KR102070210B1 - Moving robot - Google Patents

Abstract

According to an aspect of the present invention, a mobile robot includes a main body including an openable head, a traveling part for moving the main body, a display housed inside the main body, and a head to open to display a user interface screen on the display. By including a control unit for controlling, it is possible to easily check a variety of information, and to control the mobile robot conveniently and safely.

Description

Moving robot}

The present invention relates to a mobile robot, and more particularly, to a mobile robot that a user can conveniently check and control information.

Robots have been developed for industrial use and have been a part of factory automation. Recently, the application of robots has been further expanded, medical robots, aerospace robots, and the like have been developed, and home robots that can be used in general homes have also been made. Among these robots, a moving robot capable of traveling by magnetic force is called a mobile robot.

A representative example of a mobile robot is a robot cleaner, which is a device that cleans a corresponding area by inhaling dust or foreign matter while driving around a certain area by itself.

The robot cleaner disclosed in the related art (Publication No. 10-2013-0092729) includes a main body having a traveling unit and a recognition unit which is provided on the main body and recognizes information of the area to be cleaned, and a storage which stores information of the area to be cleaned on the main body. A control unit which is provided in the unit and the main body to display cleaning related information, and recognizes the information about the pre-stored cleaning area and the information about the current cleaning area, and compares them, but controls the current cleaning progress to be displayed on the display unit It includes.

Since the robot cleaner disclosed in the prior art is placed on the floor, there is a problem that the user must check the display unit in a state where the user is bent in order to check the current cleaning progress state.

In addition, due to the size limitation of the display unit itself included in the robot cleaner, there is a problem that a user cannot intuitively easily view information displayed on the display unit.

In addition, the display unit included in the robot cleaner is outside, there is a risk of damage.

1. Published Patent Publication No. 10-2013-0092729 (Published Date 2013.08.21.)

It is an object of the present invention to provide a mobile robot and a control method thereof in which a user can conveniently check and control information.

An object of the present invention is to provide a mobile robot and a control method thereof that can improve user convenience by providing various user interface screens.

An object of the present invention is to provide a mobile robot and a control method thereof that can reduce the risk of accidents between humans and mobile robots by providing a user interface screen in a specific situation.

An object of the present invention is to provide a mobile robot and a control method thereof that can be conveniently controlled by a separate portable terminal such as a portable terminal.

According to an aspect of the present invention, a mobile robot includes a main body including an openable head, a traveling part for moving the main body, a display housed in the main body, and a head, By including a control unit for controlling the display of the user interface screen on the display, it is possible to easily check a variety of information, and to control the mobile robot conveniently and safely.

According to at least one of the embodiments of the present invention, it is possible to provide a mobile robot and a control method thereof in which a user can conveniently check and control information.

In addition, according to at least one of the embodiments of the present invention, it is possible to improve user convenience by providing various user interface screens.

In addition, according to at least one of the embodiments of the present invention, by providing a user interface screen in a specific situation, there is an advantage that it is possible to reduce the risk of accidents between humans and mobile robots.

In addition, according to at least one of the embodiments of the present invention, it is possible to provide a mobile robot and a control method thereof that can be conveniently controlled by a separate portable terminal such as a portable terminal.

On the other hand, various other effects will be disclosed directly or implicitly in the detailed description according to an embodiment of the present invention to be described later.

1 is a view showing a front portion of a mobile robot according to an embodiment of the present invention.
2 is a view showing a rear portion of the mobile robot according to an embodiment of the present invention.
3 to 5 are views illustrating a state in which a head of a mobile robot according to an embodiment of the present invention is opened.
6 is a block diagram showing a control relationship between major components of a mobile robot according to an embodiment of the present invention.
7 is a flowchart illustrating a control method of a mobile robot according to an embodiment of the present invention.
8 is a flowchart illustrating a control method of a mobile robot and a portable terminal according to an embodiment of the present invention.
9 to 17 are views referred to for describing a method for controlling a mobile robot according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention; However, the present invention is not limited to these embodiments and may be modified in various forms.

In the drawings, parts not related to the description are omitted in order to clearly and briefly describe the present invention, and the same reference numerals are used for the same or extremely similar parts throughout the specification.

On the other hand, the suffixes "module" and "unit" for the components used in the following description are merely given in consideration of ease of preparation of the present specification, and do not give particular meaning or role in themselves. Therefore, the "module" and "unit" may be used interchangeably.

The mobile robot 100 according to an embodiment of the present invention refers to a robot that can move itself by using a wheel or the like, and may be a home helper robot or a robot cleaner. Hereinafter, a robot cleaner having a cleaning function among mobile robots will be described with reference to the drawings, but the present invention is not limited thereto.

1 is a view showing a front portion of a mobile robot according to an embodiment of the present invention, Figure 2 is a view showing a rear portion of a mobile robot according to an embodiment of the present invention.

3 to 5 are views illustrating a state in which a head of a mobile robot according to an embodiment of the present invention is opened.

6 is a block diagram showing a control relationship between the major components of a mobile robot according to an embodiment of the present invention.

1 to 6, the mobile robot 100 includes a main body 101 and a traveling unit 160 for moving the main body 101.

Hereinafter, in defining each part of the main body 101, a part facing the ceiling in the driving zone is defined as the upper surface portion, a part facing the bottom in the driving zone is defined as the bottom surface portion, and the main body 101 is disposed between the upper surface portion and the bottom surface portion. The front part is defined as a part facing the driving direction among the parts forming the circumference, and the part facing the opposite direction to the front part is defined as a rear part.

The mobile robot 100 includes a driving unit 160 for moving the main body 101. The driving unit 160 includes at least one driving wheel 136 for moving the main body 101. The driving unit 160 includes a driving motor (not shown) connected to the driving wheel 136 to rotate the driving wheel. The driving wheels 136 may be provided on the left and right sides of the main body 101, respectively, hereinafter referred to as left and right wheels, respectively.

The left wheel and the right wheel may be driven by one driving motor, but a left wheel driving motor for driving the left wheel and a right wheel driving motor for driving the right wheel may be provided as necessary. The driving direction of the main body 101 can be switched to the left or the right by varying the rotational speeds of the left and right wheels.

An inlet port (not shown) through which air is sucked may be formed in a bottom portion of the main body 101, and an inhalation device (not shown) that provides a suction force so that air may be sucked through the inlet port. In addition, a dust container 160 for collecting dust sucked with air through the suction port may be provided. In addition, the dust container 160 may be provided with a dust container cover 161 to discard the dust therein.

