Patent Description:
In the case of a docking station of a related-art mobile robot, only a fractional function such as charging of a mobile robot has been performed, and thus, a docking station does not require a separate component such as a display or a speaker. However, as demand for mobile robots and research and development are increasing, functions of the docking station that performs various functions for the mobile robot have also increased when the mobile robot is docked.

However, as various functions of the docking station have been developed, a user has to check the state of the docking station, but in the case of an interface method of the related-art docking station, there is a limitation in that a user may not smoothly check the state of the docking station. Accordingly, in order to improve the interface between the docking station and the user, various wireless communication modules or output modules are included in the docking station, but there is a limitation in that the device of the docking station becomes complicated and the price increases.

<CIT>, <CIT>, <CIT>, and <CIT> are relevant prior art.

As the present invention addresses the above-described necessity, the present invention relates to a mobile robot management method in which the mobile robot transmits the information received from the docking station to the user terminal device in order to display the information associated with the docking station to the output device of the mobile robot or transmit the same to the user terminal device connected with the mobile robot.

A mobile robot management system is provided as defined in claim <NUM>.

The processor may identify whether a numeral value corresponding to the obtained information related to the dust discharge operation exceeds a threshold range, and based on identification that the numeral value exceeds the threshold range, control the near-field communicator to transmit the information related to the dust discharge operation to the mobile robot.

The information related to the dust discharge operation may include information about a component to discharge dust included in the mobile robot, and the component to discharge the dust included in the mobile robot may include at least one of a dust bag, a filter, or a motor for sucking dust.

The information about the dust bag may include a surplus space of the dust bag, whether the dust bag is mounted, and a type of the dust bag, wherein the information about the filter may a number of uses of the filter, a use time, whether a filter is mounted, and a type of a filter, and the information about the motor may include an operation efficiency use time, a failure state, and a type of the motor.

The processor may, while performing an operation to discharge dust included in the mobile robot, obtain the information about the dust bag, filter, and the motor, respectively, and control the near-field communicator to transmit the obtained information about the dust bag, filter, and motor, respectively, to the mobile robot.

The processor may, based on receiving a wake-up signal from the mobile robot while the docking station is operating in a stand-by mode, switch an operation mode of the docking station from a standby mode to a normal mode, control the near-field communicator so that the docking station transmits a docking guide signal to the mobile robot while the docking station is operating in the normal mode.

The processor may, based on receiving a command to discharge dust included in the mobile robot from the mobile robot, determine whether to perform the dust discharge operation, and based on determination that the dust discharge operation is not performed, control the near-field communicator to transmit the information related to the dust discharge operation to the mobile robot.

The processor may, based on the mobile robot being docked on the docking station, control the near-field communicator to transmit the information about the type of the docking station to the mobile robot, and receive at least one command corresponding to the information about the type of the docking station from the mobile robot through the near-field communicator.

The processor may, based on receiving a command to charge power of the mobile robot from the mobile robot through the near-field communicator, obtain information about at least one of a power storage device, a power transmission device, or a power generation device included in the docking station, and control the near-field communicator to transmit the obtained information about at least one of the power storage device, power transmission device, or power generation device to the mobile robot.

The near-field communicator may include at least one of an infrared communication module or a radio frequency module.

A mobile robot according to an embodiment includes a communicator comprising a circuitry; a memory; and a processor configured to, based on docking on the docking station, control a near-field communicator, among the communicators, to transmit a command to discharge dust included in the mobile robot to the docking station, receive information related to the dust discharge operation from the docking station through the near-field communicator, and control the communicator to transmit the received information about the dust discharge operation to a user terminal device.

The processor may control the near-field communicator to periodically transmit a wake-up signal that enables to switch an operation mode of the docking station from a standby mode to a normal mode.

The processor may, based on the mobile robot being docked on the docking station, control the near-field communicator to transmit a signal requesting information about a type of the docking station to the mobile robot.

The processor may, based on receiving information about the type of the docking station from the mobile robot, control the near-field communicator to transmit at least one command corresponding to the information about the type of docking station to the docking station.

The processor may, based on identification that the docking station is a model of a type of charging power of the mobile robot based on the information about the type of the docking station, control the near-field communicator to transmit a command to charge power to the docking station.

The processor may, based on identification that the docking station is a model of a type to discharge dust included in the mobile robot based on the information about the type of the docking station, control the near-field communicator to transmit the command to discharge dust to the docking station.

The mobile robot may further include a speaker, and the processor may control the speaker to output a message corresponding to the received information about the dust discharge operation in a voice format.

The processor may, in order to transmit the obtained information related to the dust discharge operation to a user terminal device connected to the mobile robot, control the near-field communicator to transmit the information related to the dust discharge operation to the mobile robot.

As an embodiment to achieve the objective of the invention, a mobile robot management method including a docking station and a mobile robot includes transmitting a command to discharge dust included in the mobile robot to the docking station by the mobile robot, based on receiving a command to discharge dust from the mobile robot by the docking station, obtaining information related to the dust discharge operation, transmitting the obtained information related to the dust discharge operation to the mobile robot by the docking station, and transmitting the information related to the dust discharge operation received from the docking station by the mobile robot to the user terminal device.

As described above, according to various embodiments of the present invention, a user may be provided with a docking station of a mobile robot capable of reducing a price by minimizing and optimizing components while providing the same interface and convenience.

The present invention includes various embodiments, some of which are illustrated in the drawings and described in detail in the detailed description. However, the present invention is not intended to limit the embodiments described herein but includes various modifications, equivalents, and / or alternatives. In the context of the description of the drawings, like reference numerals may be used for similar components.

In addition, the embodiments described below may be modified in various different formsThe embodiments are provided so that the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

The terms used in the present invention are used merely to describe a particular embodiment, and are not intended to limit the scope of the claims. The expression of a singular includes a plurality of representations, unless the context clearly indicates otherwise.

In this document, the expressions "have," "may have," "including," or "may include" may be used to denote the presence of a feature (e.g., a component, such as a numerical value, a function, an operation, a part, or the like), and does not exclude the presence of additional features.

The expressions "A or B," "at least one of A and / or B," or "one or more of A and / or B," and the like include all possible combinations of the listed items. For example, "A or B," "at least one of A and B," or "at least one of A or B" includes (<NUM>) at least one A, (<NUM>) at least one B, (<NUM>) at least one A and at least one B all together.

In addition, expressions "first", "second", or the like, used in the present invention may indicate various components regardless of a sequence and/or importance of the components, will be used only in order to distinguish one component from the other components, and do not limit the corresponding components.

It is to be understood that an element (e.g., a first element) is "operatively or communicatively coupled with / to" another element (e.g., a second element) is that any such element may be directly connected to the other element or may be connected via another element (e.g., a third element). On the other hand, when an element (e.g., a first element) is "directly connected" or "directly accessed" to another element (e.g., a second element), it may be understood that there is no other element (e.g., a third element) between the other elements.

