KR102557736B1 - Movable robot control apparatus through drawing and method of operation thereof - Google Patents

Abstract

According to an embodiment of the present disclosure, a method for controlling a mobile robot by an electronic device includes displaying a map indicating a cleaning area of the mobile robot; receiving a user's first drawing input designating a first area in the map; distinguishingly displaying the designated area within the map when the first drawing input is received; determining a cleaning target area to be cleaned by the mobile robot based on the first drawing input; and transmitting control information for cleaning the area to be cleaned to the mobile robot.

Description

Movable robot control apparatus through drawing and method of operation thereof

The present disclosure relates to a control device for a mobile robot and a method for operating the same.

In general, robots have been developed for industrial use and have taken part in factory automation. In recent years, the application field of “robots” has been further expanded, medical “robots” and aerospace “robots” have been developed, and domestic “robots” that can be used at home are also being made.

Examples of the present disclosure relate to a control device capable of effectively controlling a mobile robot and an operation method thereof.

According to an embodiment of the present disclosure, a method for controlling a mobile robot by an electronic device includes displaying a map indicating a cleaning area of the mobile robot; receiving a user's first drawing input designating a first area in the map; distinguishingly displaying the designated area within the map when the first drawing input is received; determining a cleaning target area to be cleaned by the mobile robot based on the first drawing input; and transmitting control information for cleaning the area to be cleaned to the mobile robot.

According to an embodiment of the present disclosure, a communication interface; touch screen; a memory that stores one or more instructions; and a processor executing the one or more instructions, wherein the processor displays a map representing a cleaning area of the mobile robot on the touch screen by executing the one or more instructions, receiving a user's first drawing input designating a first area in the map, distinguishingly displaying the designated area within the map on the touch screen when the first drawing input is received, determining a cleaning target area to be cleaned by the mobile robot based on the first drawing input, and the cleaning target. An electronic device characterized by performing an operation of transmitting control information for cleaning an area to the mobile robot through the communication interface is disclosed.

According to an embodiment of the present disclosure, an operation of displaying a map indicating a cleaning area of the mobile robot; receiving a user's first drawing input designating a first area in the map; distinguishingly displaying the designated area within the map when the first drawing input is received; determining a cleaning target area to be cleaned by the mobile robot based on the first drawing input; and a recording medium storing a program for transmitting control information for cleaning the area to be cleaned to the mobile robot.

1 is a diagram illustrating a system for controlling a mobile robot according to an embodiment of the present disclosure.
2 is a flowchart illustrating a method for an electronic device to control a mobile robot according to an embodiment of the present disclosure.
3 is a diagram illustrating a configuration of an electronic device according to an embodiment of the present disclosure.
4 is a diagram illustrating a configuration of a mobile robot according to an embodiment of the present disclosure.
5A is a diagram illustrating a user interface of an electronic device according to an embodiment of the present disclosure.
5B is a diagram illustrating an icon in a user interface of an electronic device according to an embodiment of the present disclosure.
5C is a diagram illustrating that a user designates a first area in a “line” form through a user interface of an electronic device according to an embodiment of the present disclosure.
5D is a diagram illustrating that a user designates a first region as a “figure” through a user interface of an electronic device, according to an embodiment of the present disclosure.
5E is a diagram illustrating that a user designates a second area through a user interface of an electronic device, according to an embodiment of the present disclosure.
5F is a diagram illustrating a user designating a third area through a user interface of an electronic device, according to an embodiment of the present disclosure.
5G is a diagram illustrating a user saving an area through a user interface of an electronic device, according to an embodiment of the present disclosure.
6A is a diagram illustrating an example in which a user inputs a first drawing input according to an embodiment of the present disclosure.
6B is a diagram illustrating an example in which a user inputs a second drawing input according to an embodiment of the present disclosure.
6C is a diagram illustrating an example of a case in which a user has a plurality of first regions, according to an embodiment of the present disclosure.
6D is a diagram illustrating an example in which a user inputs a third drawing input for removing a cleaning area, according to an embodiment of the present disclosure.
7 is a diagram illustrating an example of determining a region designated by a user's drawing input on a map according to an embodiment of the present disclosure.
8 is a diagram illustrating a method for an electronic device to control a mobile robot based on a second drawing input, according to an embodiment of the present disclosure.
9 is a diagram illustrating a method for an electronic device to control a mobile robot based on a third drawing input according to an embodiment of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described in detail so that those skilled in the art can easily implement the present disclosure with reference to the accompanying drawings. However, the present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. In addition, in order to clearly describe the present disclosure in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

The terms used in the present disclosure are described as general terms currently used in consideration of the functions mentioned in the present disclosure, but may mean various other terms depending on the intention or precedent of a person skilled in the art, the emergence of new technologies, and the like. Therefore, the terms used in the present disclosure should not be interpreted only as the names of the terms, but should be interpreted based on the meanings of the terms and the contents throughout the present disclosure.

Also, terms such as first and second may be used to describe various elements, but elements should not be limited by these terms. These terms are used to distinguish one component from another.

Also, terms used in the present disclosure are only used to describe specific embodiments and are not intended to limit the present disclosure. Expressions in the singular number include the plural meaning unless the context clearly indicates the singular number. In addition, throughout the specification, when a part is said to be “connected” to another part, this includes not only the case of being “directly connected” but also the case of being “electrically connected” with another element interposed therebetween. In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated.

As used throughout this specification, “above” and similar designations may refer to both the singular and plural. Further, unless there is a description that explicitly specifies the order of steps in describing a method according to the present disclosure, the recited steps may be performed in any suitable order. The present disclosure is not limited by the order of description of the described steps.

The appearances of phrases such as “in some embodiments” or “in one embodiment” in various places in this specification are not necessarily all referring to the same embodiment.

An embodiment of the present disclosure may be represented as functional block structures and various processing steps. Some or all of these functional blocks may be implemented as a varying number of hardware and/or software components that perform specific functions. For example, functional blocks of the present disclosure may be implemented by one or more microprocessors or circuit configurations for a predetermined function. Also, for example, the functional blocks of this disclosure may be implemented in various programming or scripting languages. Functional blocks may be implemented as an algorithm running on one or more processors. In addition, the present disclosure may employ prior art for electronic environment setting, signal processing, and/or data processing. Terms such as “mechanism”, “element”, “means” and “composition” may be used broadly and are not limited to mechanical and physical components.

In addition, connecting lines or connecting members between components shown in the drawings are only examples of functional connections and/or physical or circuit connections. In an actual device, connections between components may be represented by various functional connections, physical connections, or circuit connections that can be replaced or added.