The main body 101 may include a body portion 102 forming a space in which various components constituting the mobile robot 100 are accommodated, and a head portion 110 disposed to be opened and closed on the upper portion of the body portion 102. Can be.

The head part 100 may include an openable head 111 and a fastening part 112 coupled to the head 111 so as to be openable and closeable.

In addition, according to the exemplary embodiment, a switch or a sensor for detecting whether the head 111 is opened or closed may be disposed at the head 111 and / or the fastening part 112.

The user can open and close the head 111 to insert and remove the dust container 160 inside the main body 101.

A roll-shaped main brush (not shown) having brushes exposed through the inlet port, and an auxiliary brush 135 having a brush composed of a plurality of radially extending wings located at the front side of the bottom of the main body 101 are provided. Can be. The rotation of these brushes 135 separates dust from the floor in the travel zone, and the dust separated from the floor is sucked through the suction port and collected in the dust container 160.

3 to 5, the mobile robot 100 may include a display 182 accommodated in the main body 101.

Meanwhile, the mobile robot 100 may include a power supply unit (not shown) for supplying power into the mobile robot 100 by providing a rechargeable battery (not shown).

The power supply unit supplies driving power and operation power to each component of the mobile robot 100, and when the remaining power is insufficient, the power supply may be charged by receiving a charging current from a charging stand (not shown).

The mobile robot 100 may further include a battery detector (not shown) that detects a charging state of a battery (not shown) and transmits a detection result to the controller 140. The battery is connected to the battery sensing unit so that the battery remaining amount and the charging state are transmitted to the controller 140. The battery remaining amount may be displayed on the display 182 of the output unit 180.

The battery (not shown) supplies not only a driving motor but also power necessary for the overall operation of the mobile robot 100. The body portion 102 may include an openable and openable cover 103 for battery check and / or replacement. The user can open the cover 103 to check or replace the battery status.

When the battery is discharged, the mobile robot 100 may travel to return to a charging stand (not shown) for charging, and during this return travel, the mobile robot 100 may detect a location of the charging stand by itself. .

The charging station may include a signal transmitter (not shown) for transmitting a predetermined return signal. The return signal may be an ultrasonic signal or an infrared signal, but is not necessarily limited thereto.

The mobile robot 100 may include a signal detector (not shown) that receives a return signal. The charging station may transmit an infrared signal through the signal transmitter, and the signal detector may include an infrared sensor that detects the infrared signal. The mobile robot 100 docks with the charging station by moving to the position of the charging station according to the infrared signal transmitted from the charging station. By this docking, charging is performed between the charging terminal (not shown) of the mobile robot 100 and the charging terminal (not shown) of the charging stand.

The image acquisition unit 120 captures the surroundings of the main body 101, the driving zone, the external environment, and the like, and may include a camera module. The camera module may include a digital camera. The digital camera includes at least one optical lens and an image sensor (eg, a CMOS image sensor) including a plurality of photodiodes (eg, pixels) formed by the light passing through the optical lens. The apparatus may include a digital signal processor (DSP) that forms an image based on signals output from the photodiodes. The digital signal processor may generate not only a still image but also a moving image composed of frames composed of the still image.

Multiple cameras may be installed for each part for photographing efficiency. The image photographed by the camera may be used to recognize a kind of material such as dust, hair, floor, etc. present in the corresponding space, whether to clean or check the cleaning time.

Preferably, the image acquisition unit 120, the upper camera 120a for photographing the upper side of the front of the main body 101 to obtain an image of the ceiling in the driving zone, the front surface provided to obtain an image of the front of the main body 101 The camera 120b may include a depth camera 120c. However, the number, arrangement, type, and shooting range of the camera included in the image acquisition unit 120 are not necessarily limited thereto.

The front camera 120a may capture an image of an obstacle or a cleaning area and a user recognition image that exist in the front of the moving direction of the mobile robot 100.

According to an embodiment of the present disclosure, the image acquisition unit 120 may acquire an image by photographing the periphery of the main body 101, and the obtained image may be stored in the storage unit 150.

In addition, the mobile robot 100 may include a sensor unit 170 including sensors for sensing various data related to the operation and state of the mobile robot.

For example, it may include a sensor (not shown) for detecting whether the head 111 is open or closed. The sensor for detecting whether the head 111 is opened or closed may use a variety of known sensors.

Meanwhile, the sensor unit 170 may include an obstacle detecting sensor 131 for detecting an obstacle in front of the sensor unit 131. In addition, the sensor unit 170 may further include a cliff detection sensor (not shown) for detecting the presence of a cliff on the floor in the driving zone, and a lower camera sensor (not shown) for acquiring an image of the floor.

According to an exemplary embodiment, the obstacle detecting sensor 131 may include a plurality of sensors installed at a predetermined interval on the outer circumferential surface of the mobile robot 100.

For example, the sensor unit 170 may include a first sensor and a second sensor disposed on the front surface of the main body 101 to be spaced apart from left and right.

The obstacle detecting sensor 131 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a position sensitive device (PSD) sensor, and the like.

Meanwhile, the position and type of the sensor included in the obstacle detecting sensor 131 may vary according to the type of the mobile robot, and the obstacle detecting sensor 131 may include more various sensors.

In addition, the sensor unit 170 may include a light detection and ranging (Lidar, 132a, 132b).

The lidars 132a and 132b detect an object such as an obstacle based on a time of flight (TOF) of a transmission signal and a reception signal or a phase difference between the transmission signal and a reception signal through laser light. Can be detected.

The lidars 132a and 132b may be provided in plurality. For example, the lidars 132a and 132b detect a first lidar 132a for detecting an object located in front of the mobile robot 100 and an object located behind the mobile robot 100. It may include a second lidar 132b.

In addition, the liars 132a and 132b can detect the distance to the object, the relative speed to the object, and the position of the object.

The lidars 132a and 132b may be provided as part of the configuration of the obstacle detecting sensor 131.

The liars 132a and 132b may be provided as sensors for creating a map.

For example, the map generation module 143 may generate a map of the driving zone. The map generation module 143 may generate a map by processing an image acquired through the image acquisition unit 120, and supplementally or independently of the map based on the sensing data of the liars 132a and 132b. You can write

The obstacle detecting sensor 131 detects an object present in a traveling (moving) direction of the mobile robot, in particular an obstacle, and transmits obstacle information to the controller 140. That is, the obstacle detecting sensor 131 may detect a moving path of the mobile robot 100, a protrusion existing at the front or side, a household picking device, a furniture, a wall, a wall edge, and the like, and transmit the information to the control unit. have.