Herein, the expression "configured to" may be used interchangeably with, for example, "suitable for," "having the capacity to," "designed to," "adapted to," "made to," or "capable of. " The expression "configured to" does not necessarily mean "specifically designed to" in a hardware sense.

Instead, under some circumstances, "a device configured to" may indicate that such a device can perform an action along with another device or part. For example, the expression "a processor configured to perform A, B, and C" may indicate an exclusive processor (e.g., an embedded processor) to perform the corresponding action, or a generic-purpose processor (e.g., a central processor (CPU) or application processor (AP)) that can perform the corresponding actions by executing one or more software programs stored in the memory device.

The terms such as "module," "unit," "part", and so on are used to refer to an element that performs at least one function or operation, and such element may be implemented as hardware or software, or a combination of hardware and software. Further, except for when each of a plurality of "modules", "units", "parts", and the like needs to be realized in an individual hardware, the components may be integrated in at least one module or chip and be realized in at least one processor (not shown).

The present invention relates to a mobile robot management system and method in which a docking station and a mobile robot communicate bi-directionally and share various information and signals, and the mobile robot transmits information received from a docking station to a user terminal device. Various information (e.g., state information of the docking station or information related to a specific operation) to be transmitted to the user terminal device through the mobile robot by the docking station may not be information that the user of the user terminal device should identify in real time or frequently. The state information of the docking station or the information related to the specific operation may be sufficient information even the user of the user terminal device may identify when the mobile robot is docked on the docking station. Accordingly, the docking station may transmit various information to the mobile robot without having to include a separate long-range communication module, and the mobile robot may transmit information obtained from the docking station to the user terminal device, so that the user of the user terminal device may identify information transmitted by the docking station.

Hereinafter, with reference to the attached drawings, embodiments will be described in detail so that those skilled in the art to which the present invention belongs to can easily make and use the embodiments.

<FIG> is a diagram illustrating an operation of the docking station <NUM>, the mobile robot <NUM>, and the user terminal device <NUM> included in the mobile robot management system <NUM> according to an embodiment.

Referring to <FIG>, the mobile robot <NUM> is implemented as a cleaning robot for performing a task such as cleaning, air purification, and security guard while traveling in a space in a building, but this is merely an example, and the mobile robot <NUM> may be implemented as various mobile robots, such as a housework robot for performing housework while traveling a space in a home, a military robot for performing a task by being placed in a dangerous area that a person cannot access, and the like, but is not limited to the above-described example.

The user terminal device <NUM> is implemented as a smartphone, but this is merely an example, and the user terminal device <NUM> may be implemented as various terminal devices such as a tablet PC, a desktop PC, a laptop PC, a netbook computer, a server, a medical device, or a wearable device, but is not limited thereto.

The docking station <NUM> may selectively operate in one of a normal mode or a standby mode. The normal mode may refer to an operation mode in which the docking station <NUM> may transmit a docking guide signal to the mobile robot <NUM> or perform various functions with respect to the docked mobile robot <NUM>. When the docking station <NUM> operates in the normal mode, various components and modules included in the docking station <NUM> may be activated. The standby mode refers to an operation mode in which the docking station <NUM> maintains minimum power without performing a specific function, and may be expressed as a sleep mode. Accordingly, when the docking station <NUM> operates in the standby mode, various components and modules included in the docking station <NUM> may be deactivated. However, even when the docking station <NUM> operates in the standby mode, a near field communicator <NUM> may be activated to receive the wake-up signal from the mobile robot <NUM>. An embodiment related thereto will be described later.

When receiving a command to perform at least one operation from the mobile robot <NUM> while operating in the normal mode, the docking station <NUM> may perform at least one operation corresponding to the received command. Specifically, the docking station <NUM> may receive a command for performing at least one operation from the mobile robot <NUM> through the near field communicator. The near field communicator may include at least one of an infrared communication module or a radio frequency (RF) module. In another embodiment, the docking station <NUM> may receive a command to perform at least one operation from the mobile robot <NUM> through a docking terminal connected when the mobile robot is docked or a separate wired terminal.

If the mobile robot <NUM> is docked on the docking station <NUM>, the docking station <NUM> may transmit information about the type of the docking station <NUM> to the mobile robot <NUM>. The mobile robot <NUM> may transmit a command to perform at least one operation corresponding to the type of the docking station <NUM> to the docking station <NUM> based on the information on the type of the docking station <NUM>. For example, the operation corresponding to the command received from the mobile robot <NUM> may include an operation corresponding to at least one of a type, a model, and a serial number of the docking station.

For example, if it is identified that the docking station <NUM> is a device (or model) capable of performing only a function of charging a power storage device such as a battery of the mobile robot <NUM> through information about a type of the docking station <NUM>, the mobile robot <NUM> may transmit a command to perform a battery charge function to the docking station <NUM>.

As another example, when the docking station <NUM> is identified as a type of device capable of charging the battery of the mobile robot <NUM> through the information on the type of the docking station <NUM> and sucking and discharging the dust collected in the mobile robot <NUM>, the mobile robot <NUM> may transmit a command to charge power to the docking station <NUM> and a command to perform a function of suctioning the dust collected in the mobile robot <NUM> to the mobile robot <NUM>. The type of the docking station <NUM> is not limited to the above-described example, and may be variously classified according to a function that may be performed by the docking station.

When a command to perform a specific operation is received from the mobile robot <NUM>, the docking station <NUM> may obtain information related to a specific operation simultaneously when receiving a command or within a threshold time. As another example, the docking station <NUM> may obtain information related to a specific operation while performing a specific operation. As another example, the docking station <NUM> may obtain information related to a specific operation after terminating the performance of a specific operation.

According to an embodiment of the present invention, it is assumed that the docking station <NUM> is a model of a type capable of discharging (or suctioning) dust collected in the mobile robot <NUM>. When a command to perform an operation of discharging (or suctioning) dust included (or collected) in the mobile robot <NUM> is received from the mobile robot <NUM>, the docking station <NUM> may obtain information related to the dust discharge operation. The information related to the dust discharge operation may include information about components (for example, a dust bag, a filter, a dust bin including a dust bag, etc.) used to discharge dust included in the mobile robot <NUM> by the docking station <NUM>. In this case, the dust bag means an envelope in which dust is contained when the dust collected in the mobile robot <NUM> is suctioned to the docking station <NUM>, and the filter may include a dust container filter, an exhaust filter, a motor filter, and the like. When the docking station <NUM> receives a command for discharging dust included in the mobile robot <NUM> from the mobile robot <NUM>, the docking station <NUM> may obtain information related to the dust discharge operation (for example, information about each motor capable of sucking dust bag, filter, and dust).

The information about the dust bag may include at least one of information on the available space of the dust bag, information on whether the dust bag is mounted, information about opening and closing of the dust container on which the dust bag is mounted, information about at least one of the type of the filter, and the like, and the information about the filter may include information about the times of use of the filter, whether the filter is mounted, and type of the filter, and the information about a motor may include at least one of the operation efficiency of the motor, the failure of the motor, the type of the motor, and the information on the usage time of the motor. However, this is merely an example, and the information on each component may be variously added/modified/deleted in a user's setting or manufacturing step.