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings.

1 illustrates a system for controlling a mobile robot according to an embodiment of the present disclosure.

The system 100 for controlling a mobile robot may include an electronic device 300 , a network 350 and a mobile robot 400 .

The electronic device 300 according to an embodiment of the present disclosure may be a device for controlling the mobile robot 400. The electronic device 300 according to an embodiment of the present disclosure may include a terminal equipment, a personal computer (PC), a laptop computer, a laptop computer, a smart phone, a tablet, and a wearable computer. A specific configuration of the electronic device 300 according to an embodiment of the present disclosure will be described later with reference to FIG. 3 .

The network 350 according to an embodiment of the present disclosure may mean at least one communication means of short-distance wireless communication (eg, Bluetooth, Wi-Fi, WiFi Direct) and long-distance wireless communication (eg, wireless communication such as GSM, UMTS, LTE, and WiBRO). Specifically, the network 350 includes not only a form connected to an external device through a local area network (LAN) and an Internet network, but also wireless communication (eg, Z-wave, 4LoWPAN, RFID, LTE D2D, BLE, GPRS, Weightless, Edge Zigbee, ANT+, NFC, IrDA, DECT, WLAN, Bluetooth, Wi-Fi, Wi-Fi Direct, GSM, UMTS, LTE, WiBRO, etc.) ) method can also be implemented. The network 350 may connect the electronic device 300 to the mobile robot 400 . The electronic device 300 and the mobile robot 400 according to an embodiment of the present disclosure may be directly or indirectly connected to the network 350 .

The mobile robot 400 according to an embodiment of the present disclosure may refer to a device driven to suck foreign substances such as dust from a floor. A representative example of the mobile robot 400 is a “robot” vacuum cleaner. The robot cleaner can clean by sucking in dust or foreign substances around it while traveling in a certain area by itself. This "robot" vacuum cleaner has a rechargeable battery and an obstacle sensor capable of avoiding obstacles while driving, so that it can clean while traveling by itself. A specific configuration of the mobile robot 400 according to an embodiment of the present disclosure will be described later with reference to FIG. 4 .

The electronic device 300 according to an embodiment of the present disclosure may display a map indicating a cleaning area of the mobile robot 400 . On the displayed map, the user may input a drawing input for cleaning to the touch screen of the electronic device 300 through a touch input. By directly inputting a drawing input on the map indicating the cleaning area, the cleaning area of the mobile robot 400 can be specified in detail.

2 is a flowchart illustrating a method of controlling a mobile robot by an electronic device according to an embodiment of the present disclosure.

In step S201, the electronic device 300 according to an embodiment of the present disclosure may display a map indicating the cleaning area of the mobile robot 400.

According to an embodiment of the present disclosure, the map may be created through the mobile robot 400 and may be changed through the mobile robot 400 . The map may be initially generated based on location information collected by the mobile robot 400 through an initial movement operation of the mobile robot 400 . After that, the map may be updated through repetitive movements of the mobile robot 400 . Specifically, the mobile robot 400 may supplement a map generated based on an image captured by an imaging unit and obstacle information detected by an obstacle detection sensor while moving for cleaning. The map may be created only in the first operation, or may be created at every cleaning point. Map creation and update operations may also be performed through the electronic device 300, and the subject of map creation and update operations is not necessarily limited to the mobile robot 400 or the electronic device 300. The map may be stored in the electronic device 300, and the stored map may be used for a user's drawing input.

In step S203, the electronic device 300 according to an embodiment of the present disclosure may receive a user's first drawing input designating a first area in the map. The user's first drawing input may mean that the user inputs a desired cleaning area on the displayed map. The first area may mean a cleaning area designated by a user. The user may designate a first area in the map through a first drawing input on the touch screen of the electronic device 300 .

In step S205, the electronic device 300 according to an embodiment of the present disclosure, upon receiving the first drawing input, may display a designated area within the map to be distinguished. The designated area within the map may refer to an area created based on the first drawing input recognized by the touch screen of the electronic device 300 . For example, when the user inputs the first drawing input in the form of a “line,” the electronic device 300 may designate a certain area wider than the area where the user actually touches the touch screen for the first drawing input. Alternatively, the electronic device 300 may analyze the user's first drawing input and designate an area within a different range from the area where the user actually touched the touch screen as a predetermined area. The electronic device 300 may display a designated area in the map so that the user can distinguish it.

In step S207, the electronic device 300 according to an embodiment of the present disclosure may determine a cleaning target area to be cleaned by the mobile robot 400 based on the first drawing input. The area to be cleaned will be described in detail with reference to FIG. 7 to be described later.

In step S209, the electronic device 300 according to an embodiment of the present disclosure may transmit control information for cleaning the area to be cleaned to the mobile robot 400. The control information may include information on the determined cleaning target area and cleaning schedule information. The cleaning schedule information may be information about a cleaning order determined based on a user's drawing input. The mobile robot 400 may clean the determined cleaning target area according to the cleaning schedule information based on the control information.

3 is a diagram for explaining a configuration of an electronic device according to an embodiment of the present disclosure.

An electronic device 300 according to an embodiment of the present disclosure may include a first processor 310, a touch screen 320, a first communication interface 330, and a first memory 340.

The first processor 310 according to an embodiment of the present disclosure may control overall operations of the electronic device 300 . To this end, the first processor 310 may include a central processing unit (CPU) and execute calculations or data processing related to control of other elements included in the electronic device 300 .

The touch screen 320 according to an embodiment of the present disclosure may include a display unit (not shown) and a touch panel (not shown). The display unit may be formed of a liquid crystal display (LCD), an organic light emitting diode (OLED), or the like. The display unit visually provides the user with the menu of the portable terminal, input data, function setting information, and other various information. For example, the display unit outputs a portable terminal booting screen, a standby screen, a display screen, a call screen, a setting screen, and other application execution screens.

The touch panel detects whether or not the touch mechanism is in contact with the touch screen. A user's hand or a touch pen (stylus pen) may correspond to the touch mechanism. The touch panel may be composed of a touch sensor such as a capacitive overlay, a resistive overlay, or an infrared beam, or may be composed of a pressure sensor, but is not limited thereto, and all types of sensors capable of detecting contact or pressure of an object may be used in the touch panel of the present invention.

The first communication interface 330 according to an embodiment of the present disclosure may communicate with a second communication interface included in the mobile robot 400 . Specifically, the first processor 310 may transmit control information for controlling the mobile robot 400 to the mobile robot 400 through the first communication interface 330 . The mobile robot 400 may receive control information through the second communication interface.

