阅读说明：本技术 机器人清洁器的控制装置 (Control device for robot cleaner ) 是由 金祥娥 尹俊豪 慎龙佶 于 2021-07-01 设计创作，主要内容包括：本发明涉及一种用于机器人清洁器的控制装置,其提供用于增加用户便利性的功能和用户界面(UI),并且根据本发明的控制装置,可以通过提供各种用户界面来增加用户便利性,这些用户界面能够接收用于控制机器人清洁器的设定值。(The present invention relates to a control apparatus for a robot cleaner, which provides a function and a User Interface (UI) for increasing user convenience, and according to the control apparatus of the present invention, user convenience can be increased by providing various user interfaces capable of receiving setting values for controlling the robot cleaner.)

1. A control apparatus for remotely controlling a robot cleaner that automatically travels and cleans a floor surface using one or more mops, the control apparatus comprising:

a display unit displaying a main screen, the main screen receiving a control signal for controlling the robot cleaner as a touch input of a user,

wherein a state display module indicating a current operation state of the robot cleaner is disposed in a first area located at an upper end of the main screen; arranging a user setting module in a second area located below the first area, the user setting module receiving a setting value for controlling the robot cleaner through a touch input of a user; and an operation performing module disposed in a third region between the state display module and the user setting module, the operation performing module operating the robot cleaner by a touch input of a user,

the user setting module includes a water supply setting unit that receives a set value of a target water supply amount to be supplied to the mop from a user.

2. The control device of claim 1, wherein the status display module comprises at least one of: a cleaning mode display unit indicating a currently set cleaning mode of the robot cleaner; a reservation state display unit indicating whether one or more functions of the robot cleaner are reserved; and a schedule time display unit indicating a total time for which the robot cleaner has traveled to perform cleaning.

3. The control device of claim 1, wherein the operation execution module comprises at least one of: a monitoring operation unit receiving a control signal of a monitoring operation in which the robot cleaner monitors a room using an image photographing device provided in the robot cleaner; a cleaning operation unit receiving a control signal of a cleaning operation in which the robot cleaner starts cleaning a floor surface; and a charging operation unit receiving a control signal of a charging operation in which the robot cleaner returns to a charging station.

4. The control apparatus according to claim 1, wherein the water supply setting unit includes a slider in the form of a horizontal bar, the slider being moved by a user's touch input sliding a target point left or right,

displaying the slider in a first color from a preset point to a point corresponding to a maximum water supply amount to be distinguished from a second color of the slider at other points,

the water supply amount corresponding to the point at which the target point is stopped on the slider is set as a set value of the target water supply amount.

5. The control apparatus according to claim 4, wherein when a target point where a user slides is located between the preset point and a point corresponding to a maximum water supply amount, the entire slider is converted into the first color, and a warning message is displayed at the bottom of the slider.

6. The control device according to claim 4, wherein when the set value of the target water supply amount is set by a touch input of a user, a control signal corresponding to information on the set value of the target water supply amount is transmitted to the robot cleaner.

7. The control apparatus of claim 1, wherein the user setting module further comprises a fall prevention sensitivity setting unit receiving a cliff height setting value of the robot cleaner from a user,

when the fall prevention sensitivity setting unit is selected by a touch input of a user, a plurality of preset cliff height setting values are displayed on the main screen.

8. The control device according to claim 7, wherein when a cliff height setting value is selected through a touch input by a user, a control signal corresponding to information on the selected cliff height setting value is transmitted to the robot cleaner.

9. The control apparatus of claim 1, wherein the user setup module further comprises a position detection unit searching for a current position of the robot cleaner,

when the position detecting unit is selected by a touch input of a user, the main screen is switched to a cleaner search screen, and a cleaner search button is displayed on the cleaner search screen, the cleaner search button receiving a control signal for searching for a current position of the robot cleaner.

10. The control apparatus of claim 9, wherein when the cleaner search button is selected by a touch input of a user, a position where the robot cleaner stops traveling is transmitted from the robot cleaner, and the position where the traveling is stopped is displayed on the cleaner search screen as the current position of the robot cleaner.

11. The control apparatus according to claim 1, wherein the user setting module further includes a cleaning reservation setting unit that reserves a cleaning operation of the robot cleaner,

when the cleaning reservation setting unit is selected by a touch input of a user, the main screen is switched to a reservation list screen including a reservation addition button for reserving a cleaning operation of the robot cleaner and a cleaning operation list of the robot cleaner that has been previously reserved,

when the reservation addition button or the cleaning operation list is selected by a touch input of a user, the reservation list screen is switched to a reservation setting screen, which sets a wet mode of a mop.

12. The control device according to claim 11, wherein the reservation setting screen includes a mop wet button capable of activating or deactivating the wet mode,

when the mop wet button is activated by a touch input of a user, a control signal for reserving a wet mode for the robot cleaner is transmitted to the robot cleaner.

13. The control apparatus of claim 1, wherein the home screen includes an overflow menu button disposed at an upper right of the status display module,

when the overflow menu button is selected by a touch input of a user, a menu list including one or more menus is displayed on the main screen,

the menu list includes a residual water removal menu, and when the residual water removal menu is selected by a touch input of a user, the main screen is switched to a residual water removal screen for removing residual water inside the robot cleaner.

14. The control apparatus of claim 13, wherein a residual water removal start button receiving a control signal for switching the robot cleaner to a residual water removal mode is displayed on the residual water removal screen,

when the residual water removal start button is selected by a touch input of a user, a control signal for switching the robot cleaner to a residual water removal mode capable of discharging residual water inside the robot cleaner is transmitted to the robot cleaner.

15. The control apparatus of claim 1, wherein the home screen includes an overflow menu button disposed at an upper right of the status display module,

when the overflow menu button is selected by a touch input of a user, a menu list including one or more menus is displayed on the main screen,

the menu list includes a setting menu, and when the setting menu is selected by a touch input of a user, the main screen is switched to a product management screen that receives a setting value unrelated to a cleaning operation of the robot cleaner.

16. The control device according to claim 15, wherein the product management screen includes a brightness adjustment menu that receives a set value of brightness of a display unit provided in the robot cleaner to provide information to a user, and a notification sound setting menu that receives a set value of a notification sound transmitted from the display unit.

17. The control apparatus of claim 16, wherein the product management screen is switched to a brightness adjustment screen for selecting brightness of a display unit of the robot cleaner when the brightness adjustment menu is selected by a touch input of a user,

the brightness adjustment screen displays a plurality of preset brightness setting values selectable by a user,

when one brightness among a plurality of brightness setting values is selected by a touch input of a user, a control signal corresponding to the selected brightness setting value is transmitted to the robot cleaner.

18. The control device according to claim 16, wherein the product management screen is switched to a notification sound adjustment screen when the notification sound setting menu is selected by a touch input of a user, and the notification sound adjustment screen includes a volume adjustment menu,

when the volume adjustment menu is selected by a touch input of a user, the notification sound adjustment screen is switched to a volume adjustment screen for selecting a volume level of a notification sound transmitted from the robot cleaner,

the volume adjustment screen displays a plurality of preset volume level settings that are selectable by a user,

when any one of a plurality of volume level setting values is selected by a touch input of a user, a control signal corresponding to the selected volume level setting value is transmitted to the robot cleaner.

Technical Field

The present invention relates to a control apparatus for remotely controlling a robot cleaner, and more particularly, to a control apparatus for a robot cleaner, which provides a function and a User Interface (UI) for enhancing user convenience.

Background

The robot cleaner is a home robot that can automatically travel on a surface to be cleaned having a certain area and remove dust or foreign substances around the surface, and is generally classified into a suction type robot cleaner that sucks dust by vacuum and a wet type robot cleaner having a wet mop function, which wipes the surface to be cleaned using a mop, according to its function.

On the other hand, a wet type robot cleaner having a wet mop function (hereinafter, referred to as a "robot cleaner") has a water container, and is configured to supply water contained in the water container to a mop and wipe a floor surface with the wet mop, thereby effectively removing foreign substances strongly adhered to the floor surface.

Such a robot cleaner may be controlled using buttons provided on a main body of the robot cleaner, or may be remotely controlled through a user terminal or the like.

However, in the case of controlling the robot cleaner using buttons provided on the robot cleaner main body, it is not easy in practice to install various control functions on the robot cleaner main body. Therefore, only very limited operations such as on-off control of start and pause of cleaning, return to a charging station, and the like can be performed, and there is a problem that remote control is not possible.

In addition, in the case of remote control through a user terminal, only a limited user interface is conventionally provided, and thus there is a problem in that detailed setting values of main functions related to a cleaning operation of the robot cleaner cannot be directly input from a user.

Korean patent registration No. 10-1352518 discloses a remote control system of a mobile robot configured to include a mobile robot that receives a control signal, executes a charging command included in the control signal, and transmits a response signal of the control signal, and a terminal device; the terminal device generates and transmits a control signal corresponding to the charging command to the mobile robot, and generates and displays a control screen based on the response signal.

However, the screen of the terminal device disclosed in korean patent registration No. 10-1352518 is configured to remotely control only limited functions of the patrol, cleaning, and charging operations, and there is a problem in that a user cannot directly input detailed settings of the mobile robot.

Korean patent registration No. 10-2021827 discloses a cleaner, which includes a main body, a mop module, and a pump, and is configured to automatically travel while mopping the floor, and to control the pump of the cleaner to vary the amount of water supplied to the mop module.

However, since the pump control of korean patent registration No. 10-2021827 is performed by the control unit of the cleaner, there is a problem in that the amount of water supplied to the mop module cannot be directly inputted from the user.

Korean patent registration No. 10-0619753 discloses a robot cleaner including a remote control device that converts call information data for calling a position of the robot cleaner into wireless call information data and transmits the wireless call information data when a user presses the call device. In case that the remaining voltage of the battery drops below a certain voltage during the cleaning, the robot cleaner is in a power saving mode, wirelessly receives call information data from the remote control device, analyzes the received call information data, and selects and outputs a melody for announcing a place according to the analysis result.

However, the remote control apparatus disclosed in korean patent registration No. 10-0619753 is a remote controller without a screen as a display apparatus. Therefore, there are the following problems: an interface through which a user can directly input detailed settings of the robot cleaner or an interface displaying information received from the robot cleaner for inspection is not provided.

[ documents of the related art ]

[ patent document ]

(patent document 1) Korean patent registration No. 10-1352518

(patent document 2) Korean patent registration No. 10-2021827

(patent document 3) Korean patent registration No. 10-0619753

Disclosure of Invention

[ problem ] to

An object of the control apparatus according to the present invention is to provide a control apparatus capable of receiving a set value for controlling a robot cleaner from a user.

In particular, it is an object to provide a control device which can set the amount of water supplied to the mop of a robotic cleaner by user input.

Further, it is an object to provide a control apparatus which can set the height of a cliff detected by a robot cleaner by user input.

Further, it is an object to provide a control apparatus that allows a user to easily detect a current position of a robot cleaner when the robot cleaner is stopped during traveling.

Further, it is an object to provide a control apparatus that can select a function of rapidly increasing the moisture content of a mop attached to a robot cleaner through a user input when the robot cleaner starts a cleaning operation.

Further, it is an object to provide a control apparatus that can select a function of removing water remaining inside a robot cleaner through a user input.

Further, it is an object to provide a control apparatus that can set the brightness of a display unit of a robot cleaner through a user input.

