KR101753361B1 - Smart cleaning system and method using a cleaning robot - Google Patents

Smart cleaning system and method using a cleaning robot Download PDF

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Publication number
KR101753361B1
KR101753361B1 KR1020150049664A KR20150049664A KR101753361B1 KR 101753361 B1 KR101753361 B1 KR 101753361B1 KR 1020150049664 A KR1020150049664 A KR 1020150049664A KR 20150049664 A KR20150049664 A KR 20150049664A KR 101753361 B1 KR101753361 B1 KR 101753361B1
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KR
South Korea
Prior art keywords
cleaning
robot
control terminal
smart
remote control
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KR1020150049664A
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Korean (ko)
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KR20160120841A (en
Inventor
정원민
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(주)이산솔루션
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Publication of KR20160120841A publication Critical patent/KR20160120841A/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The present invention relates to a smart cleaning system and method using a cleaning robot for remotely controlling a cleaning robot via a control terminal by operating a remote control terminal in wireless communication with a control terminal installed in the cleaning robot, A robot smart control terminal that connects to a cleaning robot and a cleaning robot that travels along with the robot and transmits a control signal to the cleaning robot by installing a smart control application for automatic control of the cleaning robot, And a robot remote control terminal installed with a remote control application for remote control of the cleaning robot and transmitting a remote control signal to the robot smart control terminal and displaying monitoring information transmitted from the robot smart control terminal.

Description

Technical Field [0001] The present invention relates to a smart cleaning system using a cleaning robot,

An embodiment of the present invention relates to a smart cleaning robot system using a cleaning robot, for example, by operating a remote control terminal that wirelessly communicates with a control terminal installed in a cleaning robot to remotely control the cleaning robot via the control terminal, And more particularly to a smart cleaning system using a cleaning robot for cleaning.

Cleaning robots that clean the house, such as sweeping the house floor and sucking dirt or mopping, are gaining popularity among busy workers due to the development of built-in artificial intelligence and functions. In other words, the lack of time to clean the busy work, or after a day of work to return home tired, the cleaning robot to move around the house automatically, the presence of cleaning is now becoming a necessity of modern people is becoming more and more.

However, the cleaning robots are inevitably lacking in cleaning ability compared to the ones they do when the obstacles are located. In consideration of these problems, various functions for maximizing the cleaning space while minimizing the space of the obstacle are mounted or upgraded to the artificial intelligence There are many issues that need to be solved.

The problem of such a cleaning robot is that it is not an obstacle due to an error such as an obstacle detection or an obstacle detecting sensor, but it is recognized as an obstacle and a cleaning operation is not performed in the area. In order to solve this problem, Although a cleaning robot using a camera for shooting is being released, there are many cases where the cleaning robot does not have a device for checking the cleaning area or checking the obstacle information.

In addition, it is difficult to confirm whether the normal cleaning work has been performed before the cleaning robot is directly cleaned after the cleaning robot is completed, and the size of the cleaning robot must be small in order to clean the room as wide as possible. There is a limitation in mounting the processor.

For this reason, it is necessary to develop a system that enables a more convenient and efficient cleaning operation even in a home equipped with the cleaning robot, and it is also required to develop a device or a method that allows the user to easily confirm the setting process and the cleaning result of the cleaning robot .

Korean Patent No. 10-0711995 (Announcement of May 2, 2007), "Cleaning Robot and Cleaning Method Using the Same" Korean Registered Patent No. 10-0266988 (Announced on Mar. 2, 2000), " Device for recognizing the shape of cleaning zone of robot cleaner and method thereof "

In the embodiment of the present invention, a control terminal equipped with a smart control application is connected to a cleaning robot that performs traveling and cleaning operations, and a remote control terminal equipped with a remote control application capable of remotely controlling the cleaning robot by wirelessly communicating therewith, Provided is a smart cleaning system using a cleaning robot that transmits a remote control signal of a cleaning robot to perform a cleaning operation using the cleaning robot.

In addition, the embodiment of the present invention provides a smart cleaning system using a cleaning robot capable of collecting obstacle data for a cleaning space for cleaning operation of a cleaning robot, converting the obstacle data into coordinates, generating a cleaning map, .

Further, in the embodiment of the present invention, the monitoring information about the cleaning operation of the cleaning robot can be collected through the control terminal of the cleaning robot, and the cleaning robot can transmit the monitoring information to the remote control terminal, To provide a smart cleaning system.