The first memory 340 according to an embodiment of the present disclosure may store one or more instructions. The first memory 340 may store various programs and data necessary for the operation of the electronic device 300 . The first memory 340 may be implemented as a non-volatile memory, a volatile memory, a flash-memory, a hard disk drive (HDD), or a solid state drive (SSD). The first memory 340 may store instructions for controlling the mobile robot 400 . According to an embodiment of the present disclosure, the first processor 310 may execute instructions stored in the first memory 340 to perform a series of operations for controlling the mobile robot 400 . Instructions stored in the first memory 340 may include data and applications for the electronic device 300 to control the mobile robot 400 through a drawing motion.

According to an embodiment of the present disclosure, the first processor 310 may display a map indicating the cleaning area of the mobile robot 400 on the touch screen 320 . The map may be stored in the first memory 340 .

According to an embodiment of the present disclosure, the first processor 310 may perform an operation of receiving a user's first drawing input designating a first area in the map. As described above, the user's first drawing input may mean that the user inputs a desired cleaning area on the displayed map. The first area may mean a cleaning area designated by a user. The user may designate a first area in the map through a first drawing input on the touch screen 320 of the electronic device 300 .

According to an embodiment of the present disclosure, the first processor 310 may perform an operation of displaying a certain area designated within the map in a distinctive manner on the touch screen 320 . As described above, the designated area within the map may mean an area created based on the first drawing input recognized by the touch screen 320 of the electronic device 300 .

The first processor 310 may display on the touch screen 320 the first area designated by the first drawing input within the map as distinguished by color. For example, when the color of the map is blue, the first processor 310 may display the first area in red.

According to an embodiment of the present disclosure, the first processor 310 may perform an operation of determining a cleaning target area to be cleaned by the mobile robot 400 based on the first drawing input. The area to be cleaned will be described in detail with reference to FIG. 7 to be described later.

According to an embodiment of the present disclosure, the first processor 310 may perform an operation of transmitting control information for cleaning the area to be cleaned to the mobile robot through the first communication interface 330 . The control information may be information for controlling the driving direction of the mobile robot 400 within the cleaning target area.

According to an embodiment of the present disclosure, the first processor 310 may receive a user's second drawing input for additionally designating a second area within the designated first area. The first processor 310 may designate the second area according to a predetermined criterion for distinguishing the second area from the first area. The predetermined criterion may be the number of repetitions of a drawing operation or a pressure value with which the user presses the touch screen.

According to an embodiment of the present disclosure, the first processor 310 may designate an area where the user's drawing input is repeatedly input as the second area. Specifically, when the user repeats a drawing operation in a specific section within the map more than a predetermined number of times, the first processor 310 may designate the specific section as the second area.

According to an embodiment of the present disclosure, when a user inputs a drawing motion to the touch screen 320 with a pressure equal to or greater than a predetermined pressure value, the first processor 310 may designate a specific section input with a pressure equal to or greater than a predetermined pressure value as the second area.

According to an embodiment of the present disclosure, the first processor 310 may perform an operation of changing the cleaning intensity of the second region additionally designated by the second drawing input. At this time, the first processor 310 may transmit area information of the second area and control information about the changed cleaning intensity to the mobile robot 400 .

According to an embodiment of the present disclosure, the second area may be repeatedly cleaned by the mobile robot 400 . According to an embodiment of the present disclosure, the second region may be cleaned according to a cleaning intensity reinforced by a preset value by the mobile robot 400 .

According to an embodiment of the present disclosure, the first processor 310 may perform an operation of displaying the second area to be distinguished from the first area markedly displayed by the first drawing input. Specifically, the first processor 310 may display the second area on the touch screen 320 in a color different from that of the first area. Through this, the user can intuitively distinguish the first area from the second area. Also, the user can intuitively distinguish the second area to change the cleaning intensity of the mobile robot 400 from the first area.

According to an embodiment of the present disclosure, the first processor 310 may receive a user's third drawing input designating a third area in the map to remove a part of the cleaning area in the map. Specifically, the user may designate a third area, which is an area not desired to be cleaned, through a third drawing input.

The first processor 310 may perform an operation of excluding the designated third area from the cleaning target area. When at least one of the first and second regions overlaps with the third region, the third region may have priority over at least one of the first and second regions. For example, when at least one of the first and second regions is designated first, and then the third region is designated, at least one of the first and second regions may be deleted for a region where at least one of the first and second regions overlaps with the third region. Alternatively, if the third region is designated first and then at least one of the first and second regions is designated, at least one of the first and second regions may not be input to a region where at least one of the first and second regions overlaps with the third region.

The first processor 310 may transmit control information about region information about the third region designated by the third drawing input to the mobile robot 400 .

4 is a diagram for explaining the configuration of a mobile robot according to an embodiment of the present disclosure.

The mobile robot 400 according to an embodiment of the present disclosure may include a second processor 410, a display 420, a second communication interface 430, a second memory 440, a sensor 450, a suction unit 460, and an input unit 470.

The second processor 410 may control overall operations of the mobile robot 400 . To this end, the second processor 410 may include a central processing unit (CPU) and execute calculations or data processing related to control of other elements included in the mobile robot 400 . The second processor 410 may control the moving direction and suction mode of the mobile robot 400 .

The second communication interface 430 may be used to connect the mobile robot 400 with an external device, particularly the electronic device 300 . The mobile robot 400 can be connected not only by a short-distance wireless communication (eg, Bluetooth, Wi-Fi, WiFi Direct) method, but also by a long-distance wireless communication (eg, GSM, UMTS, LTE, wireless communication such as WiBRO) through the electronic device 300 and the second communication interface 430.

The second communication interface 430 may transmit cleaning result information. Specifically, the second communication interface 430 may transmit cleaning result information to the electronic device 300 when cleaning is completed or when a request for providing information is received from the electronic device 300 .

According to an embodiment of the present disclosure, the second communication interface 430 may receive control information for controlling the mobile robot 400 from the first communication interface 330 of the electronic device 300 .

The display 420 may display various types of information supported by the mobile robot 400 . The display 420 may be a small sized monitor such as an LCD.

The input unit 470 may receive an on/off command for the cleaning function of the mobile robot 400, a selection of a cleaning mode, a re-cleaning command for an uncleaned area, and the like.

The second memory 440 may store various programs and data necessary for the operation of the mobile robot 400 . The second memory 440 may be implemented as a non-volatile memory, a volatile memory, a flash-memory, a hard disk drive (HDD), or a solid state drive (SSD). The second memory 440 may store control information received through the second communication interface 430 .