Further, it is an object to provide a control apparatus which can set a volume level of a notification sound of a robot cleaner by a user input.

[ technical solution ] A

In order to accomplish the above object, the present invention provides a control device for remotely controlling a robot cleaner, which automatically travels and cleans a floor surface using one or more mops, the control device including a display unit displaying a main screen, which receives a control signal for controlling the robot cleaner as a touch input by a user, wherein a state display module is disposed in a first area located at an upper end of the main screen, the state display module indicating a current operating state of the robot cleaner; arranging a user setting module in a second area located below the first area, the user setting module receiving a setting value for controlling the robot cleaner through a touch input by a user; and an operation execution module that operates the robot cleaner through a touch input of a user is disposed in a third area between the state display module and the user setting module, and the user setting module includes a water supply setting unit that receives a set value of a target water supply amount to be supplied to the mop from the user.

In this case, the status display module may include at least one of: a cleaning mode display unit indicating a currently set cleaning mode of the robot cleaner; a reservation state display unit indicating whether one or more functions of the robot cleaner are reserved; and a schedule time display unit indicating a total time for which the robot cleaner has traveled to perform cleaning.

Further, the operation performing module may include at least one of: a monitoring operation unit receiving a control signal of a monitoring operation in which the robot cleaner monitors a room using an image photographing device provided in the robot cleaner; a cleaning operation unit receiving a control signal of a cleaning operation in which the robot cleaner starts cleaning the floor surface; and a charging operation unit receiving a control signal of a charging operation in which the robot cleaner returns to the charging station.

Further, the water supply setting unit may include a slider in the form of a horizontal bar, which is moved by sliding the target point left and right by a touch input of a user, may be displayed in a first color from a preset point to a point corresponding to the maximum water supply amount to be distinguished from a second color of the slider at other points, and the water supply amount corresponding to the point at which the target point is stopped on the slider may be set as a set value of the target water supply amount.

In this case, when the target point at which the user slides is located between the preset point and the point corresponding to the maximum water supply amount, the entire slider may be converted into the first color, and a warning message may be displayed at the bottom of the slider.

Further, when the set value of the target water supply amount is set by a touch input of the user, a control signal corresponding to information on the set value of the target water supply amount may be transmitted to the robot cleaner.

Meanwhile, the user setting module may further include a fall prevention sensitivity setting unit receiving a set value of a cliff height of the robot cleaner from a user, and a plurality of preset cliff height set values may be displayed on the main screen when the fall prevention sensitivity setting unit is selected through a touch input of the user.

In this case, when a set value of the cliff height is selected through a touch input of the user, a control signal corresponding to information on the selected set value of the cliff height may be transmitted to the robot cleaner.

Meanwhile, the user setting module may further include a position detecting unit searching for a current position of the robot cleaner, the main screen may be switched to a cleaner search screen when the position detecting unit is selected by a touch input of a user, and a cleaner search button receiving a control signal for searching for the current position of the robot cleaner may be displayed on the cleaner search screen.

In this case, when the cleaner search button is selected by a touch input of the user, a position where the robot cleaner stops traveling may be transmitted from the robot cleaner, and the position where the traveling is stopped may be displayed on the cleaner search screen as a current position of the robot cleaner.

Meanwhile, the user setting module may further include a cleaning reservation setting unit that reserves a cleaning operation of the robot cleaner, the main screen may be switched to a reservation list screen including a reservation addition button for reserving the cleaning operation of the robot cleaner and a cleaning operation list of the robot cleaner reserved previously when the cleaning reservation setting unit is selected by a touch input of the user, the reservation list screen may be switched to a reservation setting screen that sets a wet mode of the mop when the reservation addition button or the cleaning operation list is selected by the touch input of the user.

In this case, the reservation setting screen may include a mop wet button capable of activating or deactivating the wet mode, and a control signal for reserving the wet mode for the robot cleaner may be transmitted to the robot cleaner when the mop wet button is activated by a touch input of a user.

Meanwhile, the main screen may include an overflow menu button disposed at the upper right of the state display module, and when the overflow menu button is selected by a touch input of a user, a menu list including one or more menus may be displayed on the main screen, the menu list may include a residual water removal menu, and when the residual water removal menu is selected by a touch input of a user, the main screen may be switched to the residual water removal screen for removing residual water inside the robot cleaner.

In this case, a residual water removal start button may be displayed on the residual water removal screen, the residual water removal start button receiving a control signal for switching the robot cleaner to the residual water removal mode, and the control signal for switching the robot cleaner to the residual water removal mode capable of discharging residual water inside the robot cleaner may be transmitted to the robot cleaner when the residual water removal start button is selected by a touch input of a user.

In addition, the main screen may include an overflow menu button disposed at an upper right side of the state display module, a menu list including one or more menus may be displayed on the main screen when the overflow menu button is selected by a touch input of a user, the menu list may include a setting menu, and the main screen may switch to a product management screen that receives a setting value unrelated to a cleaning operation of the robot cleaner when the setting menu is selected by a touch input of a user.

Further, the product management screen may include a brightness adjustment menu receiving a set value of brightness of a display unit provided in the robot cleaner to provide information to a user, and a notification sound setting menu receiving a set value of a notification sound transmitted from the display unit.

In this case, when the brightness adjustment menu is selected by a touch input of the user, the product management screen may be switched to a brightness adjustment screen for selecting brightness of the display unit of the robot cleaner, the brightness adjustment screen may display a plurality of preset brightness setting values selectable by the user, and when one of the plurality of brightness setting values is selected by the touch input of the user, a control signal corresponding to the selected brightness setting value may be transmitted to the robot cleaner.

In addition, the product management screen may be switched to a notification sound adjustment screen when a notification sound setting menu is selected by a touch input of a user, and the notification sound adjustment screen may include a volume adjustment menu, the notification sound adjustment screen may be switched to a volume adjustment screen for selecting a volume level of the notification sound transmitted from the robot cleaner when the volume adjustment menu is selected by the touch input of the user, the volume adjustment screen may display a plurality of preset volume level setting values selectable by the user, and a control signal corresponding to the selected volume level setting value may be transmitted to the robot cleaner when any one volume level setting value is selected from the plurality of volume level setting values by the touch input of the user.

[ PROBLEMS ] the present invention

The control apparatus according to the present invention can increase user convenience by providing various user interfaces through which setting values for controlling the robot cleaner can be input.

In particular, since the control apparatus according to the present invention includes the water supply setting unit as a user interface, the amount of water supply to be supplied to the mop of the robot cleaner can be set by a user input, thereby increasing user convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes the fall prevention sensitivity setting unit as a user interface, the height of the cliff detected by the robot cleaner can be set by a user input, thereby increasing the convenience of the user in controlling the robot cleaner.

In addition, since the control apparatus according to the present invention includes the position detecting unit as the user interface, the user can easily detect the current position of the robot cleaner when the robot cleaner is stopped during traveling, thereby increasing the user's convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes a cleaning reservation setting unit that can reserve a wet mop mode as a user interface, the water content of the mop coupled to the robot cleaner can be rapidly increased by a user input when the robot cleaner starts a cleaning operation, thereby increasing user convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes the residual water removal menu as a user interface, an operation for removing residual water of the robot cleaner can be performed by a user input, thereby increasing user convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes the brightness adjustment menu as a user interface, the brightness of the display unit of the robot cleaner can be set through user input, thereby increasing user convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes a volume adjustment menu as a user interface, a volume level of the display unit of the robot cleaner can be set by a user input, thereby increasing user convenience in controlling the robot cleaner.

Drawings

Fig. 1 is a conceptual diagram of a robot cleaner system including a control apparatus according to an embodiment of the present invention.

Fig. 2a is a perspective view illustrating the robot cleaner of fig. 1.

Fig. 2b is a view illustrating a partially separated configuration of the robot cleaner of fig. 1.

Fig. 2c is a rear view of the robot cleaner of fig. 1.

Fig. 2d is a bottom view of the robot cleaner of fig. 1.

Fig. 2e is an exploded perspective view of the robot cleaner of fig. 1.

Fig. 2f is an internal sectional view of the robot cleaner of fig. 1.

Fig. 3 is a block diagram of the robot cleaner of fig. 1.

Fig. 4 is an internal block diagram of a control apparatus according to an embodiment of the present invention.

Fig. 5 is a flowchart of a method of controlling the robot cleaner of fig. 1 using a control apparatus according to an embodiment of the present invention.

Fig. 6 is a view illustrating an arrangement structure of a home screen displayed by a display unit of a control apparatus according to an embodiment of the present invention.

Fig. 7 is a flowchart of a method of transmitting a control signal to the robot cleaner by selecting a water supply setting unit on the main screen of fig. 6 based on a touch input of a user.

Fig. 8a and 8b are views for explaining in detail an embodiment related to selection of the water supply setting unit on the main screen of fig. 6 by a touch input of a user.

Fig. 9 is a flowchart of a method of transmitting a control signal to the robot cleaner by selecting a fall prevention sensitivity setting unit on the main screen of fig. 6 based on a touch input of a user.

Fig. 10a to 10c are views for explaining in detail an embodiment related to selection of the fall prevention sensitivity setting unit on the main screen of fig. 6 by a touch input of a user.

Fig. 11 is a flowchart of a method of transmitting a control signal to the robot cleaner by selecting a position detection unit on the main screen of fig. 6 based on a touch input of a user.

Fig. 12a and 12b are views for explaining in detail an embodiment related to selection of the position detection unit on the main screen of fig. 6 by a touch input of a user.

Fig. 13 is a flowchart of a method for setting a wet mode in a robot cleaner.

Fig. 14a to 14e are views for explaining in detail an embodiment in which a wet mode is set in a robot cleaner by a touch input of a user.

Fig. 15 is a flowchart of a method of setting a residual water removal mode in a robot cleaner.

Fig. 16a to 16e are views for explaining in detail an embodiment in which a residual water removal mode is set in a robot cleaner by a touch input of a user.

Fig. 17 is a flowchart of a method of setting brightness of a display unit of a robot cleaner.

Fig. 18a to 18e are views for explaining an embodiment in detail in which the brightness of the display unit of the robot cleaner is set by a touch input of a user.

Fig. 19 is a flowchart of a method of setting a volume level of a robot cleaner.

Fig. 20a to 20f are views for explaining an embodiment in detail in which a volume level of a robot cleaner is set by a touch input of a user.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Since many variations and embodiments of the invention are possible, specific embodiments are shown in the drawings and will be described in detail in the detailed description. It is not intended to limit the invention to the particular embodiments, but rather, it is to be understood that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

In describing the present invention, terms such as first and second may be used to describe various components, but the components may not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component can be termed a second component, and, similarly, a second component can also be termed a first component, without departing from the scope of the present invention.

The term "and/or" can include any combination of the plurality of associated listed items or any of the plurality of associated listed items.

When an element is referred to as being "connected" or "in contact with" another element, it can be directly connected or in contact with the other element, but it is understood that other elements may exist therebetween. On the other hand, when an element is referred to as being "directly connected" or "directly in contact with" another element, it can be understood that no other element exists therebetween.

The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless the context clearly dictates otherwise, singular references may include plural references.

In this application, terms such as "including" or "having" are intended to indicate that there are features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and it is to be understood that there is no pre-exclusion of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries may be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

In addition, the following embodiments are provided for more complete explanation to those skilled in the art, and the shapes and sizes of elements in the drawings may be exaggerated for more clear explanation.

