a control unit for generating a response signal. Here, the control unit extracts a cleaning start command or cleaning stop command from the control signal, performs cleaning in accordance with the cleaning start command, or stops cleaning in accordance with the cleaning stop command.

The terminal device according to an embodiment may include a wireless communication unit configured to transmit a control signal to one or more robot cleaners and to receive one or more data including image information or a cleaning map from the robot cleaner, and to control commands for the robot cleaner. And a control unit for generating a corresponding control signal and generating a control screen using the data, and a touch recognition area for receiving the control command, and a display unit for displaying the control screen. Here, the control command is a cleaning start command or a cleaning stop command.

A remote control system for a robot cleaner according to an embodiment of the present disclosure may include: a robot cleaner configured to receive a control signal, perform a control command included in the control signal, and transmit one or more data including image information or a cleaning map; And a terminal device generating the control signal corresponding to the command, transmitting the control signal to the robot cleaner, and generating and displaying the control screen based on the data. Here, the control command is a cleaning start command or a cleaning stop command.

In a remote control method of a robot cleaner according to an embodiment, a robot cleaner and a remote control system of a robot cleaner including a terminal device for controlling the robot cleaner, the robot cleaner receiving a control signal from the terminal device And extracting, by the robot cleaner, a cleaning start command or a cleaning stop command from the control signal, and the robot cleaner performing cleaning according to the cleaning start command or stopping cleaning according to the cleaning stop command. It is configured to include.

The robot cleaner according to the embodiments of the present invention can easily control the robot cleaner using a terminal device such as a mobile terminal from the outside by incorporating communication means for enabling remote control.

The robot cleaner according to the embodiments of the present invention can perform automatic cleaning, manual cleaning, and scheduled cleaning by self or remote control. In addition, the robot cleaner performs a charging operation by frequently checking the state of the battery during cleaning. In addition, the robot cleaner transmits state information to the terminal device in real time, thereby allowing the user or the like to easily check the state of the robot cleaner using the terminal device.

The terminal device according to the embodiments of the present invention can easily control the robot cleaner remotely by executing a remote control program and allow the user or the like to check the status or the surrounding situation of the robot cleaner in real time.

The terminal device according to the embodiments of the present invention increases the cleaning efficiency by allowing the robot cleaner to perform automatic cleaning, manual cleaning, reservation cleaning, cleaning mode change, and the like.

The remote control system and method according to embodiments of the present invention allow the robot cleaner to be controlled in various ways by connecting the terminal device and the robot cleaner through a network. In addition, the remote control system and method enable the outside to check the situation of the house in real time, and to cope promptly according to the state of the robot cleaner.

Embodiments of the present invention can improve the convenience of the user and enhance the operating efficiency and stability of the robot cleaner. The embodiments of the present invention can prevent misuse of the robot cleaner by performing the connection authentication operation when connecting to the robot cleaner through the terminal device.

1 is a perspective view illustrating an appearance of a robot cleaner according to an embodiment of the present invention;
FIG. 2 and FIG. 3 are block diagrams showing a detailed configuration of a robot cleaner according to embodiments of the present invention; FIG.
4 is an enlarged view illustrating an output unit of a robot cleaner according to an embodiment;
5 is a rear view showing the bottom surface of the robot cleaner according to an embodiment;
6 is a schematic view of a remote control system of a robot cleaner according to one embodiment;
7 is a block diagram illustrating a configuration of a terminal apparatus according to an exemplary embodiment.
8A and 8B illustrate screens of a terminal device for explaining an operation in which the terminal device transmits a cleaning command to the robot cleaner;
9A to 9E are views illustrating screens of a terminal device for explaining an operation of the robot cleaner to perform cleaning;
10A to 10C illustrate screens of a terminal device for explaining an operation of setting a cleaning mode of a robot cleaner;
11A to 11H illustrate screens of a terminal device for explaining an operation of setting a cleaning reservation for a robot cleaner;
12A and 12B show an example of the detailed setup of FIG. 11;
FIG. 13 illustrates a screen of a terminal device when performing a scheduled cleaning of a robot cleaner; FIG.
14A to 14E are views illustrating screens of a terminal device for explaining automatically performing a charging operation during cleaning of the robot cleaner;
15A to 15C are views illustrating a screen of a terminal device displaying a wheel catch error while cleaning a robot cleaner;
16A to 16C are views illustrating an example of screen switching of a terminal device displaying data of a robot cleaner;
17A to 17D illustrate screens of a terminal device for explaining a cleaning map generation operation of a robot cleaner;
18A to 18C illustrate screens of a terminal device for explaining a manual operation of the robot cleaner using the terminal device;
19A to 19H illustrate screens of a terminal device for explaining an operation of connecting to a robot cleaner through the terminal device;
20A to 20G illustrate screens of a terminal device displaying an error message during the connection of FIG. 19;
21A and 21B illustrate screens of a terminal device displaying a cleaning screen and a patrol screen switching being performed by a robot cleaner;
22A to 22C illustrate screens of a terminal device for explaining an operation of transmitting a patrol command while cleaning a robot cleaner;
23 to 25 are flowcharts schematically illustrating a method for remotely controlling a robot cleaner according to embodiments of the present disclosure.

Referring to FIG. 6, a remote control system of a robot cleaner according to an embodiment includes a robot cleaner 100 and a terminal device 200. The robot cleaner 100 receives a control signal, performs a control command included in the control signal, and transmits one or more data including image information or a cleaning map. The terminal device 200 generates a control signal corresponding to the control command, transmits the control signal to the robot cleaner 100, and generates and displays a control screen based on the data received from the robot cleaner. Here, the control command includes a cleaning start command or a cleaning stop command. In addition, the control command may include a patrol command, a move command, a charge command, a setting change command, and the like.