The second memory 440 may store a cleaning map generated according to driving of the driving unit 480 . Also, the second memory 440 may store an image captured by the sensor 450 .

The sensor 450 detects obstacles around the mobile robot 400 . Specifically, the sensor 450 may detect the position of an obstacle around the mobile robot 400 and the distance to the obstacle using a supersonic sensor, an infrared sensor, an RF sensor, or the like. The infrared sensor may include a light emitting element that outputs infrared light and a light receiving element that receives infrared light and converts the infrared light into an electrical signal to output. However, although it has been described here that the mobile robot 400 uses an infrared sensor, this is only an example, and various types of sensors such as an ultrasonic sensor and a laser sensor may be used.

The sensor 450 may further include a collision sensor that senses an obstacle through collision with the obstacle. The sensor 450 detects an object located in front of the “robot” vacuum cleaner. Specifically, the sensor 450 has an imaging unit capable of capturing an image of the front of the mobile robot 400, and can detect an object from an image captured by the imaging unit through image processing.

The driving unit 480 may move the “robot” vacuum cleaner. The driving unit 480 is connected to one or more wheels and includes a driving unit such as a motor. In addition, the driving unit 480 performs a driving operation such as moving, stopping, or changing direction according to the "control" signal of the second processor 410 .

The suction unit 460 sucks dust from the bottom surface of the mobile robot 400 . Specifically, the suction unit 460 may perform a cleaning operation by absorbing foreign substances below while moving or stopping. The suction unit 460 may have a plurality of operating modes. Here, the operation mode may be classified according to the suction strength.

The second processor 410 may perform control of each component in the mobile robot 400 . Specifically, the second processor 410 may receive control information from the electronic device 300 through the second communication interface 430 . The second processor 410 may control the operation of the suction unit 460 and the driving unit 480 so that the mobile robot 400 can clean within the area to be cleaned based on control information based on the user's first drawing input.

The second processor 410 may control the drive unit 480 to move the mobile robot 400 according to a pre-stored cleaning map, and control the suction unit 460 to perform cleaning when the mobile robot 400 moves or stops.

According to an embodiment of the present disclosure, the second processor 410 may control the driving unit 480 and the suction unit 460 according to control information received from the electronic device 300 .

According to an embodiment of the present disclosure, the second processor 410 may adjust the cleaning intensity of the mobile robot based on the user's first drawing input and second drawing input. For example, the second processor 410 may adjust the cleaning intensity of the mobile robot by controlling at least one of the traveling speed, the traveling path, and the suction power of the mobile robot. For example, the second processor 410 may repeatedly drive the mobile robot 400 through the driving unit 480 according to the control information. Alternatively, the second processor 410 may slow down the traveling speed of the mobile robot 400 through the driving unit 480 according to the control information. Alternatively, the second processor 410 may increase the cleaning strength by increasing the suction force of the suction unit 460 according to the control information.

According to an embodiment of the present disclosure, the second processor 410 may receive, through the second communication interface 430, control information based on a user's second drawing input for additionally designating a second area within the first area. The control information based on the user's second drawing input may be area information of the second area and information about the changed cleaning intensity.

According to an embodiment of the present disclosure, the mobile robot 400 may repeatedly clean an additionally designated second area. Specifically, the mobile robot 400 may clean an additionally designated second area after completing cleaning of the first area. For example, after the mobile robot 400 finishes cleaning the first area from the first time point t1 to the second time point t2, it may clean the additionally designated second area from the second time point t2 to the third time point t3. In this case, the second time point t2 may be later than the first time point, and the third time point t3 may be later than the second time point t2. Alternatively, after the mobile robot 400 finishes cleaning the first area from the first time point t1 to the second time point t2, the mobile robot 400 may move to the cleaning start point of the second area from the second time point t2 to the third time point t3, and clean the second area from the third time point t3 to the fourth time point t4. In this case, the second time point t2 may be later than the first time point t3, the third time point t3 may be later than the second time point t2, and the fourth time point t4 may be later than the third time point t3.

According to an embodiment of the present disclosure, the mobile robot 400 may additionally clean the designated second area according to a cleaning intensity reinforced to a preset value. Specifically, the second processor 410 may control the driving unit 480 and the suction unit 460 to reduce the traveling speed of the mobile robot 400 to a predetermined speed in the second area. For example, if the traveling speed of the mobile robot 400 in the first area is a, the traveling speed of the mobile robot 400 in the second area may be b. In this case, b may be a smaller value than a.

Also, the second processor 410 may control the suction unit 460 to increase the suction power of the suction unit 460 in the second region. For example, if the suction force of the mobile robot for the first region is c, the suction force of the mobile robot for the second region may be d. In this case, d may be a value greater than c.

According to an embodiment of the present disclosure, the mobile robot 400 may repeatedly clean the additionally designated second area and at the same time clean according to a cleaning intensity reinforced to a predetermined value. Specifically, when cleaning an additionally designated second area after completing cleaning of the first area, the mobile robot 400 may clean the additionally designated second area according to the cleaning intensity enhanced to a predetermined value.

For example, after the mobile robot 400 finishes cleaning the first area from the first time point t1 to the second time point t2, while cleaning the additionally designated second area from the second time point t2 to the third time point t3, the second processor 410 controls the driving unit 480 and the suction unit 460 to reduce the driving speed of the mobile robot 400 to a predetermined speed for the second area and reduce the suction unit 400 to a predetermined speed. 60) can increase the suction power.

Alternatively, after the mobile robot 400 finishes cleaning the first area from the first time point t1 to the second time point t2, the mobile robot 400 moves to the cleaning start point of the second area from the second time point t2 to the third time point t3, and cleans the second area from the third time point t3 to the fourth time point t4. In the second area, the driving speed of the mobile robot 400 may be reduced from a preset speed and the suction force of the suction unit 460 may be increased.

According to an embodiment of the present disclosure, the second processor 410 may receive, from the electronic device 300, control information about area information about a third area designated by a user's third drawing input designating a third area in the map in order to remove a part of the cleaning area in the map. The second processor 410 may remove the third area from the cleaning target area based on control information on area information about the third area.

When cleaning is completed, the second processor 410 may control the second communication interface 430 to provide cleaning result information to the electronic device 300 . According to the provided information, the user can check the uncleaned area through the electronic device 300, and through this, the user can clean the environment so that the uncleaned area can be cleaned. When the user cleans the environment of the corresponding area, the user may input a re-cleaning command to the mobile robot 400 . Such a re-cleaning command may be input through the electronic device 300 or through the input unit 470 in the mobile robot 400 . Upon receiving a re-cleaning command, the second processor 410 may move the mobile robot 400 to a position corresponding to the uncleaned area so that the mobile robot 400 re-cleans the area.