Fig. 1 is a conceptual diagram of a robot cleaner system including a control apparatus according to an embodiment of the present invention.

Referring to fig. 1, the robot cleaner system includes a robot cleaner 1 and a control device 5 for remotely controlling the robot cleaner.

Here, the robot cleaner 1 automatically travels and cleans a surface to be cleaned in an internal space in which the robot cleaner 1 itself is installed.

The robot cleaner 1 is installed in an internal space of a house, and is configured to move according to a preset pattern or a command designated/input by a user to perform a cleaning operation for cleaning a floor surface, which is a surface to be cleaned, and to perform short-range wireless communication.

The robot cleaner 1 may be remotely controlled by the control device 5.

In this case, the control device 5 is a portable wireless communication electronic device. For example, the control device 5 may be a mobile phone, a PDA, a notebook computer, a digital camera, a game machine, an electronic book, or the like. In addition, the control device 5 may support short-range communication corresponding to the short-range communication of the robot cleaner 1.

Hereinafter, the robot cleaner 1 controlled based on the control signal transmitted from the control device 5 of the present invention will be described in detail with reference to the structural diagrams shown in fig. 2a to 2f and the block diagram shown in fig. 3.

Fig. 2a to 2f are structural views for explaining the structure of the robot cleaner 1 of fig. 1.

More specifically, fig. 2a is a perspective view illustrating the robot cleaner, fig. 2b is a view illustrating a partially separated configuration of the robot cleaner, fig. 2c is a rear view of the robot cleaner, fig. 2d is a bottom view of the robot cleaner, fig. 2e is an exploded perspective view of the robot cleaner, and fig. 2f is an internal sectional view of the robot cleaner.

The robot cleaner 1 is placed on a floor and moved along a floor surface B to clean the floor using a mop. Therefore, in the following description, the vertical direction is determined based on a state in which the robot cleaner 1 is placed on the floor.

Also, a side surface to which a first lower sensor 123, which will be described later, is coupled is set as a front side based on the first and second rotation plates 10 and 20.

The "lowermost portion" of each configuration described in the present invention may be a portion that is positioned lowest in each configuration when the robot cleaner 1 is used while being placed on a floor, or may be a portion that is closest to the floor.

The robot cleaner 1 may include a main body 50, a first rotating plate 10, a second rotating plate 20, a first mop 30, and a second mop 40.

The main body 50 may form an overall external shape of the robot cleaner 1, or may be formed in the form of a frame. Each component constituting the robot cleaner 1 may be coupled to the main body 50, and some components constituting the robot cleaner 1 may be accommodated in the main body 50. The main body 50 may be divided into a lower main body 50a and an upper main body 50b, and components of the robot cleaner 1 may be disposed in a space where the lower main body 50a and the upper main body 50b are coupled to each other. (see FIG. 2 e).

The first rotating plate 10 is formed to have a predetermined area and is formed in the form of a flat plate, a flat frame, or the like. The first rotating plate 10 is generally horizontally disposed and thus the width (or diameter) in the horizontal direction is much greater than the vertical height. The first rotation plate 10 coupled to the main body 50 may be parallel to the floor surface B or may form an inclination with the floor surface B. The first rotation plate 10 may be formed in a circular plate shape, the bottom surface of the first rotation plate 10 may be substantially circular, and the first rotation plate 10 may be integrally formed in a rotationally symmetric shape.

The second rotating plate 20 is formed to have a predetermined area, and is formed in the form of a flat plate, a flat frame, or the like. The second rotating plate 20 is typically horizontally disposed and, therefore, the horizontal width (or diameter) is much greater than the vertical height. The second rotation plate 20 coupled to the main body 50 may be parallel to the floor surface B or may be inclined to the floor surface B. The second rotation plate 20 may be formed in a circular plate shape, a bottom surface of the second rotation plate 20 may be substantially circular, and the second rotation plate 20 may have a rotationally symmetric shape as a whole.

In the robot cleaner 1, the second rotating plate 20 may be identical to the first rotating plate 10, or may be symmetrically formed. The second rotating plate 20 may be located at the right side of the robot cleaner 1 if the first rotating plate 10 is located at the left side of the robot cleaner 1, and in this case, the first rotating plate 10 and the second rotating plate 20 may be bilaterally symmetric to each other.

The first mop 30 has a bottom surface facing the floor to have a predetermined area, and the first mop 30 has a flat shape. The first mop 30 is formed in a form in which a width (or diameter) in a horizontal direction is much greater than a height in a vertical direction. The bottom surface of the first swab 30 may be parallel to the floor surface B or may be inclined to the floor surface B when the first swab 30 is coupled to the main body 50.

The bottom surface of the first mop 30 may be formed in a substantially circular shape, and the first mop 30 may be formed in a rotationally symmetric shape as a whole. Further, the first mop 30 may be detachably attached to the bottom surface of the first rotating plate 10, and may be coupled to the first rotating plate 10 to rotate together with the first rotating plate 10.

The secondary mop 40 has a bottom surface facing the floor to have a predetermined area, and the secondary mop 40 has a flat shape. The secondary mop 40 is formed with a width (or diameter) in the horizontal direction that is much greater than the height in the vertical direction. The bottom surface of the secondary mop 40 may be parallel to the floor surface B or may be inclined to the floor surface B when the secondary mop 40 is coupled to the main body 50.

The bottom surface of the secondary mop 40 may be formed in a substantially circular shape and the secondary mop 40 as a whole may have a rotationally symmetrical shape. Further, the second swab 40 may be detachably attached to the bottom surface of the second rotating plate 20, and coupled to the second rotating plate 20 to rotate together with the second rotating plate 20.

When the first and second rotating plates 10 and 20 are rotated in opposite directions at the same speed, the robot cleaner 1 may move in a linear direction and move forward or backward. For example, when the first rotating plate 10 is rotated counterclockwise and the second rotating plate 20 is rotated clockwise when viewed from above, the robot cleaner 1 may move forward.

When only one of the first and second rotating plates 10 and 20 rotates, the robot cleaner 1 may change direction and turn.

When the rotation speed of the first rotation plate 10 and the rotation speed of the second rotation plate 20 are different from each other, or when the first rotation plate 10 and the second rotation plate 20 are rotated in the same direction, the robot cleaner 1 may move while changing directions, and move in a curved direction.

The robot cleaner 1 may further include a first lower sensor 123.

The first lower sensor 123 is formed at a lower side of the main body 50 and configured to detect a relative distance of the floor surface B. The first lower sensor 123 may be formed in various ways within a range capable of detecting a relative distance between the point where the first lower sensor 123 is formed and the floor surface B.

When the relative distance to the floor surface B (which may be the distance from the floor surface in the vertical direction or may be the distance from the floor surface in the oblique direction) detected by the first lower sensor 123 exceeds a predetermined value or is within a predetermined range, it may be the case that the floor surface suddenly descends, and therefore, the first lower sensor 123 may detect a cliff.

The first lower sensor 123 may be formed of a light sensor, and may be configured to include a light emitting unit for irradiating light and a light receiving unit through which reflected light is incident. The first lower sensor 123 may be an infrared sensor.

The first lower sensor 123 may be referred to as a cliff sensor.

The robot cleaner 1 may further include a second lower sensor 124 and a third lower sensor 125.

When an imaginary line connecting the center of the first rotating plate 10 and the center of the second rotating plate 20 in a horizontal direction (a direction parallel to the floor surface B) is referred to as a connection line L1, the second and third lower sensors 124 and 125 may be formed on the lower side of the main body 50 on the same side as the first lower sensor 123 with respect to the connection line L1, and configured to sense a relative distance of the floor surface B (see fig. 2 d).

The third lower sensor 125 may be formed opposite to the second lower sensor 124 based on the first lower sensor 123.

Each of the second and third lower sensors 124 and 125 may be variously formed within a range capable of detecting a relative distance from the floor surface B. Each of the second and third lower sensors 124 and 125 may be formed in the same manner as the first lower sensor 123 described above, except for the position where they are formed.

The robot cleaner 1 may further include a first actuator 56, a second actuator 57, a battery 135, a water container 141, and a water supply pipe 142.

The first actuator 56 is configured to be coupled to the main body 50 to rotate the first rotating plate 10.

The first actuator 56 may be configured to include a first motor and one or more first gears.

The first motor may be an electric motor.

The plurality of first gears are configured to rotate while interlocking with each other, connect the first motor and the first rotating plate 10, and transmit the rotational power of the first motor to the first rotating plate 10. Accordingly, the first rotating plate 10 rotates when the rotating shaft of the first motor rotates.

The second actuator 57 is configured to be coupled to the main body 50 to rotate the second rotation plate 20.

The second actuator 57 may be configured to include a second motor and one or more second gears.

The second motor may be an electric motor.

The plurality of second gears are configured to rotate while interlocking with each other, connect the second motor and the second rotation plate 20, and transmit the rotational power of the second motor to the second rotation plate 20. Therefore, when the rotation shaft of the second motor rotates, the second rotation plate 20 rotates.

In this way, in the robot cleaner 1, the first rotating plate 10 and the first mop 30 may be rotated by the operation of the first actuator 56, and the second rotating plate 20 and the second mop 40 may be rotated by the operation of the second actuator 57.

The second actuator 57 may form symmetry (left-right symmetry) with the first actuator 56.

The battery 135 is configured to be coupled to the main body 50 to supply power to other components constituting the robot cleaner 1. The battery 135 may provide power to the first and second actuators 56, 57, and in particular, to the first and second motors.

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

In the robot cleaner 1, the battery 135 may be coupled to the main body 50.

The water container 141 is made in the form of a container having an inner space such that a liquid such as water is stored therein. The water container 141 may be fixedly coupled to the body 50 or detachably coupled to the body 50.

In the robot cleaner 1, the water supply pipe 142 is formed in the form of a pipe or a duct, and is connected to the water container 141 such that the liquid inside the water container 141 flows through the inside thereof. The water supply pipe 142 is configured such that opposite ends connected to the water container 141 are located at upper sides of the first and second rotating plates 10 and 20, and thus, liquid within the water container 141 can be supplied to the mops 30 and the second mops 40.

In the robot cleaner 1, the water supply pipe 142 may be formed in a form in which one pipe is branched into two, in which case one branched end is located at an upper side of the first rotating plate 10 and the other branched end is located at an upper side of the second rotating plate 20.

The robot cleaner 1 may include a water pump 143 to move liquid through the water supply pipe 142.

A water pump 143 is connected to the water container 141 and is configured to move liquid (water) through a water supply tube 142 to be supplied to the first mop 30 and the second mop 40.

Referring to fig. 2e, the water pump 143 operates to spray water from the water container 141, in which case the water injected from the water container 141 enters the water pump 143 through the water supply pipe 142, and moves from the water pump 143 through the water supply pipe 142 again. The water exiting the water pump 143 flows to one branched end of the water supply pipe 142 and is supplied to the first mop 30 connected to the first rotating plate 10, or flows to the other branched end of the water supply pipe 142 and is supplied to the second mop 40 connected to the second rotating plate 20.

The robot cleaner 1 may further include a bumper 58, a first sensor 121, and a second sensor 122.

The bumper 58 is coupled along the contour of the body 50 and is configured to move relative to the body 50. For example, the damper 58 may be coupled to the body 50 so as to reciprocate in a direction near the center of the body 50.

The bumper 58 may be coupled along a portion of the profile of the body 50 or may be coupled along the entire profile of the body 50.