The terminal device is divided into a mobile terminal and a stationary terminal according to whether the mobile terminal is mobile or not, and includes both a mobile terminal and a fixed terminal. The terminal device is divided into a handheld terminal and a vehicle mount terminal according to whether the user can move directly or not, and includes both a mobile terminal and a stationary terminal. For example, the terminal device may be a cellular phone, a PCS phone, a smart phone, a laptop computer, a digital broadcasting terminal, a PDA (Personal Digital Assistants), a PMP (Portable Multimedia Player) Navigation). The remote control system can be changed according to the type of the terminal device. For example, the remote control system can use mobile communication networks such as 3G, CDMA, and WCDMA in the case of a mobile phone or a smart phone, and the robot cleaner and the terminal device can transmit radio signals to a base station, an external terminal, Send and receive.

1 and 2, the robot cleaner 100 according to an embodiment includes a communication unit 110 and a control unit 120. The robot cleaner 100 further includes an image detection unit 131, an obstacle detection unit 132, and a position recognition unit 133. [ The communication unit 110 receives a control signal from an external terminal device, and transmits a response signal and one or more data to the control signal. The control unit 120 controls the robot cleaner in accordance with the control signal and generates the response signal in accordance with the control result. The control unit 120 extracts a cleaning start command or a cleaning stop command from the control signal, performs cleaning according to the cleaning start command, or stops cleaning according to the cleaning stop command.

The communication unit 110 is connected to the terminal device via one of the wired, wireless, and satellite communication methods, that is, one of the currently available communication methods, and transmits and receives signals and data. The communication unit 110 receives a control signal from the terminal device. The communication unit 110 transmits status information, obstacle information, position information, image information, cleaning map, and the like of the robot cleaner. The communication unit 110 may be connected to the terminal device in one of the short range wireless communication methods such as radio frequency (RF) communication, Bluetooth, infrared communication (IrDA), wireless LAN (LAN), ZigBee, Communication can be performed. For example, when the terminal device is a smart phone, the robot cleaner may include a communication unit according to a communication method available to the smartphone. The communication unit 110 receives the cleaning reservation information of the robot cleaner from the terminal device 200. [ At this time, the control unit 120 performs cleaning using the cleaning reservation information.

1 and 2, the robot cleaner further includes an image detection unit 131 which is installed to face upwards or forwards, and includes an upper camera sensor and detects image information by capturing the surroundings of the robot cleaner. can do. When the image detecting unit 131 includes a plurality of upper camera sensors, the camera sensors may be formed on the upper side or the side surface of the robot cleaner at a predetermined distance or at an angle. The image detection unit 131 can be used as another type of position recognition unit. The image detecting unit 131 may further include a lens connected to the camera to focus the subject, an adjusting unit for adjusting the camera, and a lens adjusting unit for adjusting the lens. The lens uses a lens having a wide angle of view so that all the surrounding areas, for example, all areas of the ceiling can be photographed even at a predetermined position. The control unit 120 can extract the minutiae from the image information photographed by the image detecting unit, recognize the position of the robot cleaner using the minutiae, and generate the cleaning map for the cleaning area.

2 or 3, the robot cleaner according to an embodiment includes an obstacle detecting unit 132 that includes one or more sensors and outputs obstacle information by detecting an obstacle around the sensor using a detection signal of the sensor. It is configured to further include. Here, the control unit 120 generates a cleaning map using the obstacle information.

The obstacle detecting unit 132 includes a first sensor 132a that is installed in front of the robot cleaner, that is, at an interval on the outer circumferential surface as shown in FIG. 1 or 4. In addition, the obstacle detection unit 132 may include a second sensor 132b installed to have a surface protruding outside the body. The position and type of the first sensor and the second sensor may be changed according to the type of the robot cleaner, and the obstacle detection unit may include more various sensors. The first sensor 132a senses an object, particularly an obstacle, existing in the moving direction of the robot cleaner and transmits detection information to the control unit 120. [ That is, the first sensor senses protrusions, housings, furniture, walls, wall corners, and the like existing on the moving path of the robot cleaner, and transmits the information to the control unit. The first sensor may be an infrared sensor, an ultrasonic sensor, a RF sensor, a geomagnetic sensor, or the like. The second sensor 132b senses an obstacle present on the front or side and transmits the obstacle information to the control unit. That is, the second sensor senses protrusions, furniture, furniture, walls, wall corners, and the like existing on the moving path of the robot cleaner, and transmits the information to the control unit. The second sensor may be an infrared sensor, an ultrasonic sensor, an RF sensor, a position sensitive device (PSD) sensor, or the like.

As illustrated in FIG. 5, the obstacle detection unit 132 may be installed on the bottom surface (bottom surface) of the main body, and further include a cliff sensor 132c for detecting an obstacle on the bottom surface, for example, a cliff. The cliff sensor is configured to obtain a stable measurement value regardless of the reflectance and color difference of the bottom surface, and may be in the form of an infrared module such as a PSD sensor.