5A is a diagram illustrating a user interface of an electronic device according to an embodiment of the present disclosure.

The user interface 500 of the electronic device 300 according to an embodiment of the present disclosure is an interface for controlling the mobile robot 400. The user interface 500 may include a map 510 indicating a cleaning area of the mobile robot 400 .

According to an embodiment of the present disclosure, the map 510 may show a cleaning area in which the mobile robot 400 can clean. The map 510 may indicate an uncleaned area and an object intake location. The map 510 may be created through the mobile robot 400 and may be changed through the mobile robot 400 . Specifically, the map 510 may be first generated based on location information collected by the mobile robot 400 through an initial operation of the mobile robot 400 . After that, the map may be updated through repetitive motions of the mobile robot 400 .

Specifically, the mobile robot 400 may complement the map 510 generated based on the image captured by the imaging unit and obstacle information detected by the obstacle detection sensor while moving for cleaning. The map 510 may be generated only in the first operation, or may be generated at every cleaning point. The generated map 510 may be used for a user's drawing input according to an embodiment of the present disclosure.

The user interface 500 may include a first icon 520 capable of entering a mode for controlling the mobile robot 400 in a drawing mode. As shown in FIG. 5A , the first icon 520 may include an expression “drawing a cleaning area”.

The first icon 520 may be an interface for switching to an interface in which a user may draw a cleaning area on the map 510 .

According to an embodiment of the present disclosure, when a user touches the first icon 520, a second icon described with reference to FIG. 5B may be displayed on the touch screen 320.

5B is a diagram illustrating an icon in a user interface of an electronic device according to an embodiment of the present disclosure.

The second icon 530 may be an icon displayed on the touch screen 320 when the user touches the first icon 520 .

Through the second icon 530, the user can select whether to draw the cleaning area on the map 510 in a line shape or a figure shape.

When the user selects the “draw with line” mode through the second icon 530 , the user can draw the cleaning area on the map 510 in the form of a line.

When the user selects the “drawing with figure” mode through the second icon 530, the user can draw the cleaning area on the map 510 in the shape of a figure. The figure may be a triangle, a square, or a circular shape, and after the user selects the shape of the figure, the fresh water area may be drawn on the map 510 in the shape of the selected figure.

5C is a diagram for explaining that a user designates a first area in a “line” form through a user interface of an electronic device, according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, a user may draw an area desired to be cleaned within the map 510 in the form of a “line” through a first drawing input. Specifically, the user may touch the touch screen 320 and input a first drawing input designating a first area in the map 510 to the touch screen 320 in the form of a “line”.

According to an embodiment of the present disclosure, a point where a user touches the touch screen 320 for the first time is referred to as a first touch point, and a point where the user ends an operation of touching the touch screen 320 may be referred to as a second touch point. According to an embodiment of the present disclosure, the first processor 310 may generate control information by designating a first touch point as a first cleaning point at which the mobile robot 400 starts cleaning and a second touch point as a second cleaning point at which the mobile robot 400 ends cleaning.

Upon reception of the first drawing input, the electronic device 300 according to an embodiment of the present disclosure may display a certain area 540 designated in a line shape within the map 510 on the touch screen 320 with distinction. The electronic device 300 according to an embodiment of the present disclosure may display a predetermined area 540 designated in a line shape on the touch screen 320 to be differentiated by color.

5D is a diagram for explaining how a user designates a first region in a “figure” form through a user interface of an electronic device, according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, a user may draw an area desired to be cleaned in the map 510 in the form of a “figure” through a first drawing input. Specifically, the user may touch the touch screen 320 and input a first drawing input designating a first area in the map 510 to the touch screen 320 in the form of a “figure”. A figure-shaped cleaning area 550 may be created on the map 510 of the touch screen 320 .

According to an embodiment of the present disclosure, the first processor 310 may determine an order and method for the mobile robot 400 to perform cleaning within the figure-shaped cleaning area 550 according to a preset cleaning method.

When the first drawing input is received, the electronic device 300 according to an embodiment of the present disclosure can display the cleaning area 550 having a shape designated in the map 510 on the touch screen 320 with distinction. The electronic device 300 according to an embodiment of the present disclosure may display the cleaning area 550 in the shape of a figure on the touch screen 320 in a distinctive color.

5E is a diagram for explaining that a user designates a second area through a user interface of an electronic device, according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, a user may input an operation 560 for enlarging a screen displayed on the touch screen 320 to the touch screen 320 . The touch screen 320 may display an enlarged map 561.

According to an embodiment of the present disclosure, the user may draw the second area 565 for changing the cleaning intensity in the map 510 in the form of a “line” through a second drawing input. Specifically, the user may touch the touch screen 320 and input a second drawing input designating the second region 565 in the map 510 to the touch screen 320 in the form of a “line”.

According to an embodiment of the present disclosure, the first processor 310 may receive a user's second drawing input for additionally designating a second area 565 within the first area 563 .

The first processor 310 may designate the second area 565 according to a predetermined criterion for distinguishing the second area 565 from the first area 563 . The predetermined criterion may be the number of repetitions of a drawing operation or a pressure value with which the user presses the touch screen.

According to an embodiment of the present disclosure, the first processor 310 may designate an area where a user's drawing input is repeatedly input as the second area 565 . Specifically, when a user repeats a drawing operation within a specific section within the map 510 more than a predetermined number of times, the first processor 310 may designate the specific section as the second area 565 .

According to an embodiment of the present disclosure, when a user inputs a drawing motion to the touch screen 320 with a pressure equal to or greater than a predetermined pressure value, the first processor 310 may designate a specific section input with a pressure equal to or greater than a predetermined pressure value as the second area 565.

The first processor 310 may perform an operation of changing the cleaning intensity of the second area 565 additionally designated by the second drawing input.

The touch screen 320 may display the second area 565 to be distinguished from the first area 563 . For example, the touch screen 320 may display the second area 565 in a color different from that of the first area 563 .

5F is a diagram for explaining that a user designates a third area through a user interface of an electronic device, according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, a user may designate a third area 567, which is an area not desired to be cleaned, through a third drawing input.

According to an embodiment of the present disclosure, the first processor 310 may receive a user's third drawing input designating a third area 567 in the map 510 to remove a part of the cleaning area in the map 510.