According to another embodiment of the present invention, when the mobile robot <NUM> is docked on the docking station <NUM>, the docking station <NUM> may immediately obtain information related to the dust discharge operation. That is, even if the docking station <NUM> does not receive a command from the mobile robot <NUM>, the docking station <NUM> may obtain information related to the dust discharge operation at the same time or within a threshold time. If it is identified that the mobile robot <NUM> is located in a region where the communication connection may be performed even though the mobile robot <NUM> does not receive a command to discharge dust from the mobile robot <NUM>, the docking station <NUM> may obtain information related to the dust discharge operation from the mobile robot <NUM>.

According to another embodiment of the present invention, it is assumed that the docking station <NUM> is a model of a type capable of performing a function of charging the mobile robot <NUM>. When a command to perform a function of charging power from the mobile robot <NUM> is received, the docking station <NUM> may obtain information about components related to the operation of charging the power of the mobile robot <NUM> (e.g., a power storage device of the docking station <NUM>, a power generation device, and a power transmission device). The power generation device may refer to a component that generates power to operate the docking station <NUM> and stores the power in the power storage device, and may include, but is not limited to, a generator or the like. The power transmitter may transmit power to the mobile robot <NUM> to charge the mobile robot <NUM>, and may charge the mobile robot <NUM> in a wireless or wired manner. The power storage device may refer to a component that stores power so that the docking station <NUM> operates, and may include, for example, at least one of a battery, a fuel cell, and a secondary battery.

The information on the power storage device of the docking station <NUM> may include information on the charging state of the power storage device and information on the charging efficiency of the power storage device. The information on the power transmission device may include information on the charging efficiency of the mobile robot <NUM> of the power transmission device.

Upon receiving a command to perform at least one operation from the mobile robot <NUM>, the docking station <NUM> may determine whether at least one operation may be performed. If it is determined that at least one operation may not be performed, the docking station <NUM> may transmit information related to at least one operation or state information of the docking station <NUM> to the mobile robot <NUM>. The mobile robot <NUM> may transmit information related to the received at least one operation or state information of the docking station <NUM> to the user terminal device <NUM>. This embodiment will be described in detail with reference to <FIG>.

Meanwhile, the docking station <NUM> may transmit information (for example, information related to a dust discharge operation, information related to a power charging operation of the mobile robot <NUM>, etc.) related to a specific operation obtained in various manners to the mobile robot <NUM>. In an embodiment, the docking station <NUM> may transmit information related to an operation performed by the mobile robot <NUM> or an operation performed by the docking station <NUM> obtained at the same time or within a threshold time to the mobile robot <NUM>. As another example, the docking station <NUM> may periodically transmit information related to an operation after the mobile robot <NUM> is docked on the mobile robot <NUM> according to a predetermined period. As another example, when information related to an operation to be performed is obtained, the docking station <NUM> may transmit the obtained information to the mobile robot <NUM> in real time. As another example, when a user command to transmit various information from the user terminal device <NUM> is received from the mobile robot <NUM>, the docking station <NUM> may transmit various information to the mobile robot <NUM>.

As another example, the docking station <NUM> may identify whether a numerical value corresponding to information related to various operations (e.g., information related to a dust discharge operation) exceeds a threshold range. When it is identified that the numerical value corresponding to the various types of information exceeds the threshold range, the docking station <NUM> may transmit various information to the mobile robot <NUM>. This embodiment will be described in detail with reference to <FIG>.

The mobile robot <NUM> may transmit information related to various operations received from the docking station <NUM> and state information of the docking station <NUM> to the user terminal device <NUM> or may provide the state information to the user. For example, the mobile robot <NUM> may output information related to operation and state information of the docking station <NUM> as a message in a voice form or display a UI including information on a component. Accordingly, the user may identify the information related to the operation or the state of the docking station through the voice message or the UI output by the mobile robot <NUM>.

When a specific operation (e.g., a power charging operation of the mobile robot <NUM> or an operation of discharging dust collected in the mobile robot <NUM>) performed by the docking station <NUM> to the mobile robot <NUM> is completed, the mobile robot <NUM> may transmit information related to various operations and state information of the docking station <NUM> to the user terminal device <NUM>. In another embodiment, when it is identified that the numerical value corresponding to the information associated with various operations and the state information received from the docking station <NUM> exceeds a threshold range, the mobile robot <NUM> may transmit information about various operations and status information to the user terminal device <NUM>. In another embodiment, when the power of the mobile robot <NUM> is less than the threshold value, the mobile robot <NUM> may transmit information related to various operations and status information received from the docking station <NUM> to the user terminal device <NUM>. In this case, the mobile robot <NUM> may transmit a signal indicating that the charged power state is less than a threshold value to the user terminal device <NUM>.

The mobile robot <NUM> may transmit information related to various operations to the user terminal device <NUM> or may transmit information related to various operations to a pre-registered device (e.g., another terminal device of the user of the user terminal device <NUM>). The user terminal device <NUM> may display the UI based on the information on the component received from the mobile robot <NUM>. Accordingly, the user may identify a state of a consumable of the docking station through the user terminal device <NUM>.

<FIG> is a diagram illustrating a configuration of the docking station <NUM>, the mobile robot <NUM>, the user terminal device <NUM>, and the server <NUM> included in the mobile robot management system <NUM> according to an embodiment.

As shown in <FIG>, the docking station <NUM> includes a near field communicator <NUM>, a memory <NUM>, a processor <NUM>, and a function performer <NUM>. The docking station <NUM> may further include an inputter <NUM> and a sensor <NUM>. However, the configuration illustrated in <FIG> is an example for implementing embodiments of the present invention, and appropriate hardware and software configurations that are obvious to a person skilled in the art may be additionally included in the docking station <NUM>.

The near field communicator <NUM> may include a circuit, and may communicate with a near field communicator <NUM>-<NUM> included in the mobile robot <NUM> or a near field communicator included in another device. The near field communicator <NUM> may transmit and receive various signals or information between the mobile robot <NUM> or the near field communicator included in various devices. For example, the near field communicator <NUM> may receive a command to perform at least one operation transmitted from the near field communicator <NUM>-<NUM> of the mobile robot <NUM>. In this case, the command to perform at least one operation may be a command directly generated by the mobile robot <NUM>, and may be a command instructing the user terminal device <NUM> to transmit the mobile robot <NUM> to the docking station <NUM>.

The near field communicator <NUM> may transmit information related to an operation performed by the docking station <NUM> (for example, information related to an operation of discharging dust included in the mobile robot <NUM>) to the mobile robot <NUM>. The near field communicator <NUM> may receive a wake-up signal transmitted by the near field communicator <NUM>-<NUM> of the mobile robot <NUM> and transmit a docking guide signal to the mobile robot <NUM>. The wake-up signal is a signal for switching the operation mode of the docking station <NUM> from the power saving mode to the normal mode, and a detailed description thereof will be described later.