The obstacle detection unit 132 may further include a charging signal sensor (not shown) for receiving the guidance signal transmitted from the charging station. The robot cleaner receives the guidance signal generated by the charging station by using the charging signal sensor and confirms the position and the direction of the charging station. The charging station sends a guidance signal indicating the direction and the distance so that the robot cleaner can return. The robot cleaner receives the signal transmitted from the charging station, determines the current position, sets the moving direction, and returns to the charging station. The charging signal sensor may be an infrared ray sensor, an ultrasonic sensor (Ultra Sonic Sensor), an RF sensor (Radio Frequency Sensor), or the like. In general, an infrared sensor is used. The charging signal sensor may be provided on one side of the inside or the outside of the robot cleaner, for example, below the output unit 180 or around the image detecting unit 131.

The output unit 180 can display the remaining battery level on the screen. In addition, the terminal device 200 can receive the charged state of the battery and the remaining amount of battery from the robot cleaner 100, and display the charged state of the battery and the remaining amount of battery at one side of the screen of the display part.

Referring to FIG. 2 or FIG. 3, a robot cleaner according to an embodiment includes a location recognition unit including one or more sensors, and outputs location information by recognizing a location of the robot cleaner itself using a detection signal of the sensor ( 133) further comprises. Here, the control unit 120 corrects the cleaning map by using the position information recognized by the position recognizing unit 133. [

As shown in FIG. 5, the position recognition unit 133 is provided on the rear surface of the robot cleaner, and includes a lower camera sensor 133a which photographs the lower side, that is, the bottom surface and the surface to be cleaned during the movement. The lower camera sensor 133a is an optical flow sensor, and converts a downward image input from an image sensor provided in the sensor to generate image data of a predetermined format. The lower camera sensor can detect the position of the robot cleaner irrespective of the slip of the robot cleaner. The control unit 120 compares and analyzes the image data photographed by the lower camera sensor over time to calculate the moving distance and the moving direction, and calculates the position of the robot cleaner accordingly. By observing the underside of the robot cleaner using the lower camera sensor, the control unit can perform correction that is robust against slippage with respect to the position calculated by other means.

The position recognizing unit 133 further includes an acceleration sensor for detecting a change in the speed of the robot cleaner, for example, a change in the speed of movement due to a start, stop, change of direction, or collision with an object. The acceleration sensor is attached to the main wheel or the adjoining positions of the auxiliary wheels, so that the slip or idling of the wheel can be detected. At this time, the speed is calculated using the acceleration detected by the acceleration sensor, and the position of the robot cleaner can be checked or corrected by comparing with the command speed. However, in general, the acceleration sensor is built in the control unit 120 and detects the speed change of the robot cleaner itself occurring during cleaning and moving. That is, the acceleration sensor detects the amount of impact according to the speed change and outputs a corresponding voltage value. Thus, the acceleration sensor can perform the function of an electronic bumper.

The position recognizing unit 133 may further include a gyro sensor that senses the direction of rotation and detects the rotation angle when the robot cleaner moves or cleans. The gyro sensor detects the angular velocity of the robot cleaner and outputs a voltage value proportional to the angular velocity. The control unit 120 calculates the rotation direction and the rotation angle using the voltage value output from the gyro sensor.

Referring to FIG. 3, the position recognizing unit 133 may further include a wheel sensor 162 connected to the main wheels 161 on the left and the right to sense the rotation speed of the main wheel. The wheel sensor 162 mainly uses a rotary encoder and senses the rotational speed of the left and right main wheels when the robot cleaner is moving or cleaning. The control unit 120 can calculate the rotational speeds of the left and right wheels using the number of rotations.

The control unit 120 can accurately recognize the position using the detection information of the acceleration sensor, the gyro sensor, the wheel sensor, the lower camera sensor, and the image information of the image detection unit. Further, the control unit 120 can precisely generate the cleaning map using the obstacle information detected by the obstacle detecting unit and the position recognized by the image detecting unit. The communication unit 110 transmits data including video information, obstacle information, location information, cleaning map, and cleaning area to the terminal device 200.

2 or 3, the robot cleaner further includes a storage unit 140 that stores one or more pieces of information among image information, obstacle information, location information, a cleaning map, and a cleaning area. The storage unit 140 stores a control program for controlling (driving) the robot cleaner and data corresponding thereto. In addition, the storage unit 140 can store the cleaning method and the traveling method. The storage unit 140 mainly uses a nonvolatile memory. Here, a non-volatile memory (NVM, NVRAM) is a storage device that keeps stored information even when power is not supplied. Non-volatile memory includes ROM, flash memory, magnetic computer storage devices (e.g., hard disk, diskette drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, and the like.

2 or 3, the robot cleaner may further include a cleaning unit 150. The cleaning unit 150 includes a dust container for storing collected dust, a suction fan for providing power for sucking dust in the cleaning area, and a suction motor for sucking air by rotating the suction fan, Or inhale foreign substances. Referring to FIG. 5, the cleaning unit 150 includes a rotary brush 151 rotatably mounted on the lower part of the robot cleaner body, and a corner or corner of a cleaning area such as a wall while rotating around a vertical axis of rotation of the main body. It is configured to further include a side brush 152 for cleaning. The rotary brush 151 rotates around the axis of the robot cleaner body in the left and right direction, and floats dust such as floor or carpet into the air. On the outer circumferential surface of the rotary brush 151, a plurality of blades are provided in a spiral direction. Brushes may be provided between the spiral blades.