The first processor 310 may exclude the third area 567 designated by the third drawing input from the cleaning target area.

When at least one of the first area 563 and the second area 565 and the third area 567 overlap, the third area 567 may have priority over at least one area of the first area 563 and the second area 565. For example, when at least one of the first area 563 and the second area 565 is designated first and then the third area 567 is designated, at least one of the first area 563 and the second area 565 may be deleted for an area where at least one area of the first area 563 and the second area 565 and the third area 567 overlap. Alternatively, if the third area 567 is designated first and then at least one of the first and second areas 563 and 565 is designated, at least one of the first and second areas 563 and 565 may not be input to an area where at least one of the first and second areas 563 and 565 overlaps with the third area 567.

The touch screen 320 may display the third area 567 to be distinguished from the first area 563 and the second area 565 . For example, the touch screen 320 may display the third area 567 in a color different from that of the first area 563 and the second area 565 .

5G is a diagram for explaining that a user stores an area through a user interface of an electronic device, according to an embodiment of the present disclosure.

When designation of at least one of the first area 563, the second area 565, and the third area 567 is completed by the user, the user interface 500 may display a third icon 570 for storing the designated control information.

If the user selects “save area” through the third icon 570, the user interface 500 may display a fourth icon 575 for displaying the name of the area.

The user may input and store a name for identifying the “area” in the fourth icon 575 . The first processor 310 may store the designated control information in the first memory 340 .

6A is a diagram for explaining an example in which a user inputs a first drawing input according to an exemplary embodiment of the present disclosure.

According to an embodiment of the present disclosure, a user may draw an area desired to be cleaned within the map 510 in the form of a “line” through the first drawing input 610 . Specifically, the user may touch the touch screen 320 and input the first drawing input 610 designating the first area 615 in the map 510 in the form of a “line” to the touch screen 320.

According to an embodiment of the present disclosure, a point where the user touches the touch screen 320 for the first time is referred to as a first touch point 621, and a point where the user ends the operation of touching the touch screen 320 may be referred to as a second touch point 623. According to an embodiment of the present disclosure, the first processor 310 may generate control information by designating the first touch point 621 as a first cleaning point at which the mobile robot 400 starts cleaning and the second touch point 623 as a second cleaning point at which the mobile robot 400 ends cleaning.

According to one embodiment of the present disclosure, the first processor 310 is the third cleaning point 625, which is different from the first touch point 615 formed according to the first drawing input 610 of the user input from the first touch point 621 to the second touch point 623 A fourth cleaning point 627 may be determined different from the touchpoint 613. The third cleaning point 625 and the fourth cleaning point 627 may be two points having the longest straight line length selected and connected to two points among points included in the first area 615 . For example, the third cleaning point 625 may be an upper left portion of the first area 615 and the fourth cleaning point 627 may be a lower right portion.

The first processor 310 may determine an order and method for the mobile robot 400 to perform cleaning from the third cleaning point 625 to the fourth cleaning point 627 according to a preset cleaning method.

6B is a diagram for explaining an example in which a user inputs a second drawing input according to an exemplary embodiment of the present disclosure.

According to an embodiment of the present disclosure, the user may draw the second area 635 for changing the cleaning intensity in the map 510 in the form of a “line” through the second drawing input 630 . Specifically, the user may touch the touch screen 320 and input the second drawing input 630 designating the second area 635 in the map 510 in the form of a “line” to the touch screen 320.

According to an embodiment of the present disclosure, the first processor 310 may receive a user's second drawing input 630 for additionally designating a second area 635 within the first area 615 .

According to an embodiment of the present disclosure, the first processor 310 may designate the second area 635 according to a predetermined criterion for distinguishing the second area 635 from the first area 615 . The predetermined criterion may be the number of repetitions of a drawing operation or a pressure value with which the user presses the touch screen.

According to an embodiment of the present disclosure, the first processor 310 may designate an area where a user's drawing input is repeatedly input as the second area 635 . Specifically, when a user repeats a drawing operation within a specific section within the map 510 more than a predetermined number of times, the first processor 310 may designate the specific section as the second area 635 .

According to an embodiment of the present disclosure, when a user inputs a drawing motion to the touch screen 320 with a pressure equal to or greater than a predetermined pressure value, the first processor 310 may designate a specific section input with a pressure equal to or greater than a predetermined pressure value as the second area 635.

The first processor 310 may perform an operation of changing the cleaning intensity of the second region 565 additionally designated by the second drawing input 630 .

The touch screen 320 may display the second area 635 to be distinguished from the first area 615 . For example, the touch screen 320 may display the second area 635 in a color different from that of the first area 615 .

6C is a diagram for explaining an example of a case in which a user has a plurality of first regions, according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the user may designate the first area 615 in the map 510 through the first drawing input 610, the user may designate the second area 635 in the map 510 through the second drawing input 630, and the user may designate the first area 645 in the map 510 through the first drawing input 640.

According to an embodiment of the present disclosure, when the first regions 615 and 645 are plural, the first processor 310 may determine the order of operation of the mobile robot 400 according to the order in which the first drawing inputs 610 and 640 are input.

According to an embodiment of the present disclosure, when the first drawing input 610 is input before the second drawing input 630, the first processor 310 may determine a cleaning order such that the mobile robot 400 cleans the first area 615 before the second area 635.

6D is a diagram for explaining an example in which a user inputs a third drawing input for removing a cleaning area, according to an exemplary embodiment of the present disclosure.

According to an embodiment of the present disclosure, the user may designate a third area 655, which is an area that the mobile robot 400 does not want to clean, through the third drawing input 650.

According to an embodiment of the present disclosure, the first processor 310 may receive a user's third drawing input designating a third area 655 in the map 510 to remove a part of the cleaning area in the map 510.

The first processor 310 may exclude the third area 655 designated by the third drawing input 650 from the cleaning target area.

The touch screen 320 may display the third area 655 to be distinguished from the first area 615 and the second area 635 . For example, the touch screen 320 may display the third area 655 in a color different from that of the first area 615 and the second area 635 .

FIG. 7 is a diagram specifically illustrating an example of determining a region designated by a user's drawing input on a map, according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the map 700 may include at least one rectangular area. Each area included in the map 700 may be a minimum unit of an area where the mobile robot 400 cleans. The mobile robot 400 may clean the cleaning area based on the minimum unit of the area.

When a user touches the touch screen 320 and inputs a first drawing input 710 on the map 700 to the touch screen 320, the first processor 310 may determine a cleaning target area to be cleaned by the mobile robot 400 through the first drawing input 710.