The first sensor 121 may be coupled to the body 50 and configured to detect movement (relative movement) of the bumper 58 relative to the body 50. The first sensor 121 may be a collision detection sensor, and may be formed using a micro switch, a photo interrupter, a tact switch, or the like.

The second sensor 122 may be coupled to the body 50 and configured to detect a relative distance to an obstacle. The second sensor 122 may be a distance sensor.

Fig. 3 is a block diagram of the robot cleaner shown in fig. 1 of the present invention.

Referring to fig. 3, the robot cleaner 1 may include a control unit 110, a sensor unit 120, a power unit 130, a water supply unit 140, a driving unit 150, a communication unit 160, a display unit 170, and a memory 180. The components shown in the block diagram of fig. 3 are not essential to implementing the robot cleaner 1, and thus the robot cleaner 1 described in this specification may have more or less components than those listed above.

First, the control unit 110 may be connected to the control device 5 via wireless communication by a communication unit 160 to be described later. In this case, the control unit 110 may transmit various data regarding the robot cleaner 1 to the connected control device 5. And, data can be received and stored from the connected control device 5. Here, the data input from the control device 5 may be a control signal for controlling at least one function of the robot cleaner 1.

In other words, the robot cleaner 1 may receive a control signal based on a user input from the control device 5 and operate according to the received control signal.

In addition, the control unit 110 may control the overall operation of the robot cleaner. The control unit 110 controls the robot cleaner 1 to automatically drive a surface to be cleaned and perform a cleaning operation according to setting information stored in a memory 180, which will be described later.

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

In other words, the sensor unit 120 may include a plurality of different sensors capable of detecting the surroundings of the robot cleaner 1, and information about the surroundings of the robot cleaner 1 detected by the sensor unit 120 may be transmitted to the control device 5 through the control unit 110. Here, the information on the environment may be, for example, whether an obstacle is present, whether a cliff is detected, whether a collision is detected, or the like.

The control unit 110 may be configured to control the operation of the first actuator 56 and/or the second actuator 57 according to information of the first sensor 121. For example, when the bumper 58 contacts an obstacle while the robot cleaner 1 travels, a position where the bumper 58 makes contact may be detected by the first sensor 121, and the control unit 110 may control the operation of the first actuator 56 and/or the second actuator 57 to leave the contact position.

Further, according to the information of the second sensor 122, when the distance between the robot cleaner 1 and the obstacle is less than or equal to a predetermined value, the control unit 110 may control the operation of the first actuator 56 and/or the second actuator 57 such that the traveling direction of the robot cleaner 1 is switched or the robot cleaner 1 moves away from the obstacle.

Further, the control unit 110 may control the operation of the first actuator 56 and/or the second actuator 57 such that the robot cleaner 1 stops or changes the traveling direction according to the distance detected by the first lower sensor 123, the second lower sensor 124, or the third lower sensor 125.

Meanwhile, the power unit 130 receives external power and internal power under the control of the control unit 110 to supply power required for the operation of each component. The power unit 130 may include the battery 135 of the robot cleaner 1 described above.

The water supply unit 140 may include the water container 141 of the robot cleaner 1, the water supply pipe 142, and the water pump 143 described above. The water supply unit 140 may be formed to adjust the water supply amount of the liquid (water) supplied to the first and second mops 30 and 40 during the cleaning operation of the robot cleaner 1 according to a control signal of the control unit 110. The control unit 110 may control the driving time of the motor driving the water pump 143 to adjust the water supply amount.

Alternatively, when a pressing operation is applied to the buffer 58 in a residual water removing mode described later, the water supply unit 140 may be controlled to remove residual water in the water container 141. In this regard, the control unit 110 may detect the pressing operation applied to the buffer 58 by the first sensor 121, the first sensor 121 detecting the relative movement of the buffer 58.

The driving unit 150 may include the first actuator 56 and the second actuator 57 of the robot cleaner 1 described above. The driving unit 150 may be formed such that the robot cleaner 1 rotates or moves linearly according to a control signal of the control unit 110.

Meanwhile, the communication unit 160 may include at least one module capable of enabling wireless communication between the robot cleaner 1 and a wireless communication system, between the robot cleaner 1 and a preset peripheral device, or between the robot cleaner 1 and a preset external server.

In this case, the preset peripheral device may be the control device 5 according to the embodiment of the present invention.

For example, the at least one module may comprise at least one of: an IR (infrared) module for infrared communication, an ultrasonic module for ultrasonic communication, or a short-range communication module such as a WiFi module or a bluetooth module. Or, it may be formed to transmit/receive data to/from the preset device through various wireless technologies including a wireless internet module, such as a Wireless Local Area Network (WLAN) and a wireless fidelity (Wi-Fi).

Meanwhile, the display unit 170 displays information to be provided to the user. For example, the display unit 170 may include a display device 171 for displaying a screen.

In addition, the display device 171 of the display unit 170 may be formed of any one of a Light Emitting Diode (LED), a Liquid Crystal Display (LCD), a plasma display panel, and an Organic Light Emitting Diode (OLED).

In this case, the display device 171 may display information such as operation time information, battery level information, etc. of the robot cleaner 1 and may be disposed on the upper surface of the upper body 50b of the robot cleaner 1 so that the user can easily recognize the information displayed on the display device 171.

In addition, the display unit 170 may include a voice transmitting device 172 for outputting sound. The voice transmission device 172 may be, for example, a speaker, and the source of the sound output from the speaker may be sound data previously stored in the robot cleaner 1. For example, the pre-stored sound data may be voice guidance for each function corresponding to the robot cleaner 1 or a warning sound for notifying an error.

In this case, the voice transmission device 172 may be accommodated in an inner space formed by the upper and lower bodies 50b and 50a of the robot cleaner 1. More specifically, the voice transmission device 172 may be disposed on the rear side of the battery 135 (see fig. 2 f).

Furthermore, the display unit 170 may include a manipulation device 173. The manipulation means 173 may be configured as a conventional button, a touch panel, or the like, so that the user can input a command regarding the operation of the robot cleaner 1 by touching it or pressing it with a predetermined force.

For example, the manipulation device 173 may be disposed on an upper surface of the upper body 50b of the robot cleaner 1 and configured to energize or de-energize the robot cleaner 1 when a user presses the robot cleaner 1.

Finally, the memory 180 may include various data for driving and operating the robot cleaner 1. The memory 180 may include an application program for automatic traveling of the robot cleaner 1 and various related data. Further, each data sensed by the sensor unit 120 may be stored, and may include information (e.g., cleaning scheduled time, cleaning mode, water supply amount, display brightness level, sound level of notification sound, etc.) about various settings (values) selected or input by the user.

Meanwhile, the memory 180 may include information on a surface to be cleaned currently provided to the robot cleaner 1. For example, the information of the surface to be cleaned may be map information mapped by the robot cleaner 1 itself. And the map information (i.e., map) may include various information set by the user for each area constituting the surface to be cleaned.

Fig. 4 is an internal block diagram of a control apparatus according to an embodiment of the present invention.

Referring to fig. 4, the control device 5 according to an embodiment of the present invention may include a server, a wireless communication unit 510 for exchanging data with other electronic devices such as the robot cleaner 1, and a control unit 580 that controls a screen of an application to be displayed on the display unit 551 according to a user input that executes the application for controlling the robot cleaner 1.

In addition, the control device 5 may further include an a/V (audio/video) input unit 520, a user input unit 530, a sensing unit 540, an output unit 550, a memory 560, an interface unit 570, and a power supply unit 590.

The application for controlling the robot cleaner 1 may include a main screen 1000, which may receive user input related to a control signal for controlling the robot cleaner 1.

Here, the main screen 1000 may display information about the state of the robot cleaner 1 received through the wireless communication unit 510.

The user interface screen (e.g., the main screen 1000 of the application) provided through the display unit 551 of the control device 5 and the control of the robot cleaner 1 performed therethrough will be described in detail later with reference to fig. 5 to 20 f.

Meanwhile, the wireless communication unit 510 may directly receive the position information and the state information from the robot cleaner 1, or may receive the position information and the state information of the robot cleaner 1 through a server.

Meanwhile, the wireless communication unit 510 may include a broadcast receiving module 511, a mobile communication module 513, a wireless internet module 515, a short-range communication module 517, a GPS module 519, and the like.

The broadcast receiving module 511 may receive at least one of a broadcast signal and broadcast associated information from an external broadcast management server through a broadcast channel. In this case, the broadcast channel may include a satellite channel, a terrestrial channel, and the like.

The broadcast signal and/or broadcast associated information received through the broadcast receiving module 511 may be stored in the memory 560.

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

The wireless internet module 515 refers to a module for wireless internet access, and the wireless internet module 515 may be built in or out of the control device 5 for controlling the robot cleaner 1. For example, the wireless internet module 515 may perform WiFi-based wireless communication or Direct internet (WiFi Direct) -based wireless communication.

The short-range communication module 517 is used for short-range communication, and may support the use of bluetooth^TMRadio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), wireless fidelity (Wi-Fi), Direct-connect interconnect (Wi-Fi Direct), and wireless universal serial bus (wireless USB).

The short-range communication module 517 may support wireless communication between the control device 5 for controlling the robot cleaner 1 through a short-range wireless communication network (wireless area network) and a wireless communication system, between the control device 5 and a control device of another robot cleaner, between the control device 5 and another mobile terminal, or a network in which an external server is located. The short-range wireless communication network may be a wireless personal area network.

Global Positioning System (GPS) module 519 may receive position information from a plurality of GPS satellites.

Meanwhile, the wireless communication unit 510 may exchange data with the server using one or more communication modules.

The wireless communication unit 510 may include an antenna 505 for wireless communication, and may include an antenna for receiving a broadcast signal in addition to an antenna for a call or the like.

An a/V (audio/video) input unit 520 is used to input an audio signal or a video signal, and may include a camera 521, a microphone 523, and the like.

The user input unit 530 generates key input data input by a user to control the operation of the control device 5. To this end, the user input unit 530 may include a keypad, a dome switch, a touch pad (static pressure/capacitance type), and the like. In particular, when the touch panel forms an inter-layer structure with the display unit 551, it may be referred to as a touch screen.

The sensing unit 540 may generate a sensing signal for controlling the operation of the control device 5 by detecting a current state of the control device 5 (e.g., an on/off state of the control device 5, a position of the control device 5, whether there is user contact, etc.).

The sensing unit 540 may include a proximity sensor 541, a pressure sensor 543, a motion sensor 545, and the like. The motion sensor 545 may detect a motion or a position of the control device 5 using an acceleration sensor, a gyro sensor, a gravity sensor, or the like. In particular, the gyro sensor is a sensor for measuring an angular velocity, and can detect a direction (angle) of rotation with respect to a reference direction.

The output unit 550 may include a display unit 551, a sound output module 553, a notification unit 555, a haptic module 557, and the like.

On the other hand, when the display unit 551 and the touch panel form an inter-layer structure and are configured as a touch screen, the display unit 551 may also function as an input device capable of inputting information by a touch of a user, in addition to an output device.

In this case, a screen for receiving an input of a setting value related to a control signal for controlling the robot cleaner 1 from a user may be displayed on the display unit 551, and information processed by the control device 5, such as another screen switched and displayed from the screen according to the user input, may be displayed and output.

That is, the display unit 551 may be used to receive information through a touch input of a user, and simultaneously may also be used to display information processed by the control unit 580, which will be described later.