Referring to FIG. 5, the robot cleaner has left and right main wheels 161 that are movable on both lower sides thereof. On either side of the main wheel, a handle may be provided to facilitate user's grip. 2 or 3, the robot cleaner may further include a driving unit 160 connected to and driven by the left and right main wheels 161. The driving unit 160 includes a predetermined wheel motor for rotating the wheels, and moves the robot cleaner by driving the wheel motor. The wheel motors are respectively connected to the main wheels so that the main wheels rotate, and the wheel motors operate independently of each other and can rotate in both directions. In addition, the robot cleaner has at least one auxiliary wheel on the back side to support the main body, minimizing the friction between the lower surface of the main body and the bottom surface (the surface to be cleaned), and smoothly moving the robot cleaner.

Referring to FIG. 2 or 3, the robot cleaner further includes an input unit 170 for receiving a direct control command. Also, a user or the like may input an instruction to output one or more pieces of information stored in the storage unit 140 via the input unit. The input unit 170 may be formed of one or more buttons. For example, the input unit 170 may include an OK button and a SETTING button. The OK button is used to input obstacle information, position information, image information, a command to confirm a cleaning area or a cleaning map. The setting button inputs a command for setting the above information. The input unit may include a reset button, a delete button, a cleaning start button, a stop button, and the like for inputting a command for resetting the information. As another example, the input unit 170 may have a button for setting or deleting reservation information. In addition, the input unit 170 may further include a button for setting or changing the cleaning mode. The input unit 170 may further include a button for receiving a command to return to the charging station. 1, the input unit 170 may be installed on the upper portion of the robot cleaner using a hard key, a soft key, a touch pad, or the like. In addition, the input unit 170 may take the form of a touch screen together with the output unit.

The output unit 180 is provided on the upper portion of the robot cleaner, as shown in Fig. Of course, the installation location and installation type may vary. For example, the output unit 180 displays a cleaning method such as reservation information, battery status, concentrated cleaning, space expansion, and zigzag operation, or a traveling method on the screen. The output unit 180 can output the current state of each unit constituting the robot cleaner and the current cleaning state. In addition, the output unit 180 can display obstacle information, position information, image information, internal map, cleaning area, cleaning map, and the like on the screen. The output unit 180 may be any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED) As shown in FIG.

Referring to FIG. 3, the robot cleaner further includes a power supply unit 190. The power supply unit 190 includes a rechargeable battery and supplies power to the robot cleaner. The power supply unit supplies power to the units and operation power for moving the robot cleaner or performing cleaning, and when the remaining power is insufficient, the power supply unit moves to the charging station and is supplied with the charging current. The robot cleaner further includes a battery detection unit (not shown) that senses the state of charge of the battery and transmits the detection result to the control unit 120. [ The battery 191 is connected to the battery sensing unit, and the battery remaining amount and the charging state are transmitted to the control unit 120. [ The battery remaining amount can be displayed on the screen of the output unit. As shown in FIG. 5, the battery 191 may be located at the lower center of the robot cleaner, or may be located at either the left or the right side so that the dust container is located at the bottom of the main body. In the latter case, the robot cleaner may further include a balance weight for eliminating weight bias of the battery.

The control unit 120 previously sets a reference value (remaining battery level), and compares the remaining battery level with a reference value. As a result of comparison, if the detection result is less than the reference value, the control unit 120 moves the robot cleaner to the charging station to perform charging. In one example, the control unit 120 may stop the other operation according to the charging command from the terminal device and move the charging operation to the charging station to perform charging. As another example, the control unit 120 may extract a charge command, perform a charge command according to a result of comparison between the remaining battery level and the reference value, or perform the previous operation as it is.

Referring to FIG. 7, a terminal device according to an exemplary embodiment of the present invention includes a wireless communication unit 210, a control unit 220, and a display unit 230.

The wireless communication unit 210 transmits the control signal generated by the control unit 220 to the robot cleaner 100 and receives one or more data including image information or cleaning map from the robot cleaner 100. Here, one or more data refers to image information, obstacle information, location information, cleaning map, cleaning area, and status information. The control unit 220 generates a control signal and generates a control screen using the data. Here, the control command includes a cleaning start command or a cleaning stop command. The wireless communication unit 210 includes one or more modules for enabling wireless communication between the terminal device 200 and the wireless communication system, between a plurality of terminal devices, or between a terminal device and a network located between the robot cleaner 100 can do. For example, the wireless communication unit 210 may include a broadcast receiving module, a mobile communication module, a wireless Internet module, a short distance communication module, and a location information module.

The broadcast receiving module receives broadcast signals and / or broadcast-related information from an external broadcast management server through a broadcast channel. Mobile communication module Transmits and receives radio signals to and from a base station, an external terminal, and a server on a mobile communication network. The wireless signal may include various types of data depending on a voice call signal, a video call signal or a text / multimedia message transmission / reception. The wireless Internet module refers to a module for wireless Internet access, and may be built in or enclosed in a terminal device. WLAN (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access) and the like can be used as wireless Internet technologies. The short-range communication module literally means a module for short-range communication. Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, and the like can be used as a short range communication technology.

The display unit 230 is formed with a touch recognition area 231 for receiving a control command and displays a control screen. Also, the display unit 230 can display an icon according to a communication method (e.g., Wi-Fi, 3G), display the communication sensitivity, and display the remaining battery level of the robot cleaner. As shown in FIG. 8A and subsequent drawings, the display unit 230 includes a first region 232 having a predetermined size and on which the control screen is displayed and receives the control command, 2 area 233 can be displayed. Of course, in the case of a mobile phone or a notebook computer having no touch screen (touch pad), the touch recognition area is not formed, and an input part for receiving a control command instead of touch recognition and an output part for displaying a control screen can be distinguished.