In this case, the controller 140 may detect the position of the obstacle based on at least two signals received through the ultrasonic sensor, and control the movement of the mobile robot 100 according to the detected position of the obstacle.

According to an embodiment, the obstacle detecting sensor 131 provided on the outer surface of the main body 101 may be configured to include a transmitter and a receiver.

For example, the ultrasonic sensor may be provided such that at least one transmitter and at least two receivers are staggered from each other. In addition, the signal may be radiated at various angles, and the signal reflected by the obstacle may be received at various angles.

In some embodiments, the signal received by the obstacle detecting sensor 131 may be subjected to signal processing such as amplification and filtering, and then the distance and direction to the obstacle may be calculated.

On the other hand, the sensor unit 170 may further include a motion detection sensor for detecting the operation of the mobile robot 100 according to the driving of the main body 101 and outputs the motion information. For example, a gyro sensor, a wheel sensor, an acceleration sensor, or the like may be used as the motion detection sensor.

The gyro sensor detects the rotation direction and detects the rotation angle when the mobile robot 100 moves according to the driving mode. The gyro sensor detects the angular velocity of the mobile robot 100 and outputs a voltage value proportional to the angular velocity. The controller 140 calculates the rotation direction and the rotation angle by using the voltage value output from the gyro sensor.

The wheel sensor is connected to the left wheel and the right wheel to sense the number of revolutions of the wheel. Here, the wheel sensor may be a rotary encoder. The rotary encoder detects and outputs the number of revolutions of the left and right wheels.

The controller 140 may calculate the rotation speed of the left and right wheels by using the rotation speed. In addition, the controller 140 may calculate the rotation angle using the difference in the rotation speed of the left wheel and the right wheel.

The acceleration sensor detects a change in the speed of the mobile robot 100, for example, a change in the mobile robot 100 due to start, stop, direction change, collision with an object, and the like. The acceleration sensor is attached to the adjacent position of the main wheel and the auxiliary wheel, and can detect slippage or idle of the wheel.

In addition, the acceleration sensor may be built in the controller 140 to detect a change in speed of the mobile robot 100. That is, the acceleration sensor detects the impact amount according to the speed change and outputs a voltage value corresponding thereto. Thus, the acceleration sensor can perform the function of the electronic bumper.

The controller 140 may calculate a position change of the mobile robot 100 based on the motion information output from the motion detection sensor. This position becomes a relative position corresponding to the absolute position using the image information. The mobile robot can improve the performance of position recognition using image information and obstacle information through the relative position recognition.

In addition, the mobile robot 100 may include an output unit 180 to display reservation information, a battery state, an operation mode, an operation state, an error state, etc. as an image or output a sound.

The output unit 180 may include a display 182 for displaying a user interface screen as an image such as reservation information, a battery state, an operation mode, an operation state, an error state, and the like.

3 and 4, the display 182 may be disposed on the dust cover 161.

Alternatively, referring to FIG. 5, the display 182 may be provided separately from the dust container 160.

According to an embodiment, when the head 111 is opened, the display 182 is slid or pushed to the front so that the user can more easily recognize a user interface screen provided through the display 182. can do.

In addition, the display 182 may be configured as a touch screen by forming a mutual layer structure with the touch pad. In this case, the display 182 may be used as an input device capable of inputting information by a user's touch in addition to the output device.

In addition, the output unit 180 may further include a sound output unit 181 for outputting an audio signal. The sound output unit 181 may output a warning message, such as a warning sound, an operation mode, an operation state, an error state, etc., under the control of the controller 140. The sound output unit 181 may convert an electrical signal from the controller 140 into an audio signal and output the audio signal. To this end, a speaker or the like may be provided.

Referring to FIG. 6, the mobile robot 100 includes a controller 140 for processing and determining various information such as recognizing a current position, and a storage 150 for storing various data. In addition, the mobile robot 100 may further include a communication unit 190 for transmitting and receiving data with the mobile terminal.

The mobile terminal includes an application for controlling the mobile robot 100, and displays an map of a driving area to be cleaned by the mobile robot 100 through execution of the application, and designates an area to clean a specific area on the map. have. Examples of the mobile terminal may include a remote controller, a PDA, a laptop, a smartphone, a tablet, and the like, having an application for setting a map.

The mobile terminal may communicate with the mobile robot 100 to display a current location of the mobile robot together with a map, and information about a plurality of areas may be displayed. In addition, the portable terminal updates and displays its position as the mobile robot travels.

The controller 140 controls the overall operation of the mobile robot 100 by controlling the image acquisition unit 120, the driving unit 160, the display 182, etc. constituting the mobile robot 100.

The storage unit 150 records various types of information necessary for the control of the mobile robot 100 and may include a volatile or nonvolatile recording medium. The recording medium stores data that can be read by a microprocessor, and includes a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic Tapes, floppy disks, optical data storage devices, and the like.

In addition, the storage unit 150 may store a map for the driving zone. The map may be input by a mobile terminal, a server, or the like, which may exchange information with the mobile robot 100 through wired or wireless communication, or may be generated by the mobile robot 100 by itself.

The map may display the locations of the rooms in the driving zone. In addition, the current position of the mobile robot 100 may be displayed on the map, and the current position of the mobile robot 100 on the map may be updated during the driving process. The mobile terminal may store a map identical to the map stored in the storage 150.

The storage unit 150 may store cleaning history information. Such cleaning history information may be generated every time cleaning is performed.

The map of the driving zone stored in the storage unit 150 stores a corresponding navigation information map, a navigation map used for driving while cleaning, a SLAM map used for location recognition, an obstacle, and the like. It may be a learning map used for learning cleaning, a global location map used for global location recognition, an obstacle recognition map in which information about the recognized obstacle is recorded.

Meanwhile, as described above, maps may be stored and managed in the storage unit 150 for each use, but the map may not be clearly classified for each use. For example, a plurality of pieces of information may be stored in one map to be used for at least two purposes.

The controller 140 may include a driving control module 141, a position recognition module 142, a map generation module 143, and an obstacle recognition module 144.

1 to 6, the driving control module 141 controls the driving of the mobile robot 100, and controls the driving of the driving unit 160 according to the driving setting. In addition, the driving control module 141 may determine the driving path of the mobile robot 100 based on the operation of the driving unit 160. For example, the driving control module 141 may grasp the current or past moving speed of the mobile robot 100, the distance traveled, and the like based on the rotation speed of the driving wheel 136, and the rotation direction of each driving wheel. Depending on the current or past direction of change can also be identified. Based on the driving information of the mobile robot 100 thus identified, the position of the mobile robot 100 on the map may be updated.