The smart cleaning system using the cleaning robot according to an embodiment of the present invention includes a cleaning robot installed with a terminal connection unit for connection to a control terminal and traveling according to a control signal input through the terminal connection unit, A smart control application for automatic control of the cleaning robot is installed and connected to the terminal connection part of the robot and transmits a control signal through execution of the smart control application to the cleaning robot through the terminal connection part, And a wireless communication module for wireless communication with the robot smart control terminal is installed and a remote control application for remote control of the cleaning robot is installed to execute the remote control application Through transfer to the Smart robot control device through the wireless communication module, a remote control signal, and may comprise a robot remote control terminal including a display for displaying the monitor information transmitted from the smart robot control device.

Also, the terminal connection unit may be configured to include a mounting unit for terminal connection of the robot smart control terminal.

In addition, the cleaning robot includes a bumper sensor and a camera for collecting data of obstacles in the cleaning area, and the robot smart control terminal calculates coordinate data of an obstacle in the cleaning area based on data collected through the bumper sensor and the camera And the robot remote control terminal may set or reset a cleaning map of the corresponding cleaning area based on the coordinate data transmitted from the robot smart control terminal.

The robot smart control terminal includes cleaning area information for identifying a corresponding cleaning area when generating the coordinate data. The robot remote control terminal maps and stores the corresponding cleaning map for each of the cleaning area information, And generates a remote control signal for the cleaning robot based on the mapped information and transmits the generated remote control signal to the robot smart control terminal.

In addition, the robot smart control terminal has four kinds of cleaning functions: a navigating operation for moving in a zigzag pattern, a random cleaning for arbitrarily driving and cleaning, a spot cleaning for cleaning a designated spot, a max cleaning for performing a random cleaning after navigating, And the robot remote control terminal automatically selects one of the four cleaning methods according to the cleaning map, and controls the remote controller for the cleaning robot And a function of generating a signal.

In addition, the robot remote control terminal generates a remote control signal by selecting a cleaning method suitable for the cleaning map for each of the cleaning areas from among the four cleaning methods, and controls the robot smart control terminal May be to perform the cleaning operation by the set cleaning method while driving the corresponding cleaning areas.

The robot smart control terminal may further include a display unit for displaying processing information of the smart control application and an input unit for inputting a control signal including a cleaning operation to the cleaning robot based on the display information of the display unit.

In addition, the terminal connection unit of the cleaning robot and the corresponding connection unit of the robot smart control terminal may be formed on the USB OTG (USB On-The-Go) basis.

According to an embodiment of the present invention, a control terminal equipped with a smart control application is connected to a cleaning robot that carries out a cleaning operation, and a remote control terminal equipped with a remote control application capable of remote control of the cleaning robot The remote control signal of the cleaning robot is transmitted to the terminal, so that the cleaning robot can be applied to the cleaning robot which can install the control terminal irrespective of the cleaning robot.

Also, the obstacle data for the cleaning map for cleaning the cleaning robot is collected and converted into coordinates to generate a cleaning space. The cleaning robot automatically updates the cleaning space for the changed obstacle data collected during the cleaning operation, It is possible to manually edit the cleaning space by inputting the coordinates of the user, thereby improving the accuracy of the cleaning zone information that is not recognized as an obstacle even though the obstacle is recognized as an obstacle or even if there is an obstacle.

In addition, monitoring information on the cleaning operation of the cleaning robot can be collected through the control terminal of the cleaning robot, and it can be transmitted to the remote control terminal to check the cleaning result during cleaning and after cleaning. Even if the user does not check in real time, it is possible to check whether the performance of the cleaning robot is low or not.

1 is a block diagram schematically showing a configuration of a smart cleaning system using a cleaning robot according to an embodiment of the present invention.
2 is a block diagram illustrating a configuration of a smart cleaning system using a cleaning robot according to an embodiment of the present invention.
3 is a diagram showing a communication structure in a smart cleaning system using a cleaning robot according to an embodiment of the present invention.
4 is a diagram showing an example of generating a cleaning map in a smart cleaning system using a cleaning robot according to an embodiment of the present invention.
5 is a view showing an example of a zone setting of a cleaning map in a smart cleaning system using a cleaning robot according to an embodiment of the present invention;
6 is a view showing examples of a cleaning method in a smart cleaning system using a cleaning robot according to an embodiment of the present invention.
FIG. 7 is a view illustrating an example of setting a cleaning method according to a cleaning area of a smart cleaning system using a cleaning robot according to an embodiment of the present invention

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. It is also to be understood that the position or arrangement of the individual components within each described embodiment may be varied without departing from the spirit and scope of the present invention.