Specifically, the first processor 310 compares the first area 715 designated through the first drawing input 710 with each area included in the map 700 to determine a cleaning target area to be cleaned by the mobile robot 400.

For example, the first processor 310 compares the first area 720 and the first area 715, and when the first area 715 includes a predetermined ratio or more of the first area 720, the first area 720 may be determined as a cleaning target area.

In addition, the first processor 310 compares the second area 730 and the first area 715, and if the first area 715 does not include a predetermined ratio or more of the second area 730, the second area 730 may be excluded from the cleaning target area.

8 is a flowchart illustrating a method of controlling a mobile robot by an electronic device based on a second drawing input, according to an embodiment of the present disclosure. The contents of steps S801 to S809 are the same as those of steps S201 to S209 described with reference to FIG. 2, so detailed descriptions thereof will be omitted.

In step S801, the electronic device 300 according to an embodiment of the present disclosure may display a map indicating the cleaning area of the mobile robot 400.

In step S803, the electronic device 300 according to an embodiment of the present disclosure may receive a user's first drawing input designating a first area in the map.

In step S805, the electronic device 300 according to an embodiment of the present disclosure may display a designated area within the map to be distinguished according to whether the first drawing input is received.

In step S807, the electronic device 300 according to an embodiment of the present disclosure may determine a cleaning target area to be cleaned by the mobile robot 400 based on the first drawing input.

In step S809, the electronic device 300 according to an embodiment of the present disclosure may transmit control information for cleaning the area to be cleaned to the mobile robot 400.

In step S811, the electronic device 300 according to an embodiment of the present disclosure may receive a user's second drawing input for additionally designating a second area within the designated first area. The first processor 310 may designate the second area according to a predetermined criterion for distinguishing the second area from the first area. The predetermined criterion may be the number of repetitions of a drawing operation or a pressure value with which the user presses the touch screen.

According to an embodiment of the present disclosure, the first processor 310 may designate an area where the user's drawing input is repeatedly input as the second area. Specifically, when the user repeats a drawing operation in a specific section within the map more than a predetermined number of times, the first processor 310 may designate the specific section as the second area.

According to an embodiment of the present disclosure, when a user inputs a drawing motion to the touch screen 320 with a pressure equal to or greater than a predetermined pressure value, the first processor 310 may designate a specific section input with a pressure equal to or greater than a predetermined pressure value as the second area.

In step S813, the electronic device 300 according to an embodiment of the present disclosure may change the cleaning intensity of the second area additionally designated by the second drawing input. At this time, the first processor 310 may transmit area information of the second area and control information about the changed cleaning intensity to the mobile robot 400 . According to an embodiment of the present disclosure, the second area may be repeatedly cleaned by the mobile robot 400 . According to an embodiment of the present disclosure, the second region may be cleaned according to a cleaning intensity reinforced by a preset value by the mobile robot 400 .

9 is a flowchart illustrating a method of controlling a mobile robot by an electronic device based on a third drawing input according to an embodiment of the present disclosure. The contents of steps S901 to S909 are the same as those of steps S201 to S209 described with reference to FIG. 2 , and detailed descriptions thereof will be omitted.

In step S901, the electronic device 300 according to an embodiment of the present disclosure may display a map indicating the cleaning area of the mobile robot 400.

In step S903, the electronic device 300 according to an embodiment of the present disclosure may receive a user's first drawing input designating a first area in the map.

In step S905, the electronic device 300 according to an embodiment of the present disclosure may display a designated area within the map in a distinctive manner as the first drawing input is received.

In step S907, the electronic device 300 according to an embodiment of the present disclosure may determine a cleaning target area to be cleaned by the mobile robot 400 based on the first drawing input.

In step S909, the electronic device 300 according to an embodiment of the present disclosure may transmit control information for cleaning the area to be cleaned to the mobile robot 400.

In step S911, the electronic device 300 according to an embodiment of the present disclosure may receive a user's third drawing input designating a third area in the map to remove a part of the cleaning area in the map. Specifically, the user may designate a third area, which is an area not desired to be cleaned, through a third drawing input.

In step S913, the electronic device 300 according to an embodiment of the present disclosure may exclude the designated third area from the cleaning target area. When at least one of the first and second regions overlaps with the third region, the third region may have priority over at least one of the first and second regions.

In step S915, the electronic device 300 according to an embodiment of the present disclosure may transmit region information about a third region designated by the third drawing input to the mobile robot 400. Specifically, the area information on the third area may be control information, and the mobile robot 400 may not perform cleaning on the third area by receiving control information on the area information on the third area.

Meanwhile, in the detailed description of the present disclosure, specific embodiments have been described, but various modifications are possible without departing from the scope of the present disclosure. Therefore, the scope of the present disclosure should not be limited to the described embodiments and should not be defined by the scope of the following claims as well as those equivalent to the scope of these claims.

The block diagrams disclosed in this disclosure may be interpreted by those skilled in the art as conceptual representations of circuits for implementing the principles of the present disclosure. Similarly, it will be appreciated by those skilled in the art that any flow charts, flow diagrams, state transition diagrams, pseudocode, etc. may be substantially represented in a computer readable medium to represent various processes that may be executed by a computer or processor, whether or not such computer or processor is explicitly depicted. Therefore, the above-described embodiments of the present disclosure can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium. The computer-readable recording medium may include a storage medium such as a magnetic storage medium (eg, ROM, floppy disk, hard disk, etc.) or an optical reading medium (eg, CD-ROM, DVD, etc.).

The functions of the various elements shown in the figures may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, such functionality may be provided by a single dedicated processor, a single shared processor, or multiple separate processors, some of which may be shared. Further, explicit use of the terms “processor” or “controller” should not be construed as referring exclusively to hardware capable of executing software, which may implicitly include, without limitation, digital signal processor (DSP) hardware, read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage.

In the claims herein, an element expressed as a means for performing a particular function encompasses any manner of performing the particular function, and such an element may include any form of software, including firmware, microcode, etc., combined with suitable circuitry to perform a combination of circuit elements that perform the particular function, or software for performing the particular function.

Reference herein to 'one embodiment' of the principles of the present disclosure and various variations of such language means that a particular feature, structure, characteristic, etc., in connection with that embodiment is included in at least one embodiment of the principles of the present disclosure. Thus, the expression 'in one embodiment' and any other variations disclosed throughout this specification are not necessarily all referring to the same embodiment.