The map generation module 143 may generate a map of the driving zone. The map generation module 143 may generate a map by processing the image acquired through the image acquisition unit 120. That is, a cleaning map corresponding to the cleaning area can be created.

In addition, the map generation module 143 may recognize the global position by processing the image acquired through the image acquisition unit 120 at each position in association with the map.

The position recognition module 142 estimates and recognizes the current position. The position recognition module 142 detects a location in association with the map generation module 143 using the image information of the image acquisition unit 120 to estimate the current position even when the position of the mobile robot 100 suddenly changes. Can be recognized.

The mobile robot 100 may recognize a position during continuous driving through the position recognition module 142, and also, through the map generation module 143 and the obstacle recognition module 144, without the position recognition module 142. Learn and estimate your current location.

While the mobile robot 100 is traveling, the image acquisition unit 120 acquires images around the mobile robot 100. Hereinafter, an image acquired by the image acquisition unit 120 is defined as an 'acquisition image'.

The acquired image includes various features such as lightings on the ceiling, edges, corners, blobs, and ridges.

The map generation module 143 detects a feature from each of the acquired images. Various methods of detecting a feature from an image are well known in the field of computer vision technology. Several feature detectors are known that are suitable for the detection of these features. Examples include Canny, Sobel, Harris & Stephens / Plessey, SUSAN, Shi & Tomasi, Level curve curvature, FAST, Laplacian of Gaussian, Difference of Gaussians, Determinant of Hessian, MSER, PCBR, and Gray-level blobs detectors.

The map generation module 143 calculates a descriptor based on each feature point. The map generation module 143 may convert feature points into descriptors using a scale invariant feature transform (SIFT) technique for feature detection. The descriptor may be expressed as an n-dimensional vector.

The SIFT can detect an invariant feature with respect to scale, rotation, and brightness change of a photographing target, and thus, even if the same region is photographed with different postures of the mobile robot 100 (that is, rotation invariant (Rotation) -invariant)) feature can be detected. Of course, other various techniques (eg, HOG: Histogram of Oriented Gradient, Haar feature, Fems, LBP: Local Binary Pattern, MCT: Modified Census Transform) may be applied.

The map generation module 143 classifies at least one descriptor into a plurality of groups according to a predetermined sub-classification rule for each acquired image based on descriptor information obtained through the acquired image of each position, and according to the predetermined sub-representation rule, the same group. Descriptors included in each can be converted into lower representative descriptors.

As another example, all descriptors collected from acquired images in a predetermined zone, such as a room, are classified into a plurality of groups according to a predetermined sub-classification rule, and the descriptors included in the same group according to the predetermined sub-representation rule are respectively represented by lower representative descriptors. You can also convert to.

Map generation module 143 through this process, it is possible to obtain a feature distribution of each location. Each positional feature distribution can be represented by a histogram or an n-dimensional vector. As another example, the map generation module 143 may estimate an unknown current position based on a descriptor calculated from each feature point without passing through a predetermined sub classification rule and a predetermined sub representative rule.

In addition, when the current position of the mobile robot 100 is unknown due to a position leap or the like, the current position may be estimated based on data such as a previously stored descriptor or a lower representative descriptor.

The mobile robot 100 obtains an acquired image through the image acquisition unit 120 at an unknown current position. Through the image, various features such as lightings on the ceiling, edges, corners, blobs, and ridges are identified.

The position recognition module 142 detects features from the acquired image. Description of the various methods of detecting features from an image in the field of computer vision technology and the various feature detectors suitable for the detection of these features are described above.

The position recognition module 142 calculates a recognition descriptor through a recognition descriptor calculating step based on each recognition feature point. In this case, the recognition feature points and the recognition descriptors are for explaining a process performed by the location recognition module 142 and are distinguished from terms describing the process performed by the map generation module 143. However, the features of the external world of the mobile robot 100 are merely defined in different terms.

The position recognition module 142 may convert a recognition feature point into a recognition descriptor by using a scale invariant feature transform (SIFT) technique for detecting the present feature. The recognition descriptor may be expressed as an n-dimensional vector.

As described above, SIFT selects a feature point that can be easily identified, such as a corner point, in the acquired image, and then distributes the gradient of brightness gradients of pixels belonging to a predetermined area around each feature point (the direction of the change of brightness and the degree of change of the brightness level). ) Is an image recognition technique that obtains an n-dimensional vector whose value is a numerical value for each dimension.

The position recognition module 142 is based on at least one recognition descriptor information obtained through the acquired image of the unknown current position, position information to be compared according to a predetermined lower conversion rule (for example, feature distribution of each position) Is converted into comparable information (sub-recognition feature distribution).

According to a predetermined sub-comparison rule, each position feature distribution may be compared with each recognition feature distribution to calculate each similarity. Similarity (probability) may be calculated for each location corresponding to each location, and the location where the greatest probability is calculated may be determined as the current location.

As such, the controller 140 may distinguish a driving zone and generate a map composed of a plurality of regions, or recognize a current position of the main body 101 based on a pre-stored map.

When the map is generated, the controller 140 may transmit the generated map to the mobile terminal, the server, etc. through the communication unit 190. In addition, as described above, when the map is received from the mobile terminal, the server, or the like, the controller 140 may store the map in the storage unit.

In addition, when the map is updated while driving, the controller 140 transmits the updated information to the portable terminal so that the map stored in the portable terminal and the mobile robot 100 is the same. As the maps stored in the mobile terminal and the mobile robot 100 remain the same, the area designated by the mobile robot 100 may be cleaned for the cleaning command from the mobile terminal, and the current position of the mobile robot may be stored in the mobile terminal. To be displayed.

In this case, the map may be divided into a plurality of cleaning areas, and include a connection path connecting the plurality of areas, and may include information about obstacles in the area.

When the cleaning command is input, the controller 140 determines whether the current position of the mobile robot matches the position on the map. The cleaning command may be input from a remote controller, a display, or a portable terminal.

If the current position does not match the position on the map or if the current position cannot be confirmed, the controller 140 recognizes the current position and recovers the current position of the mobile robot 100 based on the current position. The driving unit 160 may be controlled to move to the designated area.

If the current position does not match the position on the map or if the current position cannot be confirmed, the position recognition module 142 analyzes the acquired image input from the image acquisition unit 120 to estimate the current position based on the map. can do. In addition, the obstacle recognition module 144 or the map generation module 143 may also recognize the current position in the same manner.