The docking guide signal periodically transmitted to the mobile robot <NUM> by the near field communicator <NUM> may include a preset idle time period. The mobile robot <NUM> may transmit a wake-up signal within an idle time period included in the docking guide signal transmitted by the near field communicator <NUM>. Accordingly, the mobile robot <NUM> may minimize or reduce signal interference by transmitting a wake-up signal within an idle time period included in the docking guide signal.

The near field communicator <NUM> may include at least one of an infrared communication module or RF module. The infrared communication module may include an infrared transmitting/receiving circuit, or a photo transistor, or the like.

The near field communicator <NUM> may be activated in a state in which the power of the docking station <NUM> is turned on. That is, even when the docking station <NUM> is operating in the standby mode, the near field communicator <NUM> may receive the wake-up signal transmitted from the near field communicator <NUM>-<NUM> of the mobile robot <NUM>.

The memory <NUM> may store at least one instruction or data related to at least one another element. The instruction is one action statement for the processor <NUM> as a programming language, and is a minimum unit of programs that the processor <NUM> may execute directly.

According to an embodiment, the memory <NUM> may be implemented as a non-volatile memory, a volatile memory, a flash-memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory <NUM> may be accessed by the processor <NUM>, and read/write/modify/update, etc. of data by the processor <NUM> may be performed. The term memory in the present invention may include the memory <NUM>, a read-only memory (ROM) (not shown) in the processor <NUM>, a random access memory (RAM) (not shown), or a memory card (not shown) (e.g., a micro secure digital (SD) card, a memory stick) mounted on the stacked docking station <NUM>.

The memory <NUM> may store information related to various operations performed by the docking station <NUM> and state information of the docking station <NUM>. Specifically, the memory <NUM> may store information related to an operation obtained while the processor <NUM> performs an operation corresponding to a command received from the mobile robot <NUM>. The memory <NUM> may store state information of the current docking station.

The inputter <NUM> may receive various user inputs and transmit the user inputs to the processor <NUM>. In particular, the inputter <NUM> may include at least one of a touch sensor, a button, and a key. The inputter <NUM> may be implemented as a button for switching an operation mode of the docking station <NUM>. For example, when a command to switch the operation mode from the normal mode to the standby mode is input through the inputter <NUM>, the processor <NUM> may switch the operation mode of the docking station <NUM> from the normal mode to the standby mode.

The processor <NUM> may be electrically connected to the memory <NUM> to control overall operations and functions of the docking station <NUM>. The processor <NUM> may control the near field communicator <NUM> to transmit the docking guide signal to the mobile robot <NUM>. Upon receiving the docking guide signal, the mobile robot <NUM> may move to the docking station <NUM> by moving in a direction in which the docking station <NUM> is located.

When the wake-up signal is received from the mobile robot <NUM> through the near field communicator <NUM> while the docking station <NUM> is operating in the standby mode, the processor <NUM> may switch the operation mode of the docking station to the normal mode. The processor <NUM> may transmit the docking guide signal to the mobile robot <NUM> while operating in the normal mode.

If the mobile robot <NUM> is docked on the docking station <NUM>, the processor <NUM> may receive a command to perform at least one operation through the near field communicator <NUM> from the mobile robot <NUM>. When a command to perform at least one operation from the mobile robot <NUM> is received through the near field communicator <NUM>, the processor <NUM> may obtain information related to at least one operation. At this time, at least one operation may be an operation corresponding to the type of the docking station <NUM>. Specifically, when the mobile robot <NUM> is docked on the docking station <NUM>, the processor <NUM> may transmit information about the type of the docking station to the mobile robot <NUM> through the near field communicator <NUM>. The information about the type of the docking station may include, for example, information about whether the docking station is a model of a type capable of charging the mobile robot <NUM> or a model of a type capable of sucking dust collected in the robot <NUM>. The mobile robot <NUM> may transmit a command corresponding to each type to the docking station <NUM>.

The processor <NUM> may receive a command to perform at least one operation from the mobile robot <NUM> or obtain information related to at least one operation within a threshold time. As another example, the processor <NUM> may obtain information related to at least one operation while performing at least one operation. As another example, after the processor <NUM> finishes at least one operation, the processor <NUM> may obtain information related to at least one operation. As another example, if it is detected that the mobile robot <NUM> is located in an area where the mobile robot <NUM> is capable of communicating even without receiving a command from the mobile robot <NUM>, the processor <NUM> may obtain information related to an operation that the docking station <NUM> may perform.

In an embodiment, when the docking station <NUM> is a model of a type capable of suctioning and discharging dust collected in the mobile robot <NUM>, the processor <NUM> may receive a command for removing dust included (or collected) in the mobile robot <NUM> from the mobile robot <NUM> through the near field communicator <NUM>. When receiving a command to discharge the dust included in the mobile national robot <NUM>, the processor <NUM> may obtain information related to an operation related to the dust discharge operation. The information related to the dust discharge operation may include information about components (e.g., a dust bag, a filter, and a motor for suctioning dust) used to discharge dust. The processor <NUM> may obtain information about a motor for suctioning the dust bag, the filter, and the dust.

The processor <NUM> may obtain information about the spare space of the dust bag through the sensor <NUM> capable of detecting the spare space of the dust bag. As another example, the processor <NUM> may obtain information on whether the dust bag is mounted on the dust container through the various sensors <NUM> and information on the type of the dust bag (e.g., information on the unique model number, size, specification, and the like of the dust bag).

The processor <NUM> may obtain information on the usage count of the filter and the usage time based on the time when the filter is replaced. As another example, the processor <NUM> may obtain information on whether the filter is mounted in the docking station <NUM> through the various sensors <NUM> and information on the type of the filter (e.g., the unique model number of the filter, the function performed by the filter, the standard information of the filter, and the like).

The processor <NUM> may obtain information on the operation efficiency of the motor through a sensor capable of detecting the operation efficiency of the motor or foreign matter stuck on the motor. The processor <NUM> may obtain information on the use time of the motor based on the motor replacement time. In another embodiment, the processor <NUM> may obtain information on whether the motor has failed. For example, the processor <NUM> may identify whether the motor operates normally based on at least one of a rotation speed, whether the motor operates, and an operation efficiency of the motor. The standard of the normal operation of the motor may be determined in the manufacturing step and may be modified by the user.

According to another embodiment of the present invention, when the docking station <NUM> is a model of a type capable of charging the mobile robot <NUM>, the processor <NUM> may receive a command for charging the mobile robot <NUM> from the mobile robot <NUM> through the near field communicator <NUM>. When receiving a command to charge the mobile robot <NUM>, the processor <NUM> may obtain information related to the operation of charging the mobile robot <NUM>. The information related to the operation of charging the mobile robot <NUM> may include information on the power storage device, the power generation device, and the power transmission device.

The processor <NUM> may obtain information on the charging state of the power storage device and information on the charging efficiency of the power storage device. The processor <NUM> may obtain information on the charging efficiency of the mobile robot <NUM> through the power transmitted from the power transmitter to the mobile robot <NUM>. In another embodiment, while charging the mobile robot <NUM> through the power transmitting device or in the standby mode, the processor <NUM> may generate power using the power generating device to supply power from the power storage device. Accordingly, the processor <NUM> may obtain information on the power production efficiency of the power storage device while charging the mobile robot <NUM>.