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

The notification unit 555 may output a signal for notifying the occurrence of an event in the control device 5. For example, the signal may be output in the form of vibration.

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

The memory 560 may store programs for processing and control of the control unit 580, and perform functions for temporarily storing input or output data (e.g., phonebook, message, still image, video, etc.).

The interface unit 570 serves as an interface with all external devices connected to the control device 5. The interface unit 570 may receive data or power from such an external device and transmit it to each component inside the control device 5, and allow data inside the control device 5 to be transmitted to the external device (e.g., it may be transmitted to the robot cleaner 1).

The control unit 580 controls the overall operation of the control device 5 by overall controlling the operations of the respective units. For example, it may perform related control and processing for voice calls, data communications, video calls, and the like. In addition, the control unit 580 may include a multimedia playback module 581 for playing multimedia. The multimedia playback module 581 may be configured as hardware in the control unit 580, or may be configured as software independent of the control unit 580.

Further, the control unit 580 may display a main screen 1000 for controlling the robot cleaner 1 on the display unit 551, control switching of the main screen 1000 according to a user's touch input, and transmit a control signal for controlling the robot cleaner 1 to the robot cleaner 1 based on the user input through the display unit 551.

The power supply unit 590 receives external power and internal power under the control of the control unit 580 to supply power required for the operation of each component.

Meanwhile, the block diagram of the control device 5 shown in fig. 4 is a block diagram of an embodiment of the present invention. Each component in the block diagram may be integrated, added, or omitted according to the specification of the control device actually implemented.

That is, two or more components may be combined into one component, or one component may also be subdivided into two or more components as necessary. In addition, the functions performed by each block are for explaining the embodiment of the present invention, and the specific operation or means does not limit the scope of the present invention.

Hereinafter, specific examples will be given for the arrangement and switching of the screen displayed by the display unit 551 of the control device 5, and the control signal transmitted to the robot cleaner 1 by the control device 5 will be described.

Fig. 5 is a flowchart of a method of controlling the robot cleaner of fig. 1 using a control apparatus according to an embodiment of the present invention.

Referring to fig. 5, the method of transmitting a control signal to the robot cleaner 1 through the control device 5 includes: a step (S1000) of executing an application by which the control unit 580 controls the robot cleaner 1 installed in the control device 5 according to a user input; a step of displaying the main screen 1000 by the control unit 580 through the display unit 551 so as to receive a setting value for controlling the robot cleaner 1 as a touch input of a user (S2000); and a step of switching the main screen 1000 to another screen according to a touch input of the user by the control unit 580 and transmitting a control signal to the robot cleaner 1 based on the setting value (S3000).

Hereinafter, the arrangement structure of the home screen 1000 displayed by the process S2000 of fig. 5 will be described in detail with reference to fig. 6.

Fig. 6 is a view illustrating an arrangement structure of a home screen displayed by a display unit of a control apparatus according to an embodiment of the present invention.

Here, the user refers to an object that wants to remotely control the robot cleaner 1 using the control device 5.

Here, the main screen 1000 may be a screen that the control unit 580 first displays when an application stored in the control device 5 is initially executed.

Alternatively, when the application is an application for controlling a plurality of home devices including the robot cleaner 1, the main screen 1000 may be a screen displayed when the user selects the robot cleaner 1 among the plurality of home devices on a separate initial screen through the user's touch screen.

That is, the main screen 1000 refers to a first control screen displayed in relation to the control of the robot cleaner 1 when an application is initially executed.

The main screen 1000 may receive a control signal for controlling the robot cleaner 1 from a user as a touch input, and for this purpose, the main screen 1000 may have one or more divided areas.

For example, the home screen 1000 may include a first area a1, a second area a2, and a third area A3.

The first area a1 may be located in an upper area of the main screen 1000, and a status bar area a1 in which current date/time information, connected communication network information, battery information of a control device, and the like are displayed and a title area a02 in which name information of a control object (e.g., "wet mop robot cleaner") is displayed may be located in an upper portion of the first area a 1.

The control unit 580 arranges and displays a status display module 1100 indicating a current operating status of the robot cleaner 1 in the first area a1 of the main screen 1000.

The control unit 580 arranges and displays a user setting module 1200 in the second area a2 of the main screen 1000, the user setting module 1200 receiving a setting value for controlling the robot cleaner 1 through a touch input by a user.

In this case, the set value for controlling the robot cleaner 1 refers to a value of a parameter related to the cleaning operation of the robot cleaner 1, and may be changed by a user.

The second area a2 is located below the first area a1 and is located approximately in the lower area of the main screen 1000. Preferably, the second area a2 is disposed below the center in the longitudinal direction of the display unit 551, so that the touch input of the user can be easily performed.

The third region A3 is located between the first region a1 and the second region a 2.

The control unit 580 arranges and displays an operation execution module 1300 in the third area a3 of the main screen 1000, the operation execution module 1300 being used to operate the robot cleaner 1 by a touch input of the user.

On the other hand, when the user remotely controls the robot cleaner 1 using the control device 5, the touch input is generally performed using the fingers while supporting the lowermost edge of the control device 5 with the palm.

That is, during use of the control device 5, the first area a1 is the farthest area from the area where the user can easily perform touch input without moving the support point where the user supports the control device 5 with the palm, and the second area a2 is the closest area to the area where touch input is easily performed.

Accordingly, in the control device 5 according to the embodiment of the present invention, a module that does not require a user to edit (i.e., a state display module 1100 that does not require receiving a touch input of the user) is disposed in the first area a1, and a user setting module 1200 that requires a direct input of a setting value for controlling the robot cleaner 1 from the user is disposed in the second area a2, so that a user interface with high usability can be provided.

Hereinafter, the state display module 1100, the user setting module 1200, and the operation execution module 1300, which are disposed in each area of the main screen 1000, will be described in more detail.

The state display module 1100 may include at least one of a cleaning mode display unit 1110, a reservation state display unit 1130, and a progress time display unit 1120.

Referring to fig. 5, a currently set cleaning mode of the robot cleaner 1 is displayed on the cleaning mode display unit 1110. A preset device icon corresponding to the robot cleaner 1, which is a target device controlled by the control device 5, may be displayed on the left side of the cleaning mode display unit 1110.

The cleaning mode may be displayed in text form at the upper right corner of the device icon. In this case, the cleaning mode may be displayed as, for example, text indicating whether it is cleaning, pausing, charging, being in the power saving mode, or the like. Here, when the cleaning state is displayed, information about a cleaning pattern (e.g., deep cleaning, zigzag cleaning, or intensive cleaning) having a preset driving type of the robot cleaner 1 may be displayed together.

In the lower right of the device icon, icons corresponding to one or more currently set functions (including a cleaning mode) of the robot cleaner 1 may be displayed. For example, the set functions may include whether to mute, the above-described cleaning mode, the set water supply amount, whether to set interlock cleaning, the connection state of the camera, the remaining battery power, and the like.

Next, the total time for which the robot cleaner 1 has performed the cleaning operation may be displayed on the schedule time display unit 1120. The total time when the cleaning operation has been performed is from the time when the robot cleaner 1 leaves the charging station and starts the cleaning operation to the current time point when the cleaning operation has been performed, and may be displayed in the order of hours, minutes, and seconds.

Next, reservation information of some functions of the robot cleaner 1 may be displayed on the reservation state display unit 1130. In this case, as the reservation information, names of functions of some reservations and whether the functions are reserved (turned on or off) may be displayed in text. Further, some functions may be displayed on the reservation state display unit 1130 only when reserved, and not displayed when not reserved.

Hereinafter, the operation execution module 1300 disposed in the third area a3 of the main screen 1000 will be described.

After the operation execution module 1300 is first described, the user setting module 1200 disposed in the second area a2 of the main screen 1000 will be described.

Referring to fig. 5, the operation execution module 1300 disposed in the third area a3 of the main screen 1000 may include at least one of a monitoring operation unit 1310, a cleaning operation unit 1320, and a charging operation unit 1330.

The monitoring operation unit 1310 includes preset icons and text, and when the monitoring operation unit 1310 is selected by a touch input of a user, the control unit 580 transmits a control signal to the robot cleaner 1 to start an operation of monitoring a room.

Here, the room monitoring operation may be, for example, an operation for transmitting a photographing screen, under which an area in which a motion is detected is photographed several times by an image photographing device provided in the robot cleaner 1, to the control device 5 when the motion is detected in the room. In this case, the image photographing device may be, for example, a camera provided in front of the main body 50 of the robot cleaner 1.

When the photographing screen is transmitted to the control device 5, an alarm is sounded or a vibration is issued in the control device 5, and the user can check the photographing screen through the control device 5.

The cleaning operation unit 1320 includes preset icons and text, and when the cleaning operation unit 1320 is selected by a touch input of a user, the control unit 580 transmits a control signal to the robot cleaner 1 to start a cleaning operation or temporarily stop the cleaning operation being performed. For example, when the cleaning operation unit 1320 is selected while the robot cleaner 1 is located at the charging station, the robot cleaner 1 starts the cleaning operation and travels, and when the cleaning operation unit 1320 is selected while the robot cleaner 1 performs the cleaning operation, the robot cleaner 1 temporarily stops the cleaning operation.

The charging operation unit 1330 includes preset icons and text, and when the charging operation unit 1330 is selected by a touch input of a user, the control unit 580 transmits a control signal to the robot cleaner 1 to return to the charging station.

Hereinafter, the user setting module 1200 disposed in the second area a2 of the main screen 1000 will be described.

The user setting module 1200 may include at least one of a cleaning mode setting unit 1210, a cleaning region setting unit 1220, an interlock cleaning setting unit 1240, and a repeat cleaning setting unit 1250.

When the cleaning mode setting unit 1210 is selected by a touch input of the user, a cleaning mode (e.g., deep cleaning, zigzag cleaning, or intensive cleaning) having a preset driving type is displayed in a pull-down menu form on the main screen 1000, and the user may select one of the cleaning modes.

Next, when the cleaning area setting unit 1220 is selected by a touch input of the user, the main screen 1000 is switched to a screen for designating an area where a cleaning operation is performed or an area where a cleaning operation is prohibited on the surface to be cleaned.

Next, when the interlocking cleaning setting unit 1240 is selected by a touch input of the user, the main screen 1000 is switched to a screen for selecting another robot cleaner to cooperate with the robot cleaner 1 to perform an interlocking cleaning operation.

Here, the interlock cleaning operation refers to the following cooperative operation: when another robot cleaner (e.g., a suction type robot cleaner) selected by a touch input of the user completes a cleaning operation of dust collection, the robot cleaner 1 next performs a wet mop cleaning operation.

In the interlocked cleaning operation, when another selected robot cleaner transmits a cleaning completion signal to the robot cleaner 1 after completing the cleaning operation, the control unit 110 may be executed to control the robot cleaner 1 to start the cleaning operation.

Next, the repeated cleaning setting unit 1250 will repeat the cleaning operation a preset number of times in the cleaning mode set by the cleaning mode setting unit 1210.

Hereinafter, the process S3000 of fig. 5 related to the user setting module 1200 will be described with reference to fig. 7 to 20f as specific examples.

The user setting module 1200 includes a water supply setting unit 1230 that receives a set value of a target water supply amount to be supplied to the mops 30 and 40 by the water supply unit 140 of the robot cleaner 1 from a user.