The display unit 230 may alternately display a cleaning start icon for receiving a cleaning start command in the touch recognition area and a cleaning stop icon for receiving a cleaning stop command. In addition, the display unit 230 may further include a mode icon for setting a cleaning mode. Here, when the controller 220 receives the touch input for the mode icon, the controller 220 generates a mode setting screen, and the display unit displays a mode setting screen. In addition, the display unit may further include a cleaning reservation icon for setting a cleaning reservation. Here, when the control unit receives the touch input for the cleaning reservation icon, the control unit generates a cleaning reservation screen, and the display unit displays a cleaning reservation screen.

The display unit 230 displays information processed by the terminal device. That is, the display unit 230 displays a control screen. For example, when the terminal device is in the call mode, a UI (User Interface) or GUI (Graphic User Interface) associated with the call is displayed. The display unit 230 may be a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a three-dimensional display 3D display).

In the case where the display unit 230 and the touch sensor that detects the touch operation form a mutual layer structure, the display unit 230 may be a touch screen that can be input in addition to the output. The touch sensor may have the form of, for example, a touch film, a touch sheet, a touch pad, or the like. The touch sensor may be configured to convert a change in a pressure applied to a specific part of the display part 230 or a capacitance generated in a specific part of the display part 230 into an electrical input signal. The touch sensor can be configured to detect not only the position and area to be touched but also the pressure at the time of touch. The touch sensor may be a proximity sensor capable of performing proximity-touch in which a pointer is not actually touched on the screen but approaches a predetermined distance from the screen. The proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or a nearby object without mechanical contact using the force of an electromagnetic field or infrared rays. In the present invention, touch recognition refers to a proximity touch for recognizing that the pointer is positioned on the touch screen without touching the pointer on the touch screen, Includes all contact touches.

Referring to FIG. 7, the terminal device may further include a memory 240. The memory 240 may store a program for the operation of the control unit 220. The memory 240 may also store input / output data (e.g., phonebook, message, still image, moving picture, etc.). The memory 240 may pattern and store a control signal for controlling the robot cleaner and a control command corresponding thereto in advance.

The terminal apparatus may further include an A / V (Audio / Video) input unit, a user input unit, a sensing unit, an interface unit, and a power supply unit.

The A / V (Audio / Video) input unit is for inputting an audio signal or a video signal, and may include a camera and a microphone. The user input unit generates input data for controlling the operation of the terminal device by the user. The user input unit may include a key pad, a dome switch, a touch pad (static / static), a jog wheel, a jog switch, and the like. In particular, when the touch pad has a mutual layer structure with the display unit 230, it is referred to as a touch screen. The sensing unit senses the state of the terminal device such as the open / close state of the terminal device, the position of the terminal device, the presence of the user, the orientation of the terminal device, and the acceleration / deceleration of the terminal device, and generates a sensing signal for controlling the operation.

The interface unit serves as a pathway to all the external devices connected to the terminal device 200. The interface unit receives data from an external device, receives power from the external device, transfers the data to each component in the terminal device, or allows data in the terminal device to be transmitted to the external device. The power supply unit receives external power and internal power under the control of the controller 220 and supplies power necessary for operation of the respective components.

The control unit 220 generally controls the overall operation of the terminal device. For example, in the case of a mobile phone or smart phone, it performs related control and processing for voice call, data communication, video call, and the like. In addition, the control unit 220 can perform pattern recognition processing that can recognize the handwriting input or drawing input performed on the display unit 230 as characters and images, respectively.

The control unit 220 generates a control signal corresponding to the control command for the robot cleaner 100, and generates a control screen using the data and the response signal. Here, the control command further includes a move command, a patrol command, a charge command, a setting change, and the like in addition to a cleaning command such as start of cleaning and stop of cleaning.

Referring to FIG. 23, in a method of remotely controlling a robot cleaner according to an embodiment, the robot cleaner may receive a control signal from the terminal device (S130), and the robot cleaner may perform a cleaning start command from the control signal. Extracting a cleaning stop command (S140), and performing the cleaning by the robot cleaner according to the cleaning start command, or stopping the cleaning according to the cleaning stop command (S150). Hereinafter, a remote control system of a robot cleaner including a robot cleaner and a terminal device for controlling the robot cleaner will be described with reference to FIGS. 1 to 7.

The terminal device 200 receives a control command and generates a control signal according to it (S110, S120). Here, the control command includes a cleaning start command, a cleaning stop command, a movement command, a patrol start command, a patrol stop command, a charge command, a setting change, and the like. When a user inputs a control command through an input method such as touching a cleaning start icon or a cleaning stop icon (S110), the terminal device generates a control signal in accordance with a communication protocol, and transmits the control signal to a robot cleaner through a network. 100) (S130). The robot cleaner extracts the control command contained in the control signal (S140), starts cleaning according to the cleaning start command (S151, S152), and stops cleaning according to the cleaning stop command (S161, S162). At this time, the robot cleaner may continuously transmit data such as image information, cleaning map, obstacle information, etc. to the terminal device (S170), and the terminal device generates a control screen using the data (S180) and generates the control screen. It is displayed (S190).

Referring to FIG. 24, in a method of remotely controlling a robot cleaner, the robot cleaner transmits one or more data including image information or a cleaning map to a terminal device (S260), and the terminal device controls the data using the data. And generating a screen (S271) and displaying, by the terminal device, the control screen (S272). The robot cleaner detects the surrounding image information using the image detecting unit (S251), and detects the surrounding obstacle information using the obstacle detecting unit (S252). The robot cleaner may generate a cleaning map using the obstacle information and the location information (S253). The robot cleaner transmits data such as the image information, the obstacle information, the cleaning map, and the like to the terminal device (S260).