Upon receiving a command to perform at least one operation from the mobile robot <NUM> through the near field communicator <NUM>, the processor <NUM> may determine whether at least one operation may be performed. In one embodiment, when receiving a command to charge the power of the mobile robot <NUM> from the mobile robot <NUM>, the processor <NUM> may determine whether the mobile robot <NUM> may be charged based on whether the docking station <NUM> is in a state capable of transmitting power to the mobile robot <NUM>. For example, the processor <NUM> may determine whether the power of the mobile robot <NUM> may be transmitted based on whether the power storage device is charged enough to transmit power to the mobile robot <NUM> when the docking station is in a wireless state.

In another embodiment, when a command to discharge (or suck) dust contained (or collected) in the mobile robot <NUM> is received from the mobile robot <NUM> through the near field communicator <NUM>, the processor <NUM> may determine whether a dust discharge operation may be performed. The processor <NUM> may determine whether to perform the dust discharge operation based on whether there is surplus space in the dust bag of the docking station, whether the dust bag exists in the dust bin at the docking station, and whether the usage time of the filter or motor exceeds a threshold time based on the time of replacement.

If it is determined that at least one operation may not be performed, the processor <NUM> may control the near field communicator <NUM> to transmit status information of the docking station related to at least one operation to the mobile robot <NUM> in order to transmit state information of the docking station <NUM> related to the at least one operation to the user terminal device <NUM> connected to the mobile robot <NUM>. For example, if it is determined that the dust discharging operation may not be performed, the processor <NUM> may control the near field communicator <NUM> to transmit state information of the docking station related to the dust discharging operation to the mobile robot <NUM>. In addition, the mobile robot <NUM> may transmit state information of the docking station related to the dust discharge operation received from the docking station <NUM> to the user terminal device <NUM>.

In order to transmit the obtained information related to the at least one operation to the user terminal device <NUM> connected to the mobile robot <NUM>, the processor <NUM> may control the near field communicator <NUM> to transmit the obtained information related to the at least one operation (e.g., information related to dust discharging operation, etc.) to the mobile robot <NUM>. In an embodiment, the processor <NUM> may control the near field communicator <NUM> to transmit the obtained information to the mobile robot <NUM> in real time or periodically when information related to at least one operation is obtained.

In another embodiment, the processor <NUM> may transmit the information related to the at least one operation to the mobile robot <NUM> based on whether a value corresponding to the information related to the at least one operation exceeds a threshold range. The processor <NUM> may identify whether a value corresponding to the at least one operation-related information exceeds a threshold range by using the obtained information related to the at least one operation. When it is identified that the value corresponding to the at least one operation-related information exceeds the threshold range, the processor <NUM> may control the near field communicator <NUM> to transmit the at least one operation-related information to the mobile robot <NUM>.

However, the processor <NUM> may include, for example, and without limitation, one or more from among a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), an ARM processor, or the like, or may be defined by the corresponding term. In addition, the processor <NUM> may be implemented as a System on Chip (SoC) or large scale integration (LSI) embedded with a processing algorithm, and may be implemented in the form of a field programmable gate array (FPGA). The processor <NUM> may perform various functions by executing computer executable instructions stored in the memory <NUM>.

The sensor <NUM> may detect various state information of the docking station <NUM>. The sensor <NUM> may include a pressure sensor capable of detecting the surplus space of the dust bag included in the docking station <NUM>. The sensor <NUM> may be implemented as a sensor for detecting the operational efficiency of a motor for sucking the dust collected by the mobile robot <NUM> and a sensor for detecting whether a dust bag is provided in the dust bin. In addition, the sensor <NUM> may be implemented as a sensor that calculates and detects power efficiency based on the power transmitted by the power transmitter to the mobile robot <NUM>.

The function performer <NUM> is a component capable of performing various functions of the docking station <NUM>. For example, the function performer <NUM> is a component capable of charging the mobile robot <NUM> and may include a power transmission device, or the like. As another example, the function performer <NUM> may include a motor, a filter, etc. capable of removing dust collected in the mobile robot <NUM>.

As illustrated in <FIG>, the mobile robot <NUM> may include a communicator <NUM>, a processor <NUM>, a memory <NUM>, a traveling unit <NUM>, and a speaker <NUM>. However, this is only an embodiment, and the mobile robot <NUM> may additionally include appropriate hardware and software configurations that are obvious to those skilled in the art.

The communicator <NUM> may communicate with the docking station <NUM>, the mobile robot <NUM>, the user terminal device <NUM>, the server <NUM>, and various devices. The communicator <NUM> may include a near field communicator <NUM>-<NUM> and a wireless communication module <NUM>-<NUM>, and may also include various wired communication modules (not shown). The near field communicator <NUM>-<NUM> may include at least one of an infrared communication module and an RF module. The near field communicator <NUM>-<NUM> may transmit/receive various signals or information between the near field communicators <NUM> included in the docking station <NUM>. For example, the near field communicator <NUM>-<NUM> may transmit at least one command corresponding to the information on the type of the docking station <NUM> to the docking station <NUM>. As another example, the near field communicator <NUM>-<NUM> may receive information about the type of the docking station <NUM>, state information of the docking station <NUM>, or information related to specific operation from the docking station <NUM>. As another example, the near field communicator <NUM>-<NUM> may transmit a wake-up signal to the docking station <NUM> and may receive a docking guidance signal from the docking station <NUM>.

The communication module <NUM>-<NUM> may include a cellular communication module using any one of long-term evolution (LTE), LTE advanced (LTE-A), a code division multiple access (CDMA), a wideband CDMA (WCDMA), and a universal mobile telecommunications system (UMTS), a wireless broadband (WiBro), or a global system for mobile communications (GSM), and the like. According to another embodiment, the wireless communication may include, for example, any one or any combination of wireless fidelity (Wi-Fi), Bluetooth, Bluetooth low energy (BLE), Zigbee, and near field communication (NFC).

The wireless communication module <NUM>-<NUM> may communicate with the user terminal device <NUM> and the server <NUM> on the mobile robot management system <NUM>, and may transmit/receive various signals or information. That wireless communication module <NUM>-<NUM> performs communication may include communicating via a third device (e.g., a repeater, a hub, an access point, the server <NUM> or a gateway, etc.).

The processor <NUM> may be electrically connected to the memory to control the overall operation and function of the mobile robot <NUM>. In particular, when docked on the docking station <NUM>, the processor <NUM> may control the near field communicator <NUM>-<NUM> to transmit a command to discharge the dust included (or collected) in the mobile robot <NUM> to the docking station <NUM>. The information related to a dust discharge operation may be received from the docking station <NUM> through the near field communicator <NUM>-<NUM>.