Fig. 7 is a flowchart of a method of transmitting a control signal to the robot cleaner for selecting a water supply setting unit on the main screen of fig. 6 based on a touch input of a user, and fig. 8a and 8b are views for explaining in detail an embodiment related to selection of the water supply setting unit on the main screen of fig. 6 by the touch input of the user.

First, the control unit 580 receives a user' S touch input for setting a target water supply amount to be supplied to the mops 30 and 40 on the water supply setting unit 1230 through the display unit 551 (S3110).

In this case, referring to fig. 8a and 8b, the water supply setting unit 1230 includes a slider 1231, which is a horizontal bar-shaped GUI object configured to horizontally slide and move the target point 1233 by a touch input of the user. The grid lines are displayed on the slider 1231, and the image objects 1235 are displayed at predetermined intervals under the slider 1231.

In this case, the image object 1235 may have a water droplet shape as shown in fig. 8a and 8 b.

In addition, the image object 1235 is formed in a water drop shape so that the inside of the image object 1235 is filled with a shadow according to the set water supply amount, and thereby, the user can intuitively grasp the degree of the set water supply amount. For example, the image object 1235 filled with 0% shading corresponds to a "dry mop" mode, which is a mode in which the water supply amount is 0. As the target point 1233 on the slider 1231 moves from left to right, the shadow of the image object 1235 is gradually filled in, and the water supply mode is changed from the "low wet mop" mode to the "high wet mop" mode.

In addition, a mode display item 1239 in which the set water supply amount mode is displayed in text may be disposed on an upper side of the slider 1231. For example, while the target point 1233 is moved on the slider 1231, the text of the mode display item 1239 may be changed to "dry mop", "low wet mop", or "high wet mop" in real time and displayed.

Further, the first slider region 1231a from the preset point on the slider 1231 to the right end point on the slider 1231 corresponding to the maximum water supply amount may be displayed in the first color. In this case, the preset point may be a point where the water supply amount corresponds to a "high wet mop" mode.

The second slider region 1231b is another point on the slider 1231 other than the point marked with the first color, and the second slider region 1231b may be displayed by the second color to be distinguished from the point marked with the first color.

This allows the user to intuitively grasp the appropriate range of the amount of water to be supplied to the mops 30 and 40.

On the other hand, the target point 1233 may be slid left and right on the slider 1231 by a touch input of the user, and the water supply amount corresponding to the point where the target point 1233 is stopped on the slider 1231 may be set as a set value of the target water supply amount to be supplied to the robot cleaner 1.

In this case, the touch input of the user for moving the position of the target point 1233 is performed by touching the target point 1233 downward and then dragging it to a desired position, or by directly tapping and positioning the target point 1233 at the desired position.

In addition, the third color may be displayed from the left end of the slider 1231 to the target point 1233 set by the touch input of the user, and thus, the user may intuitively grasp the water supply amount set by himself or herself.

In addition, when the target point 1233 slid by the user is located between the preset point and the point corresponding to the maximum water supply amount, that is, when the target point 1233 is located in the first slider region 1231a, the entire color of the slider 1231 is converted into the first color, and a warning message 1237 may be displayed at the bottom of the slider 1231.

For example, the warning message 1237 may be a message expressing "please notice an excessively wet mop".

Therefore, when the set value of the target water supply amount is excessively set, there is an effect of drawing attention of the user through the warning message 1237, and the following phenomenon can be prevented in advance: water flows to the floor surface, which is a surface to be cleaned, due to the mops 30 and 40 coupled to the robot cleaner 1 being excessively damp.

On the other hand, in order to improve the efficiency of the mop cleaning, it is preferable to set the target water supply amount differently according to the degree of contamination of the floor surface every time the robot cleaner 1 starts a new cleaning operation. That is, the set target water supply amount is a main function of the robot cleaner 1 including the wet mop function, and the accessibility of the function by the user must be high.

In the control device 5 according to the embodiment of the present invention, the water supply setting unit 1230 is disposed on the main screen 1000 so that the user sets the set value of the target water supply amount with the least touch input after the application is performed.

Further, preferably, the water supply setting unit 1230 may be oppositely disposed at an upper portion of the second area a2 of the main screen 1000.

Therefore, the control device 5 according to the embodiment of the present invention provides the following effects: the convenience of the sliding operation of the user for setting the target water supply amount is increased.

Meanwhile, when the set value of the target water supply amount is set through the touch input of the user, the control unit 580 transmits a control signal corresponding to the information on the set value of the target water supply amount to the robot cleaner 1 (S3120).

In this case, the control signal may be a control signal for controlling the water pump 143 of the robot cleaner 1. More specifically, the control signal for the water pump 143 transmitted from the control unit 580 to the robot cleaner 1 through the wireless communication unit 510 is received by the communication unit 160 of the robot cleaner 1, and the control unit 110 of the robot cleaner 1 may control the amount of water supplied to the mops 30 and 40 in such a manner that the driving time of a motor for operating the water pump 143 of the robot cleaner 1 is changed.

For example, as the driving time of the water pump 143 increases, the amount of water supplied from the water container 141 of the robot cleaner 1 to the first and second mops 30 and 40 through the water supply pipe 142 increases. As the driving time of the water pump 143 becomes shorter, the amount of water supplied from the water container 141 of the robot cleaner to the first and second mops 30 and 40 through the water supply pipe 142 is reduced.

Conventionally, even if a remote control device is provided, a robot cleaner having a wet mop function cannot be remotely controlled or only a limited user interface is provided. Therefore, in the related art, there is a problem in that a user cannot arbitrarily change the amount of water supplied to the mop of the robot cleaner.

However, since the control device 5 according to the embodiment of the present invention includes the water supply setting unit 1230 as a user interface, the amount of water supplied to the floorcloth of the robot cleaner 1 can be directly set by a user input.

Specifically, the user may set the set value of the target water supply amount to an appropriate set value according to the state of the surface to be cleaned (e.g., the area of the floor surface, roughness, contamination degree, etc.).

Meanwhile, the user setting module 1200 may further include a fall prevention sensitivity setting unit 1260 that may receive a set value of the cliff height of the robot cleaner 1 from a user.

Fig. 9 is a flowchart of a method of transmitting a control signal to the robot cleaner based on selection of a fall prevention sensitivity setting unit on the main screen of fig. 6 by a touch input of a user, and fig. 10a to 10c are views for explaining in detail an embodiment related to selection of the fall prevention sensitivity setting unit on the main screen of fig. 6 by the touch input of the user.

First, when the fall prevention sensitivity setting unit 1260 disposed on the main screen 1000 is selected by receiving a touch input of the user through the display unit 551 (S3210), the control unit 580 displays a preset setting value of the cliff height on the main screen 1000 (S3220).

Here, a preset setting value of the cliff height may be displayed on the main screen 1000 in the form of a drop-down menu by selecting the fall prevention sensitivity setting unit 1260 through a touch input by the user.

In this case, the set value of the cliff height may be selected from two or more preset set values.

For example, as shown in FIG. 10b, the user may select a "basic" mode item 1261a or a "sensitive" mode item 1261b as a set value for cliff height. For example, when the "basic" mode item 1261a is selected, the relative distance between the cliff-detecting sensor and the floor surface B is 30mm or more, which may be set to be determined as a cliff. The "sensitive" mode item 1261b is a case where the setting of the cliff height is less than the setting of the "basic" mode. For example, when "sensitive" mode item 1261B is selected and the relative distance between the cliff-detecting sensor and floor surface B is 15mm or greater, it may be set to be determined as a cliff.

In this case, the cliff detection sensor may include at least one of the first lower sensor 123, the second lower sensor 124, and the third lower sensor 125.

Meanwhile, when the drop-down menu 1261 is expanded, a message explaining a cliff height setting value may be displayed in each of the items 1261a and 1261 b.

For example, as shown in fig. 9, in the "basic" mode item 1261a, a message "prevent falling when the difference in height of the floor is 30mm or more" may be displayed.

In addition, in the "sensitive" mode item 1261b, a message "prevent falling when the difference in height of the floor is 15mm or more" may be displayed.

In addition, a default value of the set value of the cliff height may be set to a height corresponding to the "basic" mode item.

Meanwhile, the control unit 580 receives a touch input of the user who selects the setting value of the cliff height through the display unit 551 (S3230).

When one set value of the cliff height is selected by a touch input of the user, the pull-down menu 1261 is rolled up and disappears, and a pattern corresponding to the set value of the cliff height selected by the user may be displayed as text in the fall prevention sensitivity setting unit 1260. (see FIG. 10 c).

Next, the control unit 580 transmits a control signal corresponding to information on the set value of the cliff height selected by the user to the robot cleaner 1 (S3240).

More specifically, a control signal (which corresponds to information on a set value of the selected cliff height) transmitted to the robot cleaner 1 through the wireless communication unit 510 by the control unit 580 is received by the communication unit 160 of the robot cleaner 1, and the control unit 110 of the robot cleaner 1 may control the sensitivities of the first, second, and third lower sensors 123, 124, and 125 of the robot cleaner 1.

In this case, the sensitivity may be controlled such that it is determined that a cliff is detected when the distance between each of the senses detected by the first, second, and third lower sensors 123, 124, and 125 and the floor surface B is greater than a set value of the cliff height selected by the user.

When the cliff is detected, the control unit 110 of the robot cleaner 1 controls the first actuator 56 and the second actuator 57, thereby controlling the travel of the robot cleaner 1 to avoid the cliff.

Conventionally, since a set value for detecting the cliff height of a specific cliff is stored in advance as a predetermined value in a robot cleaner, when the robot cleaner travels on a floor surface where a step lower than the set value of the predetermined cliff height exists, there is a problem that the step is not recognized as a cliff and a fall situation occurs.

On the other hand, in the case of the conventional suction type robot cleaner, even if the robot cleaner falls from a low step that is not recognized as a cliff, it can climb again using wheels because it travels using the wheels. Since the robot cleaner 1 controlled by the control means 5 of the present invention travels by the rotation of the first and second mops 30 and 40, there are the following problems: once it falls, it cannot climb on its own, even in the case of low steps.

However, since the control device 5 according to the embodiment of the present invention includes the fall prevention sensitivity setting unit 1260 as a user interface, the cliff height detected by the robot cleaner 1 may be set by a user input.

Specifically, the user can appropriately change the setting value of the cliff height according to the condition of the floor surface (for example, the condition of cleaning on a thin baby mat, or the like).

In addition, in the control device 5 according to the embodiment of the present invention, the fall prevention sensitivity setting unit 1260 is arranged so that the setting value of the cliff height can be directly selected on the main screen 1000 by the touch input of the user, which provides the following effects: after the application is executed, the set value of the cliff height may be set by the minimum touch input from the user.

Meanwhile, the user setup module 1200 may further include a position detection unit 1280 for searching for the current position of the robot cleaner 1.

Fig. 11 is a flowchart of a method of transmitting a control signal to the robot cleaner based on selection of a position detection unit on the main screen of fig. 6 by a user's touch input, and fig. 12a and 12b are views for explaining an embodiment related to the user's touch input in detail.

First, when a touch input of a user selecting the position detection unit 1280 disposed on the main screen 1000 is received (S3310), the control unit 580 switches the main screen 1000 to the cleaner search screen 2100 (S3320).

In this case, as shown in fig. 12b, a cleaner search button 1281 is displayed on the cleaner search screen 2100, and an image display area 1283 and a message display area 1282 are disposed on an upper portion of the cleaner search button 1281.