The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which the claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. Also, in certain cases, there may be a term selected arbitrarily by the applicant, in which case the meaning thereof will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term, not on the name of a simple term, but on the entire contents of the present invention.

Whenever an element is referred to as " including " an element throughout the description, it is to be understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise. In addition, "... "... Module " or the like means a unit for processing at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software.

1 to 7, a smart cleaning system using a cleaning robot according to an embodiment of the present invention will be described.

FIG. 1 is a schematic view showing a configuration of a smart cleaning system using a cleaning robot according to an embodiment of the present invention.

As shown in the figure, a smart cleaning system using a cleaning robot according to an embodiment of the present invention includes a cleaning robot 100, a robot smart control terminal 200, and a robot remote control terminal 300.

A smart control application for controlling the cleaning robot 100 is installed in the robot smart control terminal 200. Main functions of the smart control application will be described later with reference to FIG.

The robot smart control terminal 200 is connected to the cleaning robot 100. In this embodiment, the terminal connection unit 110 for the terminal connection of the robot smart control terminal 200 is installed in the cleaning robot 100 However, the present invention is not limited thereto. That is, the cleaning robot 100 is provided with the terminal connection unit 110 including the mounting unit 111 for the terminal connection of the robot smart control terminal 200, 111 and connected to the connection end of the terminal connection unit 110. For this purpose, the robot smart control terminal 200 is provided with a connection terminal (not shown) corresponding to the connection terminal of the terminal connection unit 110.

The robot smart control terminal 200 inputs a control signal through execution of the smart control application to the cleaning robot 100 via the terminal connection unit 110 while the robot smart control terminal 200 is stationary on the cleaning robot 100, The cleaning robot 100 performs various operations including a cleaning operation according to a control signal transmitted from the robot smart control terminal 200.

In other words, the cleaning robot 100 is electrically connected to the robot smart control terminal 200 through the terminal connection unit 110 and has a function of the smart cleaning robot through the control of the robot smart control terminal 200 do. Accordingly, the cleaning robot 100 carries out a cleaning operation and various operations according to control signals for the respective robot smart control terminals 200 through individual connection of the different robot smart control terminals 200. When the corresponding smart control application is installed for each of the cleaning robots 100, the robot smart control terminal 200 accesses all the cleaning robots 100 matching the installed smart control application with the corresponding cleaning robot 100 ) Can be driven by the smart cleaning robot system.

The robot remote control terminal 300 transmits a remote control signal for remote control of the cleaning robot 100 to the robot smart control terminal 200. For this purpose, the robot smart control terminal 200 and the robot remote control terminal 300 A wireless communication module for mutual wireless communication is provided. The robot remote control terminal 300 may be provided with a remote control application for generating and transmitting a remote control signal to the cleaning robot 100. The main functions of the remote control application will be described later with reference to FIG. do.

In other words, the user can perform the cleaning operation while remotely controlling the cleaning robot 100 via the robot smart control terminal 200 by operating the robot remote control terminal 300.

The cleaning robot 100 includes a bumper sensor 120 and a camera 130 in order to obtain obstacle coordinate information of an area where a cleaning operation is performed, and a detailed description thereof will be given later with reference to FIGS. 2 and 3 .

Next, a detailed configuration of a smart cleaning system using a cleaning robot according to an embodiment of the present invention will be described with reference to FIG. 2 and FIG.

FIG. 2 is a block diagram illustrating a configuration of a smart cleaning system using a cleaning robot according to an embodiment of the present invention. FIG. 3 is a diagram illustrating a communication structure in a smart cleaning system using a cleaning robot according to an embodiment of the present invention. to be.

As shown in the figure, the smart cleaning system using the cleaning robot according to an embodiment of the present invention includes a cleaning robot 100, a robot smart control terminal 200, and a robot remote control terminal 300, It has also been mentioned in the description with reference to Fig.