According to another embodiment of the present invention, when docked on the docking station <NUM>, the processor <NUM> may control the near field communicator <NUM>-<NUM> to transmit a signal for requesting information on the type of the docking station <NUM> to the mobile robot <NUM>. When receiving information on the type of the docking station <NUM> through the near field communicator <NUM>-<NUM>, the processor <NUM> may control the near field communicator <NUM>-<NUM> to transmit at least one command corresponding to the information about the type of the docking station <NUM> to the docking station <NUM>. For example, when it is identified that the docking station <NUM> is a type of model capable of charging the mobile robot based on the information on the type of the docking station <NUM>, the processor <NUM> may control the near field communicator <NUM>-<NUM> to transmit a command to charge power to the docking station <NUM>. As another example, when it is identified that the docking station <NUM> is a type of model capable of discharging dust included in the mobile robot <NUM> based on the information on the type of the docking station <NUM>, the processor <NUM> may control the near field communicator <NUM>-<NUM> to transmit a command to discharge dust to the docking station <NUM>.

The processor <NUM> may control the wireless communication module <NUM>-<NUM> to transmit information related to various operations received from the docking station <NUM> (for example, information related to a dust discharge operation or information related to a power charging operation) to the user terminal device <NUM>. The processor <NUM> may directly transmit information related to various operations to the user terminal device <NUM>, or may control the wireless communication module <NUM>-<NUM> to transmit the information to the user terminal device <NUM> through the server <NUM>. In this case, the server <NUM> may include a server of the manufacturer of the mobile robot <NUM> or the docking station <NUM>, a server of the application store, or a relay server.

The processor <NUM> may control the speaker <NUM> to output a message corresponding to information related to various operations received from the docking station <NUM> in a voice form. As another example, the processor <NUM> may control a display (not shown) to display a UI including a message corresponding to information related to various operations received from the docking station <NUM>.

The processor <NUM> may control the near field communicator <NUM>-<NUM> to periodically emit a wake-up signal for switching the operation mode of the docking station <NUM> from the standby mode to the normal mode. The processor <NUM> may receive the docking guide signal from the docking station <NUM> operating in the normal mode, through the near field communicator <NUM>-<NUM>. Upon receiving the docking guide signal, the processor <NUM> may control the traveling unit <NUM> to move in the direction of the docking station <NUM> for docking to the docking station <NUM>.

The memory <NUM> may store instructions or data related to at least one other component of the mobile robot <NUM>. The memory <NUM> may be accessed by the processor <NUM>, and read/write/modify/update, etc. of data by the processor <NUM> may be performed. The term memory in the present invention may include the memory <NUM>, a read-only memory (ROM) (not shown) in the processor <NUM>, a random access memory (RAM) (not shown), or a memory card (not shown) (e.g., a micro secure digital (SD) card, a memory stick) mounted on the stacked mobile robot <NUM>.

The memory <NUM> may store information about the type of the docking station <NUM> received from the docking station <NUM> and status information. As another example, the memory <NUM> may store information related to various operations received from the docking station <NUM>. The memory <NUM> may store instructions or data for displaying various UIs on a display.

The traveling unit <NUM> is a device that helps the mobile robot <NUM> to move, and may be configured as a wheel, or may be configured as a device capable of moving in a non-standard moving form such as an N-foot walking. The traveling unit <NUM> may be configured to perform rotations in front, rear, left, and right, and rotation. That is, the traveling unit <NUM> may be variously configured according to the type and characteristics of the mobile robot device <NUM>.

The speaker <NUM> is configured to output various notification sounds or voice messages as well as various audio data on which various processing operations such as decoding, amplification, and noise filtering are performed by the audio processor. In particular, the speaker <NUM> may output a message corresponding to information related to various operations in a voice form under the control of the processor <NUM>.

As illustrated in <FIG>, the user terminal device <NUM> may include a memory <NUM>, a display <NUM>, a speaker <NUM>, a communicator <NUM>, and a processor <NUM>. This is merely exemplary, and the user terminal device <NUM> may additionally include hardware and software configurations obvious to those skilled in the art.

The memory <NUM> may store instructions or data related to at least one other component of the user terminal device <NUM>. The memory <NUM> may be accessed by the processor <NUM>, and read/write/modify/update, etc. of data by the processor <NUM> may be performed. The term memory in the present invention may include the memory <NUM>, a read-only memory (ROM) (not shown) in the processor <NUM>, a random access memory (RAM) (not shown), or a memory card (not shown) (e.g., a micro secure digital (SD) card, a memory stick) mounted on the stacked user terminal device <NUM>. The memory <NUM> may store information related to various operations performed by the docking station <NUM> received from the mobile robot <NUM> (or received through the server <NUM>). The memory <NUM> may store programs, data, or the like, to configure various screens to be displayed on a display region of the display <NUM>.

The display <NUM> may display various information under the control of the processor <NUM>. The display <NUM> may display a UI capable of checking state information or information related to operation of the docking station or a UI capable of controlling the docking station <NUM>. As another example, the display <NUM> may display an application screen capable of controlling the docking station <NUM> or the mobile robot <NUM>. The related embodiment will be described with reference to FIGS. 8A, 8B, and 8C. The display <NUM> may be implemented as a touch screen together with a touch panel, or may be implemented in the form of a flexible display.

The speaker <NUM> is a configuration to output not only various audio data processed as decoding, amplification, and noise filtering but also various notification sounds or speech message. The speaker <NUM> may output a message corresponding to information related to various operations performed by the docking station <NUM> in a voice format.

The communicator <NUM> may communicate with the mobile robot <NUM>, the server <NUM>, and various external devices. Communication of the communicator <NUM> with the mobile robot <NUM> or an external device, etc. may include communication through a third device (e.g., a relay, a hub, an access point, the server <NUM>, a gateway, etc.).

The communicator <NUM> may include various communication modules to communicate with an external device. For example, the communicator <NUM> may include a wireless communication module, such as the wireless communication module <NUM>-<NUM> of the mobile robot <NUM>, and may include a cellular communication module. The communicator <NUM> may also include various wired communication modules. The communicator <NUM> may receive information related to various operations performed by the docking station <NUM> from the mobile robot <NUM>, and may receive the corresponding information through the server <NUM>. The communicator <NUM> may transmit a command for performing a specific operation to the docking station <NUM> to the mobile robot <NUM>. In this case, the processor <NUM> of the mobile robot may control the near field communicator <NUM>-<NUM> to transmit the received command to the docking station <NUM>. The communicator <NUM> may transmit a command for performing a specific operation to the mobile robot <NUM>.

The processor <NUM> may be electrically connected to the memory <NUM> to control various operations and functions of the user terminal device <NUM>. In particular, the processor <NUM> may receive information related to various operations performed by the docking station from the mobile robot <NUM> through the communicator <NUM>. The processor <NUM> may update information related to an operation that the pre-stored docking station <NUM> may perform as information related to the received operation. The processor <NUM> may receive information related to operation directly from the mobile robot <NUM>, but may receive the information through the server <NUM>.