After recognizing the position and restoring the current position of the mobile robot 100, the driving control module 141 calculates a driving route from the current position to the designated region and controls the driving unit 160 to move to the designated region.

When the cleaning pattern information is received from the server, the driving control module 141 may divide the entire driving zone into a plurality of areas according to the received cleaning pattern information, and set at least one area as a designated area.

In addition, the driving control module 141 may calculate a driving route according to the received cleaning pattern information, travel along the driving route, and perform cleaning.

The controller 140 may store the cleaning record in the storage 150 when the cleaning of the set designated area is completed.

In addition, the control unit 140 may transmit the operating state or cleaning state of the mobile robot 100 to the mobile terminal and the server at predetermined intervals through the communication unit 190.

Accordingly, the portable terminal displays the position of the mobile robot along with the map on the screen of the running application based on the received data, and outputs information on the cleaning state.

The mobile robot 100 according to an embodiment of the present invention moves until an obstacle or a wall surface is detected in one direction, and when an obstacle is recognized through the sensor unit 170 and the obstacle recognition module 144, the recognized obstacle property is recognized. According to the driving pattern, it is possible to determine driving patterns such as going straight and rotating.

For example, the mobile robot 100 may continue to go straight if it is an obstacle of a kind that can be passed over the property of the recognized obstacle. Or, if the property of the recognized obstacle is an obstacle that can not be passed, the mobile robot 100 is rotated to move a certain distance, and again to the distance in which the obstacle is detected in the opposite direction of the initial movement direction to form a zigzag You can drive

1 to 6, the mobile robot 100 according to an embodiment of the present invention includes a main body 101 including an openable and closed head 111, and a traveling part 160 for moving the main body 101. ), A display 182 accommodated in the main body 101, and a controller 140 for controlling a user interface screen to be displayed on the display 182 when the head 111 is opened.

Meanwhile, when the head 111 is opened while the main body 101 moves, the controller 140 may control the driving unit 160 to stop the movement. In this case, the controller 140 may control the driving unit 160 to resume the movement when the head 111 is closed.

When the mobile robot is moving (driving) and cleaned in a home or public place, the user may open the head 111 for information checking, setting input, or other operation, or a child or the like may open the head 111 of the mobile robot with curiosity. Even when the mobile robot continues to travel, a safety accident such as a collision may occur.

In particular, public places such as airports, train stations, terminals, department stores, and marts have a large floating population, and therefore, there are many unexpected variables, which increases the risk of safety accidents.

Therefore, the controller 140 displays a user interface screen on the display 182 only when the head 111 is opened, stops the movement of the mobile robot 100, and closes the head 111. By resuming the movement, collision between a person and the mobile robot 100 and the like can be prevented and stability can be improved.

In particular, when a user who is separated from the mobile robot 100 controls the mobile robot 100 by another device such as a mobile terminal without using the input means of the mobile robot 100 itself, the user may operate the mobile terminal. If the mobile robot 100 is moved and operated in the middle, the risk of an accident such as a collision may increase in public places such as an airport, a train station, a terminal, a department store, and a mart.

Therefore, even when the mobile robot 100 is controlled by the mobile terminal, the user interface screen is displayed on the display 182 only when the head 111 is opened, and the movement of the mobile robot 100 is stopped. A safety means that can be operated while checking the state of the robot 100 can be secured.

The mobile robot 100 according to an embodiment of the present disclosure may further include a communication unit 190 for transmitting predetermined information to a preset mobile terminal when the head 111 is opened.

The predetermined information may include data indicating that the head 111 is opened and / or data for providing the user interface screen.

Accordingly, the user can check information using the user interface screen displayed on the display means of the portable terminal, and input various commands such as reservation setting, return command, and history information confirmation.

In this case, when a predetermined command is received from the portable terminal, the controller 140 may control a screen corresponding to the predetermined command to be displayed on the display 182.

The screen corresponding to the predetermined command is a screen corresponding to a command input by the user operating a user interface screen displayed on the display means of the portable terminal.

For example, when the user selects a reservation addition item in the user interface screen, the screen corresponding to the predetermined command may be a detailed screen for adding cleaning reservation setting.

Alternatively, when the user selects a cleaning setting item in the user interface screen, the screen corresponding to the predetermined command may be a detailed screen for setting the cleaning area and / or the cleaning mode.

Meanwhile, the screen corresponding to the predetermined command may be displayed on the display means of the portable terminal.

That is, the screen corresponding to the user interface screen and the user manipulation may be displayed on the display means of the mobile terminal as well as the display 182 of the mobile robot 100.

The screen provided through the display 182 of the mobile robot 100 and the screen provided through the display means of the portable terminal may be configured in the same manner.

More preferably, the screen provided through the display 182 of the mobile robot 100 and the screen provided through the display means of the portable terminal may configure at least some items differently.

For example, when constructing a home user interface screen that includes the main menu items provided when the head 111 is opened, the home user interface screen provided on the display 182 of the mobile robot 100 may display a previous cleaning history. The home user interface screen provided through the display means of the portable terminal may include an item which can be moved by directly operating the mobile robot 100.

Meanwhile, the controller 140 may control the display 182 to further display a pop-up for guiding the head 111 to be closed. In addition, a pop-up for guiding the closing of the head 111 may be displayed on the display means of the portable terminal.

Meanwhile, when the head 111 is closed, the controller 140 may control to perform an operation corresponding to the received predetermined command.

In this case, when the received predetermined command is a return command, the mobile robot 100 may return to a preset designated place in response to an immediate return command.

In addition, when the received predetermined command is a reservation setting, the mobile robot 100 may operate according to the reservation setting when the reserved date and time arrive.

As described above, the display 182 may be configured as a touch screen that receives a user's touch input, and the control unit 140 receives a predetermined command through the display 182. The screen corresponding to the predetermined command may be controlled to be displayed on the display 182.

In this case, the controller 140 may control the display 182 to further display a pop-up for guiding the head 111 to be closed.

In addition, when the head 111 is closed, the controller 140 may control to perform an operation corresponding to the received predetermined command.

Meanwhile, when the head 111 is opened, the controller 140 controls the display 182 to be turned on, thereby preventing the display 182 from unnecessary driving and reducing power consumption. .

The user interface screen may include a state information area including state information of the mobile robot 100, a main menu area including a plurality of main menu items, and a management area including operation reservation information and operation history information. It may include.