The cleaning robot 100 travels and performs a cleaning operation. The cleaning robot 100 includes a terminal connection unit 110 for receiving a control signal such as a signal related to traveling and a signal related to a cleaning operation through the robot smart control terminal 200, Respectively. Accordingly, the cleaning robot 100 receives a control signal from the robot smart control terminal 200 connected to the terminal connection unit 110 to perform a cleaning operation.

The terminal connection unit 110 of the cleaning robot 100 is electrically connected to the robot smart control terminal 200 while the robot smart control terminal 200 is stationarily connected to the terminal connection unit 110, And becomes in connection with the electrical configurations of the robot 100.

In addition, the electrical connection between the terminal connection unit 110 of the cleaning robot 100 and the robot smart control terminal 200 is based on a USB connection method. Among them, a USB On-The-Go (OTG) The robot smart control terminal 200 is configured as a master and the connection unit is configured as a slave.

 The connection configuration of the USB OTG method is for stable signal transmission between the robot smart control terminal 200 and the cleaning robot 100. Only the robot smart control terminal 200 configured as a master can configure and schedule transmission of signals And the slave robot 100 can transmit and receive signals under the control of the robot smart control terminal 200 and arbitrary signal transmission of the cleaning robot 100 is restricted.

The cleaning robot 100 includes a bumper sensor 120 and a camera 130 for generating a cleaning map 330 for a cleaning area and the bumper sensor 120 and the camera 130 are connected to a cleaning robot Which is applied to a bumper sensor and a camera. Therefore, the configuration of the bumper sensor 120 and the camera 130 will be briefly described in the present embodiment, and specific configurations and actions of the bumper sensor 120 and the camera 130 will be described with reference to corresponding configurations of existing cleaning robots You will.

The bumper sensor 120 is for detecting a position where the movement of the cleaning robot 100 is restricted, and detects an obstacle facing the moving direction of the cleaning robot 100 in the traveling direction. In addition to collecting the obstacle data for generating the cleaning map 330 for the cleaning operation of the cleaning robot 100, the obstacle is detected in real time when the cleaning robot 100 is traveling, so that the cleaning robot 100 does not contact or collide with the obstacle It is for this reason.

When the cleaning robot 100 approaches the obstacle within a certain distance so as not to come into contact with or collide with the obstacle based on the data of the obstacle detected through the bumper sensor 120, The robot 100 can move in a direction opposite to the direction in which the robot 100 has moved.

The camera 130 is provided for capturing the ceiling of the space where the cleaning robot is performed, and is installed in a form of photographing the ceiling perpendicular to the ceiling of the cleaning area . Accordingly, the camera 130 acquires image information on the ceiling of the space in which the cleaning robot 100 is located. The ceiling image information enables the cleaning robot 100 to grasp the current position of the cleaning robot 100 in the space where the cleaning robot 100 is located .

As described above, the information obtained through the bumper sensor 120 and the camera 130 is transmitted to the robot smart control terminal 200 and used for generation, setting, and resetting of the cleaning map 330 to be described later. A detailed description will be given later.

The robot smart control terminal 200 includes a smart control application for controlling the cleaning robot 100 and is mounted on the terminal connection unit 110 of the cleaning robot 100. The connection unit of the terminal connection unit 110 includes a robot smart (Not shown) of the control terminal 200 so as to transmit a control signal for automatic control of the cleaning robot 100.

The smart control application is for automatic control of the cleaning robot 100 and transmits a control signal for controlling the cleaning robot 100 to the cleaning robot 100 through the terminal connection unit 110 of the cleaning robot 100 do. The smart control application also generates coordinate data of an obstacle in the cleaning area based on data collected and transmitted through the bumper sensor 120 and the camera 130 of the cleaning robot 100, To the control terminal (300). The robot remote control terminal 300 forms a cleaning map for the cleaning operation of the corresponding cleaning area on the basis of the coordinate data transmitted from the robot smart control terminal 200. This will be described later with reference to FIG. Key.

In addition, the smart control application includes billing zone information that can identify the corresponding cleaning zone when generating coordinate data for an obstacle in the cleaning zone, and the robot remote control terminal 300 maps the corresponding cleaning map according to the cleaning zone information . Accordingly, the robot remote control terminal 300 generates a remote control signal for the corresponding cleaning robot based on the mapped cleaning area information and the cleaning map information, and transmits the remote control signal to the robot smart control terminal.

In addition, the robot smart control terminal 200 further includes a camera 210 for monitoring the cleaning operation of the cleaning robot 100. Accordingly, during the cleaning operation of the cleaning robot, To obtain monitoring information related to the cleaning operation.