Referring to FIG. 24, the robot cleaner may continuously detect a charging state of a battery during cleaning (S254) and transmit a detection result to a terminal device (S260). In this case, even when there is no charging command of the terminal device, the robot cleaner may move to the charging station based on the detection result and perform charging (S290).

Referring to FIG. 24, in the method of remotely controlling a robot cleaner, the terminal device requests a connection to the robot cleaner (S10), the robot cleaner authenticates the connection (S20), and the robot cleaner Approving and confirming the connection of the terminal device (S30) and the terminal device may further include displaying an initial control screen (S40).

First, when the terminal device executes a remote control program for remotely controlling the robot cleaner, as shown in FIG. 19A, a login window for inputting login information for the robot cleaner is generated. The remote control program may be stored in the memory of the terminal device or downloaded from a server storing the remote control program. For example, in the case of a smartphone, a remote control program is downloaded in the form of an app (App.), Displayed on the screen of the display unit in the form of an icon, and then executed when the user touches the icon. As illustrated in FIG. 19B, when a user or the like inputs login information, the terminal device requests a connection to the robot cleaner (S10). Referring to FIG. 19C, the robot cleaner may perform authentication on login information, and the terminal device may display a message about a connection operation on a screen during connection.

As illustrated in FIG. 19D, the terminal device may connect to one robot cleaner among the plurality of robot cleaners. The display unit displays a plurality of connectable robot cleaners in the form of a list or an icon. When a user or the like selects one robot cleaner among the plurality of robot cleaners, as illustrated in FIG. 19E, the robot cleaner performs authentication on the terminal device.

The robot cleaner transmits a connection confirmation signal to the terminal device after authentication (S30), and the terminal device displays an initial control screen (S40). The initial control screen may be displayed including an option menu as shown in FIG. 19F, or only data such as image information and a cleaning map may be displayed as shown in FIG. 19G. In the latter case, upon receiving a touch input to the first area, the display may display an option menu as shown in FIG. 19H. In addition, the controller may cause the display unit to temporarily display the option menu as shown in FIG. 19F and then display the screen as shown in FIG. 19G as the initial control screen.

If the login information does not match the stored authentication information, the robot cleaner transmits a connection rejection signal to the terminal device. Then, the terminal device, as shown in Fig. 20A, 'the ID or password does not match. Please check and try again. " If the robot cleaner to be connected is connected to another terminal device, the display unit displays an error message as shown in Fig. 20B. If the robot cleaner to be connected is being used by another user, the display unit may display an error message as shown in FIG. 20C. The terminal device can display a guide message according to the communication method as shown in FIG. 20D. If the robot cleaner selected by the user or the like is not registered, the display unit may display an error message as shown in FIG. 20E, and may display error messages as shown in FIGS. 20F and 20G when the network is not connected.

Referring to FIG. 25, in the method for remotely controlling a robot cleaner, the terminal device generates cleaning reservation information for the robot cleaner (S320), and the terminal device transmits the cleaning reservation information to the robot cleaner. It further comprises a step (S330). Here, the robot cleaner may perform cleaning or stop cleaning based on the cleaning reservation information set by the terminal device. At this time, when the reservation cleaning is completed, the robot cleaner moves to the charging station to perform charging (S390). Even during the scheduled cleaning, the robot cleaner transmits image information, obstacle information, a cleaning map, and the like to the terminal device, such as the state of charge of the battery (S360). The terminal device generates a control screen using the received data (S370) and displays the generated control screen (S380).

When the user or the like touches the control screen while the display unit 230 displays the control screen, the terminal device displays a cleaning reservation icon. When the user or the like touches the cleaning reservation icon, the terminal device displays the cleaning reservation list on the screen as shown in Fig. 11A. When a user or the like inputs a cleaning reservation addition command, the display unit displays a setting screen as shown in Fig. 11B or 11D. As shown in Fig. 11C or 11E, a cleaning reservation list is added. 11F is a diagram illustrating a screen for editing a cleaning reservation list. At this time, a 'remove reservation' button may be generated at the bottom. When the delete command is input, the display unit may display a delete guide message. As shown in Fig. 11H, the user may delete the entire cleaning reservation list or selectively delete only a part of the list. 12A illustrates another example of the cleaning reservation time setting screen, and FIG. 12B illustrates another example of the cleaning reservation list screen. The terminal device displays the cleaning reservation screen (S310), and when the cleaning reservation is set (S320), transmits the cleaning reservation information to the robot cleaner (S320). The robot cleaner receives the cleaning reservation information (S330), and performs the reservation cleaning when the reservation time comes (S340). When reservation cleaning is started, as shown in FIG. 13, the terminal device displays a message screen indicating the start of reservation cleaning on the display unit.

Hereinafter, an operation and a method of a remote control system of a robot cleaner according to embodiments will be described with reference to FIGS. 8A to 22C.

8A and 8B, the terminal device 200 displays image information and a cleaning map transmitted by the robot cleaner 100 on the screen of the display unit 230, and displays one or more icons (S190). The terminal device receives a cleaning start command from a user or the like or receives a cleaning stop command (S110), generates a control signal from them (S120), and transmits the control signal to the robot cleaner (S130). The display 230 may alternately display a cleaning start icon and a cleaning end icon. In addition, the display unit may display a cleaning mode, a charging icon, a cleaning tab, a patrol tab, and the like on the screen. When a cleaning start command is input, the display unit may display a cleaning mode, a cleaning state, and display a cleaning time. The robot cleaner may extract the control command from the control signal (S140), perform cleaning according to the cleaning start command (S151, S152), or stop the cleaning being performed according to the cleaning stop command (S161, S162).