The main menu area includes a cleaning start item for inputting a cleaning operation command, a return item for inputting a move command to a designated place, and a cleaning setting item for inputting a cleaning area and a cleaning mode. can do.

In this case, when the selection input for any one of the items included in the main menu area is received, the controller 140 displays a detailed screen corresponding to the item for which the selection input has been received on the display 182. Can be controlled.

In addition, the controller 140 may control the display 182 to further display a pop-up for guiding the head 111 to be closed.

The state information may include at least one of current time information, battery state information, component replacement information, and error information.

The management area may include a set reservation schedule information and a reservation add button for adding a reservation schedule, and the management area may call up information on the most recent cleaning history and a plurality of cleaning history information. May include a cleaning history button.

The management area may further include an item capable of displaying a most recent cleaning history on a map.

The user interface screen will be described later in detail with reference to FIGS. 9 to 17.

7 is a flowchart illustrating a control method of a mobile robot according to an embodiment of the present invention.

1 to 7, when the head 111 is opened (S710), the controller 140 may control to display a user interface (UI) screen on the display 182 (S730).

The controller 140 may determine whether the mobile robot 100 is moving (S720), and if not, control the controller 202 to display a UI screen on the display 182 (S730).

If the mobile robot 100 is moving, the controller 140 may stop the movement of the mobile robot 100 (S725) and control the display 182 to display a user interface (UI) screen. There is (S730).

The UI screen may also be provided to a user's portable terminal.

The user may check information included in the user interface screen or input a command for controlling the mobile robot 100 through the display 182 or the portable terminal configured as a touch screen.

Meanwhile, the mobile robot 100 may receive a user input through the display 182 configured as a touch screen or receive a user input from a preset mobile terminal through the communication unit 190 (S740).

When a predetermined command (input) is received (S740), the controller 140 may control to display a feedback screen corresponding to the predetermined command on the display 180 (S750).

For example, when the user selects a reservation addition item in the user interface screen, the feedback screen may be a detailed screen for adding a cleaning reservation setting.

Alternatively, when the user selects a cleaning setting item in the user interface screen, the feedback screen may be a detailed screen for setting a cleaning area and / or a cleaning mode.

In addition, the controller 140 may control the display 182 to further display a pop-up for guiding the head 111 to be closed. That is, the feedback screen may be a feedback / guidance screen including a pop-up for guiding the head 111 to be closed.

In addition, a pop-up for guiding the closing of the head 111 may be displayed on the display means of the portable terminal.

Meanwhile, when the head 111 is closed (S760), the controller 140 may terminate the provision of the user interface screen and perform an operation corresponding to the received predetermined command (input).

In this case, when the received predetermined command is a return command, the mobile robot 100 may return to a preset designated place in response to an immediate return command.

In addition, when the received predetermined command is a reservation setting, the mobile robot 100 may operate according to the reservation setting when the reserved date and time arrive.

The feedback / guide screen may also be displayed on a display of the portable terminal.

8 is a flowchart illustrating a control method of a mobile robot and a portable terminal according to an embodiment of the present invention.

Referring to FIG. 8, when the head 111 is opened (S810), the mobile robot 100 may transmit predetermined information to the preset portable terminal 200 (S830).

The predetermined information may include data indicating that the head 111 is opened and / or data for providing the user interface screen.

The mobile terminal 200 may display a user interface screen for controlling the mobile robot 100 on the display means based on the information received from the mobile robot 100 (S840).

Accordingly, the user may check information using the user interface screen displayed on the display means of the portable terminal 200 and input various commands such as reservation setting, return command, and history information check (S850).

Meanwhile, the mobile robot 100 may determine whether the mobile robot 100 is moving before or after the transmission of the information (S840) and stop the movement when the mobile robot 100 is moving (S820).

Meanwhile, when a predetermined command is received from the portable terminal 200 (S860), the mobile robot 100 determines whether the head is closed (S880), and if the head is closed, the mobile robot 100 may perform an operation corresponding to the received command. There is (S890).

According to an embodiment, when the mobile robot 100 receives a predetermined command from the mobile terminal 200 (S860), the mobile robot 100 transmits a response signal indicating that the command has been received or information requested by the mobile terminal 200. The terminal 200 may transmit the data to the terminal 200 (S870).

Meanwhile, the mobile terminal 200 may display a screen corresponding to a predetermined command input by the user on the display means. In addition, the display means of the mobile terminal 200 may further display a message for guiding to close the head 111 of the mobile robot (100).

9 to 17 are views referred to for describing a method for controlling a mobile robot according to an embodiment of the present invention.

According to an embodiment of the present invention, when the user opens the head 111 of the mobile robot 100, a user interface screen is provided through the display 182 or a predetermined portable terminal.

According to an exemplary embodiment, prior to providing a home user interface screen including upper menu items, predetermined screens may be displayed on the display 182 or the display means of a predetermined portable terminal.

For example, a screen including a welcome message, a screen for authenticating a user, and the like may be displayed on the display 182 or a display means of a preset mobile terminal.

9 illustrates a user interface screen for inputting a password when using a password input method of user authentication, the present invention is not limited thereto and may use other user authentication methods.

Referring to FIG. 9, the password input screen may include a state information area 910 including state information of the mobile robot and an input button area 920 for inputting a password.

Referring to FIG. 9, the status information area 910 may be implemented as a bar type and include a status bar disposed at the top of the screen.

Meanwhile, the state information area 910 may include notification items such as component replacement and error, current time / date information, and battery information.

On the other hand, the input button area 920 may include a text guide, such as 'Please enter a four-digit password', 'Try again.'

In addition, the input button area 920 may include a password input button such as a numeric panel and a confirmation key.

In addition, the input button area 920 may include a four-digit password input window and a number delete key that display and disappear when a number is input.

Meanwhile, if a valid user is authenticated, a user interface screen for controlling the mobile robot 100 may be provided through the display 182 or the portable terminal 200 provided in the mobile robot 100.

FIG. 10 illustrates a user interface screen provided through the display 182 provided in the mobile robot 100, and FIG. 11 illustrates a user interface screen provided through the display means provided in the mobile terminal 200. Would

The user interface screens illustrated in FIGS. 10 and 11 are screens including main menu items of a higher depth, and may be referred to as a home user interface screen, a home screen, or a main screen.

Referring to FIG. 10, the home user interface screen 1000 provided through the display 182 may include a state information area 1010 including state information of the mobile robot 100 and a main menu including a plurality of main menu items. The area 1020 may include a management area 1030 including operation reservation information and operation history information.