In other words, when the cleaning robot 100 performs a cleaning operation, the camera 210 moves along the traveling direction of the cleaning robot 100 or in a direction opposite to the traveling direction of the cleaning robot 100 And a cleaning state of the traveled route.

The robot smart control terminal 200 can control the cleaning robot 100 in addition to the control of the cleaning robot 100 through remote control of the robot remote control terminal. The robot smart control terminal 200 includes a display unit 220 for displaying processing information of the smart control application and a controller 220 for inputting a control signal including a cleaning operation to the cleaning robot 100 based on the display information of the display unit 220 And may further include an input unit 230.

The display unit 220 is used for displaying processing information of the smart control application. The display unit 220 may be a display device for displaying image and image information through a smart control application, a speaker device capable of displaying sound and voice information, As shown in FIG.

The input unit 230 is for inputting a control signal of the cleaning robot 100 and inputs a control signal for a cleaning operation or the like to the cleaning robot 100 based on the display information of the smart control application displayed through the display unit 220 And can be formed in the form of a touch panel widely used in smart devices. In other words, in the present embodiment, the display unit 220 and the input unit 230 are implemented together through the touch panel (see FIG. 1), but the present invention is not limited thereto.

The robot remote control terminal 300 is for remotely controlling the cleaning robot 100 by wireless communication with the robot smart control terminal 200 and includes a remote control application for remote control of the cleaning robot 100, A cleaning method 340 and a cleaning operation information are set on the robot smart control terminal 200 to create and set a cleaning map 330 for performing a cleaning operation of the robot 100, ) Of the remote control signal.

The remote control application generates a remote control signal so as to perform a cleaning operation of the cleaning robot 100, transmits the remote control signal to the robot smart control terminal 200 through the wireless communication module 310, 330, and a cleaning method 340 and cleaning job information.

The generation of the cleaning map 330 is based on the coordinate data of the cleaning area and the obstacle information in the cleaning area generated through the cleaning robot 100 and the robot smart control terminal 200 and is transmitted from the robot smart control terminal 200 And the cleaning map 330 is generated by interpreting the coordinate data to be transmitted.

In order to generate the cleaning map 330, the remote control application confirms whether the cleaning map 330 is generated through the robot remote control terminal, and when the generating signal for the cleaning map 330 is inputted, Remote control signals are transmitted to enable the collection of obstacle data in the cleaning area and the cleaning area.

 4A is a view illustrating an example in which the cleaning robot 100 moves in a cleaning zone and collects obstacle data in a cleaning zone and a cleaning zone, Cleaning map 330 shown in FIG.

The cleaning map 330 removes the added obstacle data from the cleaning map 330 when the cleaning robot 100 collects the obstacle data added or removed in addition to the obstacle data of the predetermined cleaning map 330 at the time of performing the cleaning operation , And the cleaning map 330 is updated in such a manner that the removed obstacle data is added to the cleaning map 330.

In addition, when the obstacle of the cleaning map 330 is temporarily changed by the user, the user can directly reproduce the cleaning map 330 or perform the next cleaning operation without waiting for the cleaning map 330 to be updated, The cleaning map 330 can be corrected or deleted by inputting coordinates through the cleaning map 330. In addition, the user can reset the cleaning map 330 by editing the cleaning map 330 as needed.

5 is a diagram illustrating an example of a zone setting of the cleaning map in the smart cleaning system using the cleaning robot according to an embodiment of the present invention. After the generation of the cleaning map 330 is completed in the robot remote control terminal 300 This is for setting the cleaning map 330.

At this time, the cleaning area information included in the coordinate data transmitted from the robot smart control terminal 200 is mapped and stored in the cleaning map 330, and the robot remote control terminal 300 controls the corresponding cleaning robot 100 to generate a remote control signal so as to perform a cleaning operation and transmit the remote control signal to the robot smart control terminal 200.

This cleaning zone information is for using the smart cleaning system according to the present invention without limitation in the cleaning robot 100 and the cleaning zone. In the case of the cleaning zone in which the initial cleaning map 330 has been generated, the cleaning robot 100 moves Since the cleaning map 330 is updated based on the cleaning area information, the cleaning area can be cleaned without resetting the added and deleted obstacle information.