For example, in the message display area 1282, a message "if the cleaner search button is pressed, a notification sound from the cleaner sounds" may be displayed to guide the corresponding function.

Next, the control unit 580 receives a touch input of the user who selects the cleaner search button 1281 on the cleaner search screen 2100 (S3330).

When the cleaner search button 1281 is selected, the control unit 580 may transmit a signal to the robot cleaner 1 to inquire of a position where the robot cleaner 1 stops traveling. Further, while inquiring the position of the robot cleaner 1, a control signal may be transmitted so that an alarm is sounded on the display unit 170 of the robot cleaner 1.

Finally, the control unit 580 receives the position where the robot cleaner 1 stops traveling, and displays the position where the traveling is stopped as the current position of the robot cleaner 1 as an image on the cleaner search screen 2100 (S3340).

In this case, the current position of the robot cleaner 1 is displayed on the image display area 1283.

Here, the current position of the robot cleaner 1 may be displayed as an image, together with a map of the surface to be cleaned, which is recognized while the robot cleaner 1 is traveling, indicating the relative position of the robot cleaner 1 with respect to the map.

Meanwhile, the current position of the robot cleaner 1 is displayed as an image on the control device 5, and at the same time, an alarm is transmitted from the display unit 170 of the robot cleaner 1. Specifically, the alarm may be transmitted from the voice transmitting device 172 of the robot cleaner 1.

Accordingly, the user can recognize the position of the robot cleaner 1 from the image displayed on the cleaner search screen 2100 or recognize the position of the robot cleaner 1 by listening to the alarm transmitted via the display unit 170 of the robot cleaner 1.

The conventional suction type robot cleaner generates noise during dust suction and thus can easily recognize the current position of the robot cleaner, but since the robot cleaner dedicated to the wet mop function has relatively small noise, it is difficult for a user to recognize which region of a surface to be cleaned is currently driven.

Therefore, when the robot cleaner 1 stops traveling due to an error or an obstacle during traveling, there is a problem in that the user cannot easily search for the position of the robot cleaner 1.

However, since the control device 5 according to the embodiment of the present invention includes the position detecting unit 1280 as a user interface, the user can easily detect the current position of the robot cleaner 1 by remotely performing a touch input even when the robot cleaner 1 is stopped during traveling.

Meanwhile, the user setting module 1200 may further include a cleaning reservation setting unit 1270, which may reserve a cleaning operation of the robot cleaner 1.

Fig. 13 is a flowchart of a method of setting a wet mode in a robot cleaner, and fig. 14a to 14e are views for explaining an embodiment of setting a wet mode in a robot cleaner by a touch input of a user in detail.

Referring to fig. 13 and 14a, first, the control unit 580 receives a touch input of the user selecting the cleaning reservation setting unit 1270 disposed on the main screen 1000 (S3410), and switches the main screen 1000 to the reservation list screen (3100) (S3420).

Here, as shown in fig. 14b, a reservation addition button 1272 for reserving a cleaning operation of the robot cleaner 1 may be displayed below the reservation list screen 3100, and a cleaning operation list 1271 of the robot cleaner 1 previously reserved may be displayed at an upper portion of the reservation list screen 3100.

In addition, each of the cleaning operation lists 1271 may include a button for activating or deactivating a scheduled cleaning operation. In this case, when there is no scheduled cleaning operation, the cleaning operation list 1271 is not displayed.

Next, when a touch input of the user selecting the reservation addition button 1272 or the cleaning operation list 1271 on the reservation list screen 3100 is received (S3430), the control unit 580 switches the reservation list screen 3100 to a reservation setting screen 3200, and the reservation setting screen 3200 may set a wet mode of the mops 30 and 40 coupled to the robot cleaner 1 (S3440).

In this case, when the reservation addition button 1272 is selected, a reservation setting for a new cleaning operation may be selected on the reservation setting screen 3200, and when one of the cleaning operation lists 1271 is selected, a preset setting corresponding to the cleaning operation may be changed.

Further, the reservation setting screen 3200 may be configured to select a time, a day of the week, and a cleaning region at which the cleaning operation is performed.

On the other hand, the reservation settings screen 3200 includes a mop wet button 1273, which can activate or deactivate the wet mode.

According to the present invention, by displaying the mop wet button 1273 on the reservation setting screen 3200, the user can set a wet mode to quickly wet the mops 30, 40 mounted on the robot cleaner 1 while reserving the time, date, and cleaning area for performing a cleaning operation.

Next, when receiving a touch input of the user activating the mop wet button 1273 on the reservation setting screen 3200 (S3450), the control unit 580 transmits a control signal for a reservation wet mode to the robot cleaner 1 (S3460).

When the robot cleaner 1 performs a scheduled cleaning operation and sets the currently performed scheduled cleaning operation to the wet mode, the control unit 110 of the robot cleaner 1 may control the water pump 143 such that the water pump 143 is driven to supply a water amount more than a preset water supply amount to the mops 30, 40 if the water content of the mops 30, 40 is less than the target water content.

In this case, the preset water supply amount may be a water supply amount set by a user. In addition, the target water content means a water content corresponding to a preset water supply amount. Here, the water content corresponding to the water supply amount may be stored in the memory 180 as a table.

Meanwhile, the water content of the mops 30 and 40 may be calculated by the control unit 110 of the robot cleaner 1 receiving the motor current value of the water pump. For example, the greater the moisture content of the mops 30 and 40, the greater the load applied to the motor of the water pump 143 connected to the mops 30 and 40, and the greater the value of the motor current measured to the water pump 143.

In reserving and performing the cleaning operation, the mops 30 and 40 must be coupled to the robot cleaner 1 in advance, and in this case, the state is generally that the mops 30 and 40 are dry or have insufficient moisture content, and wet mop cleaning cannot be performed. Therefore, it takes a long time from the start of the cleaning operation until the mops 30 and 40 have a moisture content suitable for wet mop cleaning, and the cleaning efficiency of the robot cleaner 1 is reduced.

However, since the control device 5 according to the embodiment of the present invention includes the cleaning reservation setting unit 1270 that can select the wet mode as the user interface, it can be set to quickly increase the water content 1 of the mops 30 and 40 coupled to the robot cleaner 1 when the robot cleaner 1 starts a cleaning operation through an input of the user, and thereby provide an effect of increasing convenience of the user in controlling the robot cleaner 1.

Meanwhile, referring to fig. 14d, the reservation setup screen 3200 is configured to include a save button 1275. If the user selects the save button 1275 after activating the wet mode, text indicating that the wet mode has been added to the corresponding cleaning operation list 1271 may be displayed on the reservation list screen 3100. (refer to FIG. 14e)

Therefore, the user can intuitively check which cleaning operation in the cleaning operation list has the added wet mode, and can select and set the wet mode according to the cleaning operation list.

Meanwhile, referring again to fig. 6, the overflow menu button 1400 may be disposed at the upper right side of the first area a1 on the main screen 1000.

Here, the overflow menu button 1400 refers to a button for indicating functions and menu items not displayed in the main action, and when the overflow menu button 1400 is selected by a touch input of the user, a plurality of menus are listed and displayed.

The overflow menu button 1400 may be disposed on the right side of the title area a02 in which name information of a control target is disposed, along with other action buttons.

In this case, the other action buttons may include a home page view button 1500 and a cleaning diary button 1600.

The home page view button 1500 is used to switch to a screen that can check an image of a room in real time by an image photographing device provided in the robot cleaner 1 during a cleaning operation of the robot cleaner 1.

The cleaning diary button 1600 is used to switch to a screen that can check the area that the robot cleaner 1 has cleaned, the cleaning time, and the cleaning mode by date and time.

Meanwhile, when the overflow menu button 1400 is selected by a touch input of the user, the displayed menu list 1400a may include a residual water removal menu 1410.

Fig. 15 is a flowchart illustrating a method of setting a residual water removal mode in a robot cleaner, and fig. 16a to 16e are views for explaining an embodiment of setting a residual water removal mode in a robot cleaner through a touch input of a user in detail.

Referring to fig. 15 and 16a, first, the control unit 580 receives a touch input of the user selecting the overflow menu button 1400 disposed on the main screen 1000 (S3510), and displays a menu list including the residual water removal menu 1410 on the main screen 1000 (S3520).

Next, when a touch input of the user selecting the residual water removal menu 1410 is received (S3530), the control unit 580 switches the main screen 1000 to a residual water removal screen for removing residual water inside the robot cleaner 1 (S3540).

In this case, a residual water removal start button 1411 is displayed on the residual water removal screen 4100 to receive a control signal for switching the robot cleaner 1 to the residual water removal mode.

Further, an image area 1413 and an interpretation area 1412 for explaining a method of removing residual water of the robot cleaner 1 in the residual water removal mode may be displayed on the residual water removal screen 4100.

A guide message guiding a method of removing the residual water may be displayed in the interpretation area 1412 so that the user can easily remove the residual water. In addition, in the interpretation area 1412, a warning message may be displayed to warn that water may splash during the residual water of the robot cleaner 1 is discharged and simultaneously to remind a user of the attention to perform a residual water removal mode at a suitable position to remove the residual water.

Further, an image showing a residual water removal method for guiding use while assisting the guidance message on the interpretation area 1412 may be displayed on the image area 1413.

From the guidance message and the warning message of the interpretation zone 1412 and the image of the image zone 1413, the user may be guided to move to an appropriate place to remove the residual water, and may be guided to take a correct posture to remove the residual water. Therefore, user convenience is thereby improved.

Thereafter, when the residual water removal start button 1411 is selected by the touch input of the user (S3550), the control unit 580 transmits a control signal for switching the robot cleaner 1 to a residual water removal mode capable of discharging residual water inside the robot cleaner 1 to the robot cleaner 1 (S3560).

In this case, the residual water removal mode is a mode in which the residual water inside the robot cleaner 1 can be discharged through the water supply pipe 142 whenever a pressing operation is applied to the bumper 58 of the robot cleaner 1.

Whether a pressing operation is applied to the buffer 58 may be determined by the first sensor 121. In a state where the robot cleaner 1 is switched to the residual water removal mode, if the first sensor 121 detects the pressing operation of the bumper 58 and transmits a signal, the control unit 110 of the robot cleaner 1 drives the water pump 143 and controls the water inside the robot cleaner 1 to be discharged through the water supply pipe 142.

On the other hand, when the residual water removal start button 1411 is selected, the robot cleaner 1 is switched to the residual water removal mode, and at the same time the control unit 580 may display a residual water removal end button 1414 on the main screen 1000 while switching the residual water removal screen 4100 to the main screen 1000.

The residual water removal mode continues until the residual water removal end button 1414 is selected by a touch input of the user, and when the user selects the residual water removal end button 1414, the control unit 580 generates a control signal for releasing the residual water removal mode and transmits it to the robot cleaner 1. When the residual water removing mode is released, the water pump 143 returns to the non-operation state even if the pressing operation of the buffer 58 is detected.

After the residual water removal end button 1414 is selected and the residual water removal mode is released, an end message 1415 notifying the end of the residual water removal may be displayed on the main screen 1000. Thereby, the user can be notified that the residual water removal mode is released.

In the robot cleaner 1, even after the cleaning is completed, there may be liquid remaining in the water container 141 and the water supply pipe 142. In this case, if the cleaning operation is not performed for a long time with the liquid remaining in the water container 141 or the water supply pipe 142 and the robot cleaner 1 is unattended, the water supply pipe 142 may be contaminated and cause a bad smell.