The state information displayed in the state information area 1010 may include at least one of current time information, battery state information, component replacement information, and error information.

The main menu area 1020 is an area for displaying a main menu, and includes a cleaning start item for inputting a cleaning operation command, a return item for inputting a moving command to a designated place, a cleaning area, and a cleaning mode It may include a cleaning setting item for performing an input.

If a selection input for any one of the items included in the main menu area 1020 is received, the controller 140 controls the display 182 to display a detailed screen corresponding to the received item. can do.

In addition, when a predetermined command is input through the detail screen, the controller 140 may control the display 182 to further display a pop-up guiding to close the head 111.

Thereafter, when the user closes the head 111, the controller 140 may control to perform an operation corresponding to a predetermined command.

The management area 1030 may include operation reservation information and operation history information.

Referring to FIG. 10, the management area 1030 may include a set reservation schedule information and a reservation add button for adding a reservation schedule. The management area 1030 may include information on a most recent cleaning history and a plurality of cleaning history information. It may include a cleaning history button that can be called.

According to an embodiment, the management area 1030 may further include an item capable of displaying a most recent cleaning history on a map, and the user may display the most recent cleaning history on a map. By selecting an item that can be displayed, the most recent cleaning history can be reproduced on the map.

Meanwhile, depending on the setting, an item capable of displaying the most recent cleaning history on a map may be included only in a user interface screen provided through the display 182 of the mobile robot 100.

The management area 1030 may be divided into an area 1031 indicating reservation management and an area 1032 indicating cleaning history management.

In this case, the region 1031 indicating reservation management may include a reservation schedule item for displaying a reservation time / day in a card type and a reservation addition button.

Also, the area 1032 indicating the cleaning history management may include a recent cleaning history including a last cleaning date / time information, a cleaning history button, a cleaning area map display item, and a 2x / 4x / 8x playback button. Can be.

Referring to FIG. 11, the home user interface screen 1100 provided through the mobile terminal 200 may include a state information area 1110 including state information of the mobile robot 100 and a main including a plurality of main menu items. The menu area 1120 may include a management area 1130 including operation reservation information and a mobile robot operation menu.

The state information displayed in the state information area 1110 may include at least one of current time information, battery state information, component replacement information, and error information.

The main menu area 1120 is an area for displaying a main menu, and includes a cleaning start item for inputting a cleaning operation command, a return item for inputting a move command to a designated place, a cleaning area, and a cleaning mode. It may include a cleaning setting item for performing an input.

The user may operate the mobile terminal 200 to select one of the items included in the main menu area 1120 or input a predetermined command, and the mobile terminal 200 may control to include the predetermined command. The signal may be transmitted to the mobile robot 100.

The controller 140 may determine whether the head 111 is closed when a predetermined command is received through the communication unit 190.

If the head 111 is not closed, the control unit 140 may transmit a signal indicating that the head 111 is open to the mobile terminal 200 through the communication unit 190.

The mobile terminal 200 may display a message to close the head 111.

Thereafter, when the user closes the head 111, the controller 140 may control to perform an operation corresponding to a predetermined command.

The management area 1130 may include operation reservation information and a mobile robot operation menu.

The management area 1130 may be divided into an area 1131 indicating reservation management and a robot operation area 1132.

In this case, the area 1031 indicating the reservation management may include a reservation schedule item for displaying a reservation time / day in a card type, a reservation delete button (X button), and a reservation add button.

In addition, the robot manipulation area 1132 may be a region for manipulating the robot, and may include a robot operation 4-way key, a stop button, and a suction on / off button.

According to a setting, the robot manipulation area 1132 may be included only in a user interface screen provided through the portable terminal 200.

Meanwhile, when a selection input for one of the items included in the main menu areas 1020 and 1120 is received, a detailed screen corresponding to the item for which the selection input is received is displayed on the display 182 or the portable terminal 200. It can be provided through).

FIG. 12 illustrates a cleaning start detail screen in which a cleaning start item capable of inputting a cleaning execution command is selected among the main menu areas 1020 and 1120.

Referring to FIG. 12, the cleaning start detail screen may include a state information area 1210 including state information of the mobile robot 100, a sub menu area 1220 including one or more sub menu items, and It may include a monitoring area 1230 to display the cleaning start information.

The submenu area 1220 may include submenu items such as a pause, a cleaning cancellation, and the like.

The monitoring area 1230 is a status information area 1231, hour / minute, including current status information such as waiting, cleaning, status progress bar, cleaning rate percent, and the like. The cleaning time information area 1232 indicating the cleaning time, the cleaning mode information area 1233 indicating the currently set cleaning mode, such as a zigzag pattern, and the current position and the area in charge of the mobile robot 100 on the map. At least one of the displayed map area 1234 may be included.

 The cleaning start detail screen illustrated in FIG. 12 is a screen displayed by the user according to the selection of the cleaning start main menu, and may be omitted depending on the setting.

For example, if the user selects the cleaning start main menu, the cleaning robot does not display the cleaning start detail screen of FIG. 12, and the mobile robot 100 may immediately start the cleaning operation if the head 111 is closed.

Alternatively, the cleaning start detail screen illustrated in FIG. 12 may be provided only through the mobile terminal 200.

On the other hand, if the head 111 is open, as shown in Figure 13, the pop-up (1300) for guiding to close the head 111 may be displayed.

The pop-up 1300 is a guide screen for inducing head short-term, and the pop-up 1300 may include an image 1310 and / or text 1320 indicating that the head 111 is open.

Meanwhile, the popup 1300 may be displayed regardless of the currently displayed screen. Alternatively, when the cleaning start detail screen of FIG. 12 is displayed, the popup 1300 may be displayed thereon.

FIG. 14 illustrates a return detail screen in which a return item for inputting a move command to a designated place is selected among the main menu areas 1020 and 1120.

Referring to FIG. 14, the return detail screen includes a state information area 1410 including state information of the mobile robot 100, a sub menu area 1420 including one or more sub menu items, and a cleaning. It may include a monitoring area 1430 for displaying information.

The submenu area 1420 may include submenu items such as a pause, a cancellation of a return.

The monitoring area 1430 is a status information area 1431 including hours, minutes, etc., current state information such as air, cleaning, state progress bar, and cleaning rate percentage (%). The cleaning time information area 1432 which displays the cleaning time, the cleaning mode information area 1433 which displays the currently set cleaning mode, such as a zigzag pattern, and the current position of the mobile robot 100 on a map, and the area | region in charge. At least one of the displayed map area 1434 may be included.

Even in this case, the display of the return detail screen may be omitted depending on the setting.