2 to 3, the cleaning mode setting through the remote control application is for setting a cleaning mode for the cleaning area of the cleaning map 330 after the setting of the cleaning map 330 is completed, A cleaning operation can be performed through the cleaning robot 100 by changing the cleaning method 340 according to the degree of contamination. Such a cleaning method 340 is configured in the navigation mode, the random mode, the spot mode, and the max mode.

FIG. 6 shows this. FIG. 6 (a) is a navigation system, (b) is a random method, (c) is a spot method, and (d) is a Max method.

The navigation system is a method in which the cleaning robot 100 moves zigzag in a direction in which the cleaning robot 100 wishes to proceed, that is, it rotates by 90 degrees and moves left and right in a repeated direction. When the obstacle is detected, the robot 100 rotates 90 degrees to the right in the traveling direction, and rotates the robot 100 by 90 degrees to the right. Moving in a zigzag form and performing cleaning work.

Such a navigation system creates and cleans the cleaning map 330. Since the cleaning operation is performed while moving in the advancing direction by the cleaning range of the cleaning robot 100 while zigzag moving by the basic cleaning method 340 of the robot 100, It is a method that minimizes gaps without overlapping with many ranges, but it takes much time.

The random method is a method of moving in an arbitrary direction. After the cleaning robot 100 moves to approach the obstacle, it rotates at an arbitrary angle and moves until it approaches the obstacle again. This random method has a variety of algorithms, and it can detect the maximum cleaning effect in a minimum time by having certain rules while moving arbitrarily. However, when the cleaning area is wide, many gaps may occur, 340).

The spot method is used to concentrate cleaning of a specific area. It is selected when intensive cleaning of a specific area is performed, and a radius of 1 m of a selected specific area is zigzag moved or rotated and cleaned. Such a spot method is a method recommended for cleaning a specific corner where a lot of contaminants are accumulated or an obstacle and a floor boundary that the cleaning robot 100 rotates and overflows.

The Max method is a random cleaning method after the cleaning by the navigation method. After the floor cleaning is done through the navigation method, the random cleaning process is performed until all the remaining power is exhausted. Since there are many pollutants, This is the recommended method if additional cleaning is required.

In this way, the cleaning method 340 of the cleaning robot 100 is set in any one of the four preset methods. In addition, the robot remote control terminal automatically selects one of four cleaning methods 340 according to the size, shape and pollution degree of the cleaning area, generates a remote control signal for the cleaning robot 100, (200).

In addition, the remote control application divides the cleaning map 330 into sections, and divides the cleaning map 330 into three rooms, for example, a first room, a second room, and a living room divided into two rooms and one living room It is possible to select and set a suitable cleaning method 340 for each cleaning area. Figure 7 shows this.

The remote control signal is generated according to the selected cleaning method 340 and transmitted to the robot smart control terminal 200. The cleaning robot 100 of the robot smart control terminal 200, And a cleaning operation is performed by the set cleaning method 340.

2 to 3, the robot remote control terminal 300 includes a wireless communication module 310 capable of communicating with the robot smart control terminal 200. The robot remote control terminal 300 includes execution information of the remote control application, And a display unit 320 for displaying monitoring information of the cleaning robot 100 transmitted from the cleaning robot 200.

The wireless communication module 310 is for wireless communication with the robot smart control terminal 200. The wireless communication module 310 transmits a remote control signal to the robot smart control terminal 200 and receives monitoring information from the robot smart control terminal 200, In order to enable wireless communication at a high speed, communication is performed using UDP (User Datagram Protocol) which is one of internet protocols.

The UDP method transmits signals unilaterally without performing error checking to check whether the signal output from the signal transmission is the same signal. The UDP method is evaluated as low in reliability compared to other methods, It is highly appreciated.

The UDP method is advantageous for high capacity data transmission such as moving picture transmission and is suitable for receiving monitoring information transmitted from the robot smart control terminal 200. [ In addition, since the UDP method allows each terminal to operate its own through an application for each terminal, error checking of data transmitted through an application can be performed even if error checking of data transmission through wireless communication is skipped. Therefore, Method is effective.

The display unit displays monitoring information transmitted from the robot smart control terminal 200. The display unit displays monitoring images and image information about the cleaning operation of the cleaning robot 100 collected from the camera 210 of the robot smart control terminal 200, Is displayed on the screen so as to be provided to the user.