In this specification, the expression 'at least one of' in the case of 'at least one of A and B' is used to cover only the selection of the first option (A), only the selection of the second enumerated option (B), or selection of both options (A and B). As a further example, in the case of 'at least one of A, B, and C', only the choice of the first enumerated option (A), or only the choice of the second enumerated option (B), or only the choice of the third enumerated option (C), or only the choice of the first and second enumerated options (A and B), or only the choice of the second and third enumerated options (B and C), or the choice of all three options (A, B, and C) may be encompassed. Even if more items are recited, it will be obvious to those skilled in the art that it can be extended.

So far, we have looked at the preferred embodiments of the present disclosure.

All embodiments and conditional examples disclosed throughout this specification are described with the intention of helping readers understand the principles and concepts of the present disclosure by those skilled in the art who have ordinary knowledge in the technical field of the present disclosure, and those skilled in the art will be able to understand that the present disclosure may be implemented in a modified form without departing from the essential characteristics of the present disclosure. Therefore, the disclosed embodiments should be considered from an illustrative rather than a limiting point of view. The scope of the present disclosure is shown in the claims rather than the foregoing description, and all differences within the equivalent scope will be construed as being included in the present disclosure.

Claims (21)

A method for controlling a mobile robot by an electronic device,
displaying a map indicating a cleaning area of the mobile robot;
receiving a user's first drawing input designating a first area in the map;
distinguishingly displaying the designated area within the map when the first drawing input is received;
determining a cleaning target area to be cleaned by the mobile robot based on the first drawing input;
receiving a user's second drawing input for additionally designating a second area within the designated first area;
receiving a third drawing input of a user designating a third area in the map to remove a part of the cleaning target area in the map;
excluding the designated third area from the cleaning target area; and
Transmitting control information for cleaning the cleaning target area to the mobile robot;
The second area is a specific section input with a pressure equal to or greater than a predetermined pressure value,
When the third area overlaps with at least one of the first area and the second area, the third area has priority over at least one of the first area and the second area. Characterized in that,
How to control mobile robots.
According to claim 1,
The step of distinctively displaying the designated area,
Characterized in that, in the map, the first area designated by the first drawing input is distinguished by color,
How to control mobile robots.
According to claim 1,
The control information,
Characterized in that the information for controlling the traveling direction of the mobile robot in the cleaning target area,
How to control mobile robots.
delete According to claim 1,
Further comprising changing a cleaning intensity of the second area additionally designated by the second drawing input,
The transmitting of the control information may include transmitting area information of the second area and information about the changed cleaning intensity.
How to control mobile robots.
◈Claim 6 was abandoned when the registration fee was paid.◈ According to claim 5,
Characterized in that the second area additionally designated by the second drawing input is repeatedly cleaned by the mobile robot.
How to control mobile robots.
◈Claim 7 was abandoned when the registration fee was paid.◈ According to claim 5,
Characterized in that the second area additionally designated by the second drawing input is cleaned according to the cleaning intensity reinforced by the mobile robot to a preset value.
How to control mobile robots.
◈Claim 8 was abandoned when the registration fee was paid.◈ According to claim 1,
Characterized in that it further comprises the step of displaying a second area additionally designated by the second drawing input to be distinguished from the first area markedly displayed by the first drawing input.
How to control mobile robots.
delete ◈Claim 10 was abandoned when the registration fee was paid.◈ According to claim 1,
Transmitting the control information,
Characterized in that providing area information about the third area designated by the third drawing input to the mobile robot
How to control mobile robots.
communication interface;
touch screen;
a memory that stores one or more instructions; and
a processor to execute the one or more instructions;
The processor, by executing the one or more instructions,
Displaying a map indicating a cleaning area of the mobile robot on the touch screen;
Receiving a user's first drawing input designating a first area in the map;
Distinguishingly displaying the designated area within the map on the touch screen when the first drawing input is received;
determining a cleaning target area to be cleaned by the mobile robot based on the first drawing input;
Receiving a user's second drawing input for additionally designating a second area within the designated first area;
Receiving a user's third drawing input designating a third area in the map to remove a part of the cleaning target area in the map;
Excluding the designated third area from the cleaning target area; and
transmitting control information for cleaning the cleaning target area to the mobile robot through the communication interface;
The second area is a specific section input with a pressure equal to or greater than a predetermined pressure value,
When the third area overlaps with at least one of the first area and the second area, the third area has priority over at least one of the first area and the second area. Characterized in that,
electronic device.
◈Claim 12 was abandoned when the registration fee was paid.◈ According to claim 11,
When the first drawing input is received, the operation of displaying the designated area in the map in a distinctive manner on the touch screen,
Characterized in that the operation of displaying a first area designated by the first drawing input within the map on the touch screen to be distinguished by color,
electronic device.
◈Claim 13 was abandoned when the registration fee was paid.◈ According to claim 11,
The control information,
Characterized in that the information for controlling the traveling direction of the mobile robot in the cleaning target area,
electronic device.
delete According to claim 11,
the processor,
performing an operation of changing a cleaning intensity of the second area additionally designated by the second drawing input;
The transmitting of the control information may include transmitting area information of the second area and information about the changed cleaning intensity.
electronic device.
According to claim 15,
Characterized in that the second area additionally designated by the second drawing input is repeatedly cleaned by the mobile robot.
electronic device.
◈Claim 17 was abandoned when the registration fee was paid.◈ According to claim 15,
Characterized in that the second area additionally designated by the second drawing input is cleaned according to the cleaning intensity reinforced by the mobile robot to a preset value.
electronic device.
According to claim 11,
the processor,
Characterized in that performing an operation of displaying a second area additionally designated by the second drawing input to be distinguished from the first area markedly displayed by the first drawing input,
electronic device.
delete According to claim 11,
The operation of transmitting the control information,
Transmitting area information about the third area designated by the third drawing input to the mobile robot
electronic device.
displaying a map indicating a cleaning area of the mobile robot;
receiving a user's first drawing input designating a first area in the map;
distinguishingly displaying the designated area within the map when the first drawing input is received;
determining a cleaning target area to be cleaned by the mobile robot based on the first drawing input;
receiving a user's second drawing input for additionally designating a second area within the designated first area;
receiving a user's third drawing input designating a third area in the map to remove a part of the cleaning target area in the map;
excluding the designated third area from the cleaning target area; and
transmitting control information for cleaning the cleaning target area to the mobile robot;
The second area is a specific section input with a pressure equal to or greater than a predetermined pressure value,
When the third area overlaps with at least one of the first area and the second area, the third area has priority over at least one of the first area and the second area. Characterized in that,
A computer program product that includes a recording medium on which a program is stored.

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