9A to 9E, the robot cleaner automatically performs a charging operation after completing the cleaning. 9C, when the robot cleaner completes cleaning, the display unit displays a cleaning completion screen. The robot cleaner receives the guide signal from the charging station or moves to the charging station using the stored location of the charging station (S390). At this time, the wireless communication unit 210 receives the status information of the robot cleaner, and as shown in FIG. 9D, the display 230 displays a message such as "I am moving to charge" on the screen (S380). . In addition, as shown in FIG. 9E, the display unit 230 may display, on the screen, the message "in charging" while the robot cleaner is being charged.

10A to 10C, the terminal device may display a mode icon for changing the cleaning mode through the display unit. When the display 230 receives a touch input for the mode icon, the display 230 displays a mode setting screen as shown in FIG. 10B. When the user selects one of the cleaning modes and presses the OK button, as shown in FIG. 10C, the display unit reflects the selected cleaning mode and displays it on the screen.

Referring to FIGS. 14A to 14E, the robot cleaner may detect the state of charge of the battery during cleaning as shown in FIG. 14A (S254), and move to the charging station by itself according to the detection result (S280) to perform charging (S280). S290). At this time, as shown in Figure 14B, the display unit 230 'needs charging. Will stop the current operation and move to the charging station. ' In addition, the wireless communication unit 210 receives status information from the robot cleaner from time to time (S260), and as shown in Figs. 14C to 14E, the display unit is moving to 'charge.', 'Low battery power', ' Message is being charged ”(S271, S272).

As shown in Fig. 15B, if an error such as a wheel jam occurs during cleaning of the robot cleaner, the terminal device receives an error message, generates a control screen, and displays it. When the user or the like confirms this and then touches (clicks) the confirmation button, the display unit displays the screen originally displayed as shown in FIG. 15C.

16A and 16B show an initial control screen as an example. When the user inputs the login information, the terminal device requests a connection to the corresponding robot cleaner (S10). After the authentication operation of the robot cleaner (S20), when the robot cleaner transmits a connection confirmation signal to the terminal device (S30), the display unit displays an initial control screen (S40). The terminal device can display an option menu together for a predetermined time as shown in FIG. 16A and then display a pre-stored initial control screen such as image information and a cleaning map as shown in FIG. 16B. As shown in Fig. 16C, the area displaying the cleaning map and the image information may be switched.

17A to 17D, the robot cleaner may generate a cleaning map while performing cleaning. The terminal device can display the cleaning map generating operation of the robot cleaner on the screen. When the robot cleaner detects the image and transmits the image information, and generates and transmits the cleaning map, as illustrated in FIG. 17A, the display may display the image information in the first area and the cleaning map in the second area. As illustrated in FIG. 17B, when the first area is dragged to the second area or the second area is dragged to the first area, the display unit may alternately display image information and a cleaning map generation operation.

Referring to FIG. 18A, the display displays an option menu when a touch is input to the first area while the robot cleaner is performing a control command or is waiting. The configuration of the option menu may vary depending on the design. For example, as illustrated in FIG. 18B, the option menu may include menus such as recording, interphone, lighting, cleaning schedule, setting, and the like. In addition, as shown in FIG. 18B or 18C, the display unit may further display an icon for enabling manual operation of the robot cleaner. Upon receipt of a cleaning command through manual operation, the terminal device generates a control signal and transmits it to the robot cleaner. The robot cleaner may transmit the generated cleaning map to the terminal device while performing cleaning according to the control command, and the display unit may display a screen for generating the cleaning map on the screen.

21A and 21B, the display unit may display a cleaning tab showing a screen for receiving a cleaning start command or a cleaning stop command and a patrol tab for displaying a screen for receiving a patrol command. As shown in FIG. 21A, the terminal device receives a touch input for a patrol tap after displaying a control screen for receiving a cleaning instruction. Then, the terminal device can display the patrol screen on the screen of the display unit, as shown in FIG. 21B.

Referring to FIG. 22A, during cleaning of the robot cleaner, a user or the like may touch the patrol tab. In this case, as shown in FIG. 22B, the display unit switches to the patrol screen and displays it. Then, as shown in Fig. 22C, the display portion is' Cleaning now. Do you want to stop the cleaning and patrol? '

INDUSTRIAL APPLICABILITY As described above, the embodiments of the present invention allow the robot cleaner to be controlled in various ways by connecting the terminal device and the robot cleaner through a network. In addition, embodiments of the present invention enable real-time confirmation of the situation of a house from the outside, and enable quick response according to the state of the robot cleaner. The robot cleaner may perform automatic cleaning, manual cleaning, reservation cleaning, cleaning mode change, or the like by a remote control by itself or a terminal device. In addition, the robot cleaner may check the state of the battery from time to time during the cleaning to perform a charging operation, and transmit the state information to the terminal device in real time.