The processor <NUM> may control the display <NUM> to display an application screen including a UI indicating received information related to various operations performed by the docking station. As another example, the processor <NUM> may control the display <NUM> to display an application screen including a control UI capable of controlling the mobile robot <NUM> or the docking station <NUM>. As another example, the processor <NUM> may control the speaker <NUM> to output a message corresponding to information related to various operations performed by the received docking station in a voice form.

As shown in <FIG>, the server <NUM> may include a communicator <NUM>, a memory <NUM>, and a processor <NUM>. The communicator <NUM> may include a circuit and may include various wireless communication modules. The memory <NUM> may store instructions or data related to at least one other component included in the server <NUM>. The memory <NUM> may store identification information for identifying each of the mobile robot <NUM> or the docking station <NUM> that may be controlled by the user terminal device <NUM>. The memory <NUM> may store data related to an application capable of controlling the mobile robot <NUM> or the docking station <NUM>.

The processor <NUM> may be electrically connected to the memory <NUM> to control the operation of the server <NUM>. The processor <NUM> may control the communicator <NUM> to transmit various information received from the mobile robot <NUM> to the user terminal device <NUM>.

The processor <NUM> may control the communicator <NUM> to transmit various information received from the user terminal device <NUM> to the mobile robot <NUM>. The processor <NUM> may store various information received from the mobile robot <NUM> and the user terminal device <NUM> in the memory <NUM>.

<FIG> is a sequence diagram illustrating an operation of the docking station <NUM>, mobile robot <NUM>, and user terminal device <NUM> according to an embodiment.

First, the docking station <NUM> may operate in a standby mode in operation S310. Specifically, the docking station <NUM> may operate in the standby mode by a user command. For example, a user command may be input to an inputter included in the docking station <NUM> to operate in a standby mode. As another example, when a command to operate in the standby mode from the user terminal device <NUM> through the mobile robot <NUM> is received through the near field communicator <NUM>, the docking station <NUM> may operate in the standby mode.

The docking station <NUM> may turn on power with minimum power while operating in the standby mode. Accordingly, while the docking station <NUM> is operating in the standby mode, the docking station <NUM> may not transmit the docking guide signal to the mobile robot <NUM>.

In operation S315, the mobile robot <NUM> may transmit a wake-up signal to the docking station <NUM>. Specifically, the mobile robot <NUM> may transmit a wake-up signal capable of switching the operation mode of the docking station <NUM> from the standby mode to the normal mode to the mobile robot <NUM> through a near field communication module such as an infrared transmission module. In an embodiment, the mobile robot <NUM> may periodically transmit the wake-up signal to the docking station <NUM> through the near field communication module. In another embodiment, the mobile robot <NUM> may transmit a wake-up signal to the docking station <NUM> when a value corresponding to the battery or various components required to perform or the cleaning of the mobile robot <NUM> exceeds a threshold range. For example, the mobile robot <NUM> may transmit a wake-up signal to the docking station <NUM> when the remaining capacity of the dust bag collecting the dust or various contaminants of the mobile robot <NUM> is less than a predetermined value. As another example, the mobile robot <NUM> may transmit a wake-up signal to the docking station <NUM> when an error occurs in a component included in the mobile robot <NUM>. When the wake-up signal is received through the near field communication module, the docking station <NUM> may switch the operation state from the standby mode to the normal mode in operation S320. The docking station <NUM> may transmit the docking guide signal through the near field communicator <NUM> while operating in the normal mode in operation S325. Upon receiving the docking guide signal, the mobile robot <NUM> may move to the direction of the docking station <NUM> and dock on the docking station <NUM>, and when the docking guide signal is less than a predetermined value, the mobile robot <NUM> may transmit the wake-up signal to the docking station <NUM> in operation S330.

Inference may occur between the docking guide signal transmitted by the docking station <NUM> while operating in the normal mode and the wake-up signal transmitted by the mobile robot <NUM>. Accordingly, an idle time interval may be included on the docking guide signal transmitted by the docking station <NUM>. The mobile robot <NUM> may transmit the wake-up signal in the idle time period on the docking guide signal. The interference between signals transmitted by each of the docking station <NUM> and the mobile robot <NUM> may be minimized or reduced.

When the mobile robot <NUM> is docked, the docking station <NUM> may transmit information about the type of the docking station to the mobile robot <NUM> through the near field communicator in operation S335. The information about the type of the docking station may correspond to at least one of information about a function that the docking station may perform, docking station model information, and a unique number of the docking station. In another embodiment, the mobile robot <NUM> may transmit a signal requesting information on the type of the docking station <NUM> to the docking station <NUM> after docking on the docking station <NUM>. The docking station <NUM> may transmit information about the type of the docking station <NUM> to the mobile robot <NUM> in response to the request signal.

The mobile robot <NUM> may transmit a command for performing an operation corresponding to at least one of the type and the unique number of the docking station <NUM> to the docking station <NUM> based on the received information on the type of the docking station <NUM> in operation S340. The type of the docking station may be variously classified according to a function that the docking station <NUM> may perform. Accordingly, the operation corresponding to the type of the docking station may mean a command to perform an operation that the docking station may perform. For example, when the docking station <NUM> is a type of model capable of performing a function of discharging (or suctioning) dust included (or collected) in the mobile robot <NUM>, the mobile robot <NUM> may transmit a command to perform an operation of discharging dust included in the mobile robot <NUM> to the docking station <NUM>.

The docking station <NUM> may obtain information related to an operation corresponding to the command received from the mobile robot <NUM> in operation S345. For example, the docking station <NUM> may receive a command for discharging dust included in the mobile robot <NUM>. In this case, the docking station <NUM> may obtain information related to a dust discharge operation (for example, information about a dust bag, a filter, and a motor). As another example, the docking station <NUM> may receive a command to charge the power of the mobile robot <NUM> In this case, the docking station <NUM> may obtain information related to the operation of charging the power of the mobile robot <NUM> (for example, information on the charging state of the power storage device, information on the charging efficiency of the power storage device, and information on the charging efficiency of the power transmission device, etc.). Since the related embodiment has been described above, a redundant description thereof will be omitted.

When receiving a command to perform a specific operation from the mobile robot, the docking station <NUM> may obtain information related to a specific operation at the same time or within a threshold time. As another example, the docking station <NUM> may obtain information related to a specific operation while performing a specific operation. As another example, the docking station <NUM> may obtain information related to a specific operation after terminating the performance of a specific operation.

An embodiment in which the docking station <NUM> receives a command to perform at least one operation from the mobile robot <NUM> and obtains information related to an operation corresponding to the received command has been described with reference to S320 to S340, but this is merely an example. In another embodiment, even if the docking station <NUM> does not receive a command from the mobile robot <NUM>, the docking station <NUM> may obtain information related to the dust discharge operation at the same time or within a threshold time from docking of the mobile robot <NUM> to docking station <NUM>.

The docking station <NUM> may transmit information related to the obtained operation to the mobile robot <NUM> in operation S350. For example, the docking station <NUM> may transmit information related to an operation to the mobile robot <NUM> using a near field communicator such as an infrared transmission module or an RF transmission module.