1 through 7, the smart cleaning system using the cleaning robot according to the present invention includes a control terminal installed with a smart control application in a cleaning robot for traveling and cleaning operation The remote control signal of the cleaning robot is transmitted to the control terminal by using a remote control terminal equipped with a remote control application capable of remote control of the cleaning robot by wireless communication with the control robot so that the cleaning robot performs the cleaning operation, It can be applied to cleaning robots capable of installing terminals.

Also, the obstacle data for the cleaning map for cleaning the cleaning robot is collected and converted into coordinates to generate a cleaning space. The cleaning robot automatically updates the cleaning space for the changed obstacle data collected during the cleaning operation, It is possible to manually edit the cleaning space by inputting the coordinates of the user, thereby improving the accuracy of the cleaning zone information that is not recognized as an obstacle even though the obstacle is recognized as an obstacle or even if there is an obstacle.

In addition, monitoring information on the cleaning operation of the cleaning robot can be collected through the control terminal of the cleaning robot, and it can be transmitted to the remote control terminal to check the cleaning result during cleaning and after cleaning. Even if the user does not check in real time, it is possible to check whether the performance of the cleaning robot is low or not.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the exemplary embodiments or constructions. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described above, and all of the equivalents or equivalents of the claims, as well as the claims, will be included in the scope of the present invention.

100: Cleaning robot 110: Terminal connection part
111: mounting part 120: bumper sensor
130: camera 200: robot smart control terminal
210: camera 220: display
230: Input unit 300: Robot remote control terminal
310: wireless communication module 320:
330: Cleaning map 340: Cleaning method

Claims (8)

A cleaning robot provided with a terminal connection unit for connection of the control terminal and traveling according to a control signal input through the terminal connection unit to perform a cleaning operation;
A smart control application for automatic control of the cleaning robot is installed to transmit a control signal through execution of the smart control application to the cleaning robot via the terminal connection unit, A robot smart control terminal including a camera with a monitoring function for a cleaning operation of the robot; And
A wireless communication module for wirelessly communicating with the robot smart control terminal is installed and a remote control application for remote control of the cleaning robot is installed to transmit a remote control signal through execution of the remote control application to the robot smart control terminal through the wireless communication module And a display unit for transmitting monitoring information transmitted from the robot smart control terminal to the robot smart control terminal,
Wherein the terminal connection part includes a mounting part for terminal connection of the robot smart control terminal, and the cleaning robot includes a bumper sensor and a camera for data collection of obstacles in the cleaning area, and the robot smart control terminal Coordinate data of an obstacle in the cleaning zone is generated based on data collected through the bumper sensor and the camera and transmitted to the robot remote control terminal,
Wherein the robot remote control terminal sets or re-sets a cleaning map of the corresponding cleaning area based on the coordinate data transmitted from the robot smart control terminal and corrects the cleaning map by inputting coordinates of the user through the remote control application , And deletes and edits the map to reset the cleaning map of the corresponding cleaning area,
The robot smart control terminal includes cleaning area information that can identify the corresponding cleaning area when generating the coordinate data, and includes a navigational cleaning for moving in a zigzag pattern, a random cleaning for arbitrarily driving and cleaning, A cleaning operation of the cleaning robot is performed through a method selected from among four cleaning methods of cleaning a spot to be cleaned in a concentrated manner and performing a random cleaning after cleaning the navigator, And an input unit for inputting a control signal including a cleaning operation to the cleaning robot based on the display information of the display unit,
The robot remote control terminal maps and stores the corresponding cleaning map according to the cleaning zone information, generates a remote control signal for the cleaning robot based on the mapped information, and transmits the remote control signal to the robot smart control terminal, And a function of automatically selecting one of the four cleaning methods according to the cleaning map to generate a remote control signal for the corresponding cleaning robot, The robot controller generates a remote control signal by selecting one of the four cleaning methods and controls the robot smart control terminal to receive the received remote control signal,
The terminal connection unit of the cleaning robot and the corresponding connection unit of the robot smart control terminal use a USB On-The-Go (USB OTG) system composed of a master and a slave for stable signal transmission, And a terminal connection unit of the cleaning robot is configured as a slave so that the configuration and planning of transmission of signals can be performed only by the robot smart control terminal composed of the master, Wherein the signal transmission / reception is enabled by control of the control terminal, and arbitrary signal transmission of the cleaning robot is restricted. delete delete delete delete delete delete delete
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