100: robot cleaner 200: terminal device
110: communication unit 120: control unit
131: video detection unit 132: obstacle detection unit
133: location recognition unit 140: storage unit
150: cleaning unit 160: drive unit
161: main wheel 162: wheel sensor
170: input unit 180: output unit
190: power supply unit 210: wireless communication unit
220: control unit 230: display unit
240: Memory

Claims (18)

A communication unit for receiving a control signal from an external terminal device and transmitting a response signal to the control signal; And
And a control unit for controlling the robot cleaner according to the control signal and generating the response signal according to a control result.
When the terminal device is connected to one or more of the robot cleaner, characterized in that the connection authentication with the robot cleaner selected by the user,
The control unit extracts a cleaning start command or a cleaning stop command from the control signal, and performs cleaning according to the cleaning start command or stops cleaning according to the cleaning stop command,
The genital robot cleaner transmits the cleaning map generated at the same time as the cleaning is performed to the terminal device, so that the terminal device displays the operation of generating the cleaning map on the screen. The method according to claim 1,
And a video detecting unit for photographing the surroundings to generate image information. The method of claim 2,
And an obstacle detection unit having at least one sensor and detecting an obstacle around the obstacle using the sensing signal of the sensor and outputting obstacle information,
Wherein the control unit comprises:
And a cleaning map is generated using the obstacle information. The method of claim 3,
And a location recognizing unit having one or more sensors and recognizing the location of the robot cleaner itself using the detection signal of the sensor and outputting location information.
Wherein the control unit comprises:
And a robot cleaner, wherein the cleaning map is modified using the recognized location information. The method of claim 3,
The communication unit comprising:
And the data including at least one of the image information, the obstacle information, and the cleaning map is transmitted to the terminal device. 6. The method of claim 5,
And a storage unit configured to store the data including at least one of the image information, the obstacle information, and the cleaning map. 7. The method according to any one of claims 1 to 6,
The communication unit receives cleaning reservation information from the terminal device,
And the control unit performs cleaning using the cleaning reservation information. A terminal device for remotely controlling a robot cleaner,
A wireless communication unit transmitting a control signal to at least one robot cleaner and receiving at least one data including image information or a cleaning map from the robot cleaner;
A controller configured to generate the control signal corresponding to a control command for the robot cleaner and to generate a control screen using the data; And
And a display unit configured to receive the control command and display the control screen.
When the terminal device is connected to one or more of the robot cleaner, characterized in that the connection authentication with the robot cleaner selected by the user,
The control command includes a cleaning start command or a cleaning stop command,
And the wireless communication unit receives a cleaning map generated at the same time as the robot cleaner performs cleaning, and the display unit displays an operation of generating the cleaning map. The method of claim 8,
The display unit includes:
And a cleaning start icon for receiving the cleaning start command and a cleaning stop icon for receiving the cleaning stop command are alternately displayed on the touch recognition area. 10. The method of claim 9,
The touch recognition area further comprises a first area having a predetermined size on which the control screen is displayed and receiving the control command, and a second area having a size smaller than or equal to the first area. 11. The method of claim 10,
The display unit includes:
When the robot cleaner completes the cleaning, the terminal device, characterized in that for displaying a cleaning completion screen. 11. The method of claim 10,
The display unit further includes a mode icon for setting a cleaning mode,
The control unit, when receiving a touch input for the mode icon, the terminal device, characterized in that for generating a mode setting screen. 13. The method according to any one of claims 10 to 12,
The display unit may further include a cleaning schedule icon for setting a cleaning schedule.
The control unit, upon receiving a touch input for the cleaning reservation icon, terminal device, characterized in that for generating a cleaning reservation screen. A robot cleaner configured to receive a control signal, perform a control command included in the control signal, and transmit one or more data including image information or a cleaning map; And
And a terminal device generating the control signal corresponding to the control command and transmitting the control signal to the robot cleaner and generating and displaying a control screen based on the data.
When the terminal device is connected to one or more of the robot cleaner, characterized in that the connection authentication with the robot cleaner selected by the user,
The control command includes a cleaning start command or a cleaning stop command,
The robot cleaner transmits a cleaning map generated at the same time as the cleaning is performed to the terminal device, and the terminal device displays a generation operation of the cleaning map on the screen. 15. The method of claim 14,
The terminal device generates and generates cleaning reservation information to the robot cleaner,
The robot cleaner remote control system of the robot cleaner, characterized in that for performing cleaning using the cleaning reservation information. In the remote control method of the robot cleaner using a remote control system of the robot cleaner comprising a robot cleaner and a terminal device for controlling the robot cleaner,
The terminal device receiving a selection input for any one or more of the robot cleaners;
The terminal device requesting a connection to the robot cleaner;
The robot cleaner authenticating a connection;
Receiving, by the robot cleaner, a control signal from the terminal device;
Extracting, by the robot cleaner, a cleaning start command or a cleaning stop command from the control signal; And
And cleaning the robot cleaner according to the cleaning start command or stopping the cleaning according to the cleaning stop command.
Generating, by the robot cleaner, a cleaning map simultaneously with performing cleaning according to the cleaning start command; And
The terminal device receiving the cleaning map from the robot cleaner and displaying the generating operation of the cleaning map on the screen;
Further comprising the step of controlling the robot cleaner. 17. The method of claim 16,
Transmitting, by the robot cleaner, one or more data including image information or a cleaning map to the terminal device;
Generating, by the terminal device, a control screen using the data; And
And displaying, by the terminal device, the control screen. The method of claim 17,
Generating, by the terminal device, cleaning reservation information on the robot cleaner; And
And transmitting, by the terminal device, the cleaning reservation information to the robot cleaner.
The cleaning or stopping of the cleaning may be performed based on the cleaning reservation information.

Images