For example, if the user selects the return main menu, the mobile robot 100 may immediately start the return operation if the head 111 is closed without displaying the return detail screen of FIG. 14.

Alternatively, the return detail screen illustrated in FIG. 14 may be provided only through the mobile terminal 200.

On the other hand, if the head 111 is open, as shown in Fig. 15, a pop-up 1500 for guiding to close the head 111 may be displayed.

The popup 1500 is a guide screen for inducing a head short, and the popup 1500 may include an image 1510 and / or text 1520 indicating that the head 111 is open.

13 and 15, the guide information 1320 and 1520 provided as text may include information about an operation to be performed after the head 111 is closed.

FIG. 16 illustrates a setting detail screen in which a cleaning setting item capable of performing an input regarding a cleaning area and a cleaning mode among the main menu areas 1020 and 1120 is selected and displayed.

Referring to FIG. 16, the setting detail screen includes a sub menu including one or more sub menu items such as a state information area 1610 including state information of the mobile robot 100, a home screen move, and a previous screen move. The region 1620 and a detailed menu region 1630 displaying the cleaning setting detailed menu may be included.

The detail menu area 1630 may include a cleaning area detail menu button 1631 for setting a cleaning area and a cleaning mode detail menu button 1632 for setting a cleaning mode.

When the user selects the detailed cleaning area menu button 1163, the cleaning area designation screen may be switched as shown in FIG. 17.

Referring to FIG. 17, the cleaning area designation screen may include a sub information including one or more sub menu items such as a state information area 1710 including state information of the mobile robot 100, a home screen move, and a previous screen move. A menu area 1720 and a control area 1730 for setting a cleaning area may be included.

The control area 1730 is an area for manipulating the cleaning area designation. The control area 1730 is a map screen 1731 for designating a cleaning area by touch and / or drag, and inputs horizontal / vertical meter (m) information. It may include an input area 1732 and a save / cancel button 1733 to designate.

The user may set the cleaning area by dragging at the point where the mobile robot on the map screen 1731 is waiting. When the user drags, the cleaning area may be automatically formed in the form of a box.

Alternatively, when the user inputs the horizontal and vertical sizes to the input area 1732, a cleaning area equal to the input box size may be formed based on the point where the mobile robot is waiting.

Alternatively, after the user designates an approximate cleaning area by a drag operation on the map screen 1731, the user may adjust the size of the cleaning area in more detail by inputting an accurate number in the input area 1732.

According to at least one of the embodiments of the present invention, it is possible to provide a mobile robot and a control method thereof in which a user can conveniently check and control information.

In addition, according to at least one of the embodiments of the present invention, it is possible to improve user convenience by providing various user interface screens.

In addition, according to at least one of the embodiments of the present invention, by providing a user interface screen in a specific situation, there is an advantage that it is possible to reduce the risk of accidents between humans and mobile robots.

In addition, according to at least one of the embodiments of the present invention, it is possible to provide a mobile robot and a control method thereof that can be conveniently controlled by a separate portable terminal such as a portable terminal.

The mobile robot according to the present invention may not be limitedly applied to the configuration and method of the embodiments described as described above, but the embodiments may be selectively combined with each or all of the embodiments so that various modifications may be made. It may be configured.

On the other hand, the control method of the mobile robot according to an embodiment of the present invention, it is possible to implement as a processor readable code on a processor-readable recording medium. The processor-readable recording medium includes all kinds of recording devices that store data that can be read by the processor. Examples of the processor-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet. . The processor-readable recording medium can also be distributed over network coupled computer systems so that the processor-readable code is stored and executed in a distributed fashion.

In addition, although the preferred embodiment of the present invention has been shown and described above, the present invention is not limited to the specific embodiments described above, but the technical field to which the invention belongs without departing from the spirit of the invention claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be individually understood from the technical spirit or the prospect of the present invention.

Mobile Robot: 100
Body: 101
Head: 111
Control Unit: 140
Driving part: 160
Display: 182
Communications Department: 190
Handset: 200

Claims (20)

A main body including an openable head;
A driving unit which moves the main body;
A dust container accommodated in the main body to receive dust;
A display stored inside the main body and disposed on a cover of the dust container; And
And a controller configured to control to display a user interface screen on the display when the head is opened.
The control unit controls the moving unit to stop the movement and display a user interface screen on the display when the head is opened during the movement, and to control the driving unit to resume the movement when the head is closed. . delete delete The method of claim 1,
And a communication unit configured to transmit predetermined information to a preset portable terminal when the head is opened. The method of claim 4, wherein
And the control unit controls to display a screen corresponding to the predetermined command on the display when a predetermined command is received from the portable terminal. The method of claim 5,
The controller controls the display to further display a pop-up for guiding the head to close. The method of claim 5,
And the control unit controls to perform an operation corresponding to the received predetermined command when the head is closed. The method of claim 1,
The display is a touch screen that receives a user's touch input,
The controller, when a predetermined command is received through the display, controls the screen corresponding to the predetermined command to be displayed on the display. The method of claim 8,
The controller controls the display to further display a pop-up for guiding the head to close. The method of claim 8,
And the control unit controls to perform an operation corresponding to the received predetermined command when the head is closed. The method of claim 1,
The user interface screen includes a state information area including state information of the mobile robot, a main menu area including a plurality of main menu items, and a management area including operation reservation information and operation history information. Mobile robot. The method of claim 11,
The main menu area includes a cleaning start item for inputting a cleaning operation command, a return item for inputting a move command to a designated place, and a cleaning setting item for inputting a cleaning area and a cleaning mode. Mobile robot, characterized in that. The method of claim 12,
The control unit, when a selection input for any one of the items included in the main menu area is received, the mobile robot, characterized in that for controlling the display so that the detailed screen corresponding to the item received the selection input on the display. The method of claim 13,
The controller controls the display to further display a pop-up for guiding the head to close. The method of claim 13,
And the control unit controls to perform an operation corresponding to a predetermined command when the head is closed. The method of claim 11,
The state information includes at least one of current time information, battery state information, parts replacement information, and error information. The method of claim 11,
The management area, the mobile robot, characterized in that it comprises a reservation addition button to add the set reservation schedule information and the reservation schedule. The method of claim 11,
And the management area includes a cleaning history button for calling information on the most recent cleaning history and a plurality of cleaning history information. The method of claim 18,
The management area further comprises an item capable of displaying a most recent cleaning history on a map. The method of claim 1,
And the controller controls the display to be turned on when the head is opened.

Images