Conventionally, in order to remove residual water in a water container of a robot cleaner having a wet mop function, a method in which a user directly separates the water container from the robot cleaner and removes the water container has been used.

However, since it is limited to the water container 141 that can be separated from the robot cleaner 1, in the above-described method, there is a problem in that the liquid remaining in the water supply pipe 142, which is accommodated inside the main body 50 of the robot cleaner 1 and cannot be separated by the user, cannot be removed. In addition, since the water supply pipe 142 cannot be separated, there is a problem in that cleaning cannot be performed even if the water supply pipe 142 is contaminated.

However, since the control device 5 according to the embodiment of the present invention has the residual water removal menu 1410 as a user interface, an operation of removing residual water inside the robot cleaner 1 by an input of a user may be performed.

Specifically, the user may select the residual water removing mode to discharge all of the residual water of the water supply pipe 142, so that the robot cleaner 1 may be hygienically managed.

Meanwhile, when the overflow menu button 1400 is selected by a touch input of the user, a setting menu 1420 may be displayed on the displayed menu list 1400 a.

Fig. 17 is a flowchart of a method of setting the brightness of the display unit of the robot cleaner, and fig. 18a to 18e are views for explaining an embodiment of setting the brightness of the display unit of the robot cleaner through a touch input of a user in detail.

Referring to fig. 17 and 18a, first, the control unit 580 receives a touch input of a user selecting the overflow menu button 1400 disposed on the main screen 1000 (S3610), and displays a menu list 1400a including the setting menu 1420 on the main screen 1000 (S3620).

Next, when the control unit 580 receives a touch input of the user selecting the setting menu 1420 (S3630), the control unit 580 switches the main screen 1000 to the product management screen 5100 including the brightness adjustment menu 1417 (S3640).

Here, the product management screen may include, in addition to the brightness adjustment menu 1411, a menu that is not directly related to the cleaning operation of the robot cleaner 1 but is used to set an auxiliary function to facilitate management of a product (e.g., a robot cleaner), such as a network-related setting menu, a menu for setting a nickname of the robot cleaner, a setting menu for a power saving mode, an approval setting menu for camera use, and the like.

On the other hand, when the control unit 580 receives a touch input of the user selecting the brightness adjustment menu 1411 (S3650), the product management screen 5100 is switched to the brightness adjustment screen 5200, which displays a plurality of preset brightness setting values 1271 that can be selected by the user (S3660).

Here, the plurality of preset luminance setting values 1271 may be displayed as values indicating the illuminance of the display unit 170 as ratios, for example, "25%, 50%, 75%, and 100%" as shown in fig. 18 d.

In addition, the default setting value of the luminance of the control device 5 may be 100%.

Next, when receiving a touch input of a user selecting one of the plurality of brightness setting values 1271, the control unit 580 transmits a control signal corresponding to information on the selected brightness setting value to the robot cleaner 1 (S3670).

In this case, as shown in fig. 18e, when the user selects the brightness setting value, the brightness setting value selected by the user may be displayed in text form on the brightness adjustment menu 1411 on the product management screen 5100.

While charging is performed in the charging station, a lamp is lighted from the display device 171 of the display unit 170 provided on the main body 50 of the robot cleaner 1. For example, the lamp may be an LED lamp indicating the current battery level, reservation information, a cleaning mode, etc., and since the brightness of such an LED lamp is not conventionally adjustable, there is a problem in that the user feels uncomfortable since the brightness of the LED lamp may be brighter than white in the middle of the night.

However, since the control device 5 according to the embodiment of the present invention has the brightness adjustment menu 1411 as a user interface, the brightness of the display unit 170 of the robot cleaner 1 can be set by user input, and the above inconvenience can be solved.

In addition, power consumption may be reduced by appropriately selecting the brightness of the display unit 170 of the robot cleaner 1.

In addition, as described above, the brightness adjustment of the display unit 170 of the robot cleaner 1 is independent of the cleaning operation of the robot cleaner 1, but is an auxiliary function provided for the convenience of the user.

By arranging the menu for selecting such an auxiliary function to be accessible through the setting menu 1420 displayed by the overflow menu button 1400 without arranging it on the main screen 1000, it is possible to provide a user interface with high user convenience.

Fig. 19 is a flowchart of a method of setting a volume level of a robot cleaner, and fig. 20a to 20f are views for explaining an embodiment of setting a volume level of a robot cleaner through a touch input of a user in detail.

Referring to fig. 19 to 20b, first, the control unit 580 receives a touch input of a user selecting the overflow menu button 1400 disposed on the main screen 1000 (S3710), and displays a menu list 1400a including a setting menu 1420 on the main screen 1000 (S3720).

Next, when the control unit 580 receives a touch input of the user selecting the setting menu 1420 (S3730), the main screen 1000 is switched to the product management screen 5100 including the notification sound setting menu 1421. (S3740).

Here, the product management screen 5100 may include, in addition to the notification sound setting menu 1421, a menu not directly related to the cleaning operation of the robot cleaner 1, but a menu capable of setting an auxiliary function to facilitate management of a product (e.g., a robot cleaner), for example, a network-related setting menu, a menu for setting a nickname of the robot cleaner, a setting menu for a power saving mode, or an approval setting menu for camera use, etc.

On the other hand, when the control unit 580 receives a touch input of the user selecting the notification sound setting menu 1421 (S3750), the control unit 580 switches the product management screen 5100 to a notification sound adjustment screen 6200 including a volume adjustment menu 1422 (S3760).

In this case, as shown in fig. 20d, the notification sound adjustment screen 6200 may include a menu for selecting a language (e.g., korean, english, japanese, etc.) of the notification sound, a menu for recording a user's sound and using it as the notification sound of the robot cleaner, in addition to the volume adjustment menu 1422 for adjusting the volume of the notification sound.

On the other hand, when the control unit 580 receives a touch input of the user selecting the volume adjustment menu 1422 (S3770), the notification sound adjustment screen 6200 is switched to the volume adjustment screen 6300 displaying a plurality of preset volume level setting values 1423 from which the user can select (S3780).

Here, as shown in fig. 20e, a plurality of preset volume level setting values 1423 may be displayed in three steps of "large, normal, and small".

Further, the default value of the volume level setting may be "large".

Finally, when receiving a touch input of the user selecting any one of the plurality of volume level setting values, the control unit 580 transmits a control signal corresponding to the information on the selected volume level setting value to the robot cleaner 1 (S3790).

In this case, the control unit 110 of the robot cleaner 1 may control the volume level of the sound transmitted from the voice transmitting device 172 of the display unit 170 according to the control signal transmitted to the robot cleaner 1.

Meanwhile, as shown in fig. 20f, when the user selects a volume level setting value, the volume level setting value selected by the user may be displayed in text on the volume adjustment menu 1422 on the notification sound adjustment screen 6200.

Unlike the conventional suction type robot cleaner, the robot cleaner having the wet mop function has a low noise characteristic when performing a cleaning operation. Therefore, the user may feel uncomfortable because the notification sound of the robot cleaner is relatively large.

However, since the control apparatus according to the embodiment of the present invention includes the volume level adjustment menu 1422 as a user interface, the volume level of the robot cleaner can be set by the input of the user, and thus, the inconvenience of the user as described above can be solved.

On the other hand, the notification sound to which the volume level setting value selected by the user is applied may be configured to exclude a warning sound due to an error during the travel of the robot cleaner 1.

Therefore, even when the user sets the setting value of the volume level to be small, an effect of not missing an erroneous warning of the robot cleaner 1 can be provided.

In addition, as described above, the volume level adjustment of the robot cleaner 1 is independent of the cleaning operation of the robot cleaner 1, but is an auxiliary function provided for the convenience of the user.

Menus for setting these auxiliary functions are not arranged on the main screen 1000, but arranged to be accessible through the setting menu 1420 displayed by the overflow menu button 1400, so that a user interface with high user convenience can be provided.

As described above, the control apparatus according to the embodiment of the present invention may increase user convenience by providing various user interfaces through which setting values for controlling the robot cleaner may be input.

In particular, since the control apparatus according to the present invention includes the water supply setting unit as a user interface, the amount of water supply to be supplied to the mop of the robot cleaner can be set by a user input, thereby increasing user convenience in controlling the robot cleaner

Further, since the control apparatus according to the present invention includes the fall prevention sensitivity setting unit as a user interface, the cliff height detected by the robot cleaner can be set by a user input, thereby increasing the user's convenience in controlling the robot cleaner.

In addition, since the control apparatus according to the present invention includes the position detecting unit as the user interface, the user can easily detect the current position of the robot cleaner when the robot cleaner is stopped during traveling, thereby increasing the user's convenience in controlling the robot cleaner.

Further, since the control device according to the present invention includes a cleaning reservation setting unit that can reserve a wet mop mode as a user interface, it is possible to rapidly increase the water content of mops coupled to the robot cleaner when the robot cleaner starts a cleaning operation through an input of a user, and thus to increase user convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes the residual water removal menu as a user interface, an operation for removing residual water of the robot cleaner can be performed by a user input, thereby increasing user convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes the brightness adjustment menu as a user interface, the brightness of the display unit of the robot cleaner can be set through user input, thereby increasing user convenience in controlling the robot cleaner.

Further, since the control apparatus according to the present invention includes a volume adjustment menu as a user interface, a volume level of the display unit of the robot cleaner can be set by a user input, thereby increasing user convenience in controlling the robot cleaner.

Meanwhile, the block diagrams disclosed in the present disclosure may be interpreted by those of ordinary skill in the art as a form of conceptually expressing a circuit for implementing the principles of the present disclosure. Similarly, those of ordinary skill in the art will appreciate that any flow charts, flow diagrams, state transition diagrams, pseudocode, and the like, whether or not explicitly shown, may be substantially represented in computer readable media and represent various processes which may be performed by such a computer or processor.

Accordingly, the above-described embodiments of the present disclosure can be written as programs that can be executed on a computer and can be implemented in a general-purpose digital computer that runs the programs using a computer readable recording medium. The computer-readable recording medium may include storage media such as magnetic storage media (e.g., ROM, floppy disks, hard disks, etc.), optically-readable media (e.g., CD-ROMs, DVDs, etc.), and so on.

The functions of the various elements shown in the figures may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, such functionality may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which may be shared.

Moreover, explicit use of the term "processor" or "control unit" should not be construed to refer exclusively to hardware capable of executing software, and is not limited to Digital Signal Processor (DSP) hardware, Read Only Memory (ROM) for storing software, Random Access Memory (RAM), and may implicitly include non-volatile storage.

In the foregoing, specific embodiments of the present invention have been described and illustrated, but the present invention is not limited to the described embodiments, and it will be understood by those skilled in the art that various modifications and changes may be made in other specific embodiments without departing from the spirit and scope of the present invention.

Therefore, the scope of the present invention should be determined not by the described embodiments but by the technical ideas described in the claims.

[ description of reference numerals ]

1: robot cleaner

5: control device

551: display unit

1000: main screen

1100: state display module

1110: cleaning mode display unit

1120: progress time display unit

1130: reservation state display unit

1200: user setting module

1210: cleaning mode setting unit

1220: cleaning region setting unit

1230: water supply setting unit

1240: interlock cleaning setting unit

1250: repeat cleaning setting unit

1260: anti-falling sensitivity setting unit

1270: cleaning reservation setting unit

1300: operation execution module

1310: monitoring operation unit

1320: cleaning operation unit

1330: charging operation unit