The mobile robot <NUM> may transmit information related to the operation received from the docking station <NUM> to the user terminal device <NUM> using various communication modules in operation S355. Since the mobile robot <NUM> may include various wireless communication modules, even if the docking station <NUM> includes only a near field communicator having a relatively low price and is simple, the user terminal device <NUM> may identify information related to the operation through the mobile robot <NUM>. The mobile robot <NUM> may directly transmit information related to an operation to the user terminal device <NUM>, but this is merely an example, and a server of a manufacturer, a server of an application store, or a relay server may be used. Specifically, the mobile robot <NUM> may transmit information related to an operation to at least one of a manufacturer's server (or a cloud), a server of an application store, or a relay server. At least one of the manufacturer's server (or cloud), the server of the application store, or the relay server may transmit information related to the operation received from the mobile robot <NUM> to the user terminal device <NUM>.

According to another embodiment of the present invention, the mobile robot <NUM> may output information about components received from the docking station <NUM> as a message in a voice form. This embodiment will be described in detail with reference to FIGS. 8A, 8B, and 8C.

The user terminal device <NUM> may display a UI including information related to an operation based on received information related to the operation in operation S360, and the user terminal device <NUM> may receive a command from the user in operation S365. The user terminal device <NUM> may transmit the input command to the mobile robot <NUM> in operation S370. In this example, the command input from the user may be a command for performing a specific operation to the mobile robot <NUM>, but may be a command for performing a specific operation to the docking station <NUM>. When the command input from the user is a command for performing a specific operation to the docking station <NUM>, the command may indicate that user terminal device <NUM> gives a command to the mobile robot <NUM> to transmit the user command to the docking station <NUM>.

When the command input from the user is a command to make the docking station <NUM> perform a specific operation, the mobile robot <NUM> may transmit a user command to the docking station <NUM> in operation S375. Accordingly, the docking station <NUM> may perform an operation corresponding to the user command in operation S380. However, <FIG> is only an example of the present invention, and the user terminal device <NUM> may receive a command from a user at any point in time. The user terminal device <NUM> may transmit the received command to the mobile robot <NUM>, and the mobile robot <NUM> may perform an operation corresponding to the received command.

<FIG> is a sequence diagram illustrating an operation of the docking station <NUM>, mobile robot <NUM>, and user terminal device <NUM> according to an embodiment. A description overlapping with <FIG> will be omitted.

The docking station <NUM> may operate in a standby mode in operation S410. While executing the application <NUM> capable of controlling the mobile robot <NUM> or the docking station <NUM>, the user terminal device <NUM> may receive a user command for controlling the operation of the docking station <NUM> in operation S420. For example, the user terminal device <NUM> may receive a user command for discharging dust collected in the mobile robot <NUM> or charging the mobile robot <NUM> from the docking station <NUM> on the application execution screen. The user terminal device <NUM> may transmit the input user command to the mobile robot <NUM>.

When the user command is received from the user terminal device <NUM>, the mobile robot <NUM> may transmit the wake-up signal to the docking station <NUM> through the near field communication module in operation S440. Upon receiving the wake-up signal, the docking station <NUM> may switch the operation state from the standby mode to the normal mode in operation S450. The docking station <NUM> may transmit the docking guide signal to the mobile robot <NUM> through the near field communication module in operation S460. The mobile robot <NUM> receiving the docking guide signal may dock to the docking station <NUM> in operation S470. The mobile robot <NUM> docked on the docking station <NUM> may transmit the user command received from the user terminal device <NUM> to the docking station <NUM> in operation S480. The docking station <NUM> may perform an operation corresponding to the user command received from the mobile robot <NUM> in operation S490. In operation S <NUM>, the docking station <NUM> may obtain information related to an operation to be performed. Operation S495 of <FIG> may be the same as operation S345 of <FIG>. Accordingly, since steps after the operation S495 of <FIG> are the same as steps after step S345 of <FIG>, redundant descriptions will be omitted.

<FIG> is a flowchart illustrating an operation of the docking station <NUM> according to an embodiment of the present invention. Specifically, <FIG> illustrates an embodiment in which the docking station <NUM> is a model of a type capable of charging the power of the mobile robot <NUM>. Since S510 to S555 of <FIG> are the same as operations S310 to S335 of <FIG>, redundant descriptions will be omitted.

The mobile robot <NUM> may transmit at least one command corresponding to the information on the type of the docking station <NUM> received from the docking station <NUM> to the docking station <NUM>. If the docking station <NUM> is a model of a type of charging power of the mobile robot <NUM>, the mobile robot <NUM> may transmit a command to charge power to the docking station <NUM> in operation S560. Upon receiving a command to charge the power, the docking station <NUM> may obtain information related to the power charging operation in operation S565. In an embodiment, the docking station <NUM> may obtain information related to the power charging operation while performing the operation of charging the mobile robot <NUM>. As another example, the docking station <NUM> may receive a command to charge power or obtain information related to power charging within a threshold error range. As another example, the docking station <NUM> may obtain information related to the power charging operation after terminating the operation of charging the mobile robot <NUM>. Since the information related to the power charging operation has been described above, a redundant description thereof will be omitted.

The docking station <NUM> may control the near field communicator <NUM> to transmit information related to the power charging operation obtained to the mobile robot <NUM> in operation S570. The mobile robot <NUM> may transmit received information related to the power charging operation to the user terminal device <NUM> in operation S575. The user terminal device <NUM> may display a UI including information related to the power charging operation based on the information received from the mobile robot <NUM> in operation S580. Since the operations S585 to S597 are the same as the operations S365 to S380, a repeated description thereof will be omitted.

<FIG> is a flowchart illustrating an operation of the docking station <NUM> according to an embodiment of the present invention. Specifically, <FIG> illustrates an embodiment in which the docking station <NUM> may charge the power of the mobile robot <NUM> and may discharge the dust collected in the mobile robot <NUM>. Since the operations S610 through S655 of <FIG> are the same as operations S310 through S335 of <FIG>, redundant descriptions will be omitted.

The mobile robot <NUM> may transmit at least one command corresponding to the information on the type of the docking station <NUM> received from the docking station <NUM> to the docking station <NUM>. When the docking station <NUM> is a type of model capable of charging the power of the mobile robot <NUM> and discharging the dust collected in the mobile robot <NUM>, the mobile robot <NUM> may transmit a command to charge the power and a command to discharge dust to the docking station <NUM> in operation S660. The mobile robot <NUM> may simultaneously transmit a command to charge power and a command to discharge dust, but this is merely an example and may be transmitted with a time difference. As another example, the mobile robot <NUM> may transmit each command according to a priority corresponding to the states of the mobile robot <NUM>. For example, when the dust collected in the dust bag of the mobile robot <NUM> exceeds a threshold, the mobile robot <NUM> may first transmit a command to discharge dust to the docking station <NUM>. When the power of the mobile robot <NUM> is less than the threshold value, the mobile robot <NUM> may first transmit a command to charge power to the docking station <NUM>.

When each command is received, the docking station <NUM> may obtain information related to each of the power charging operation and the dust discharge operation in operation S665. The docking station <NUM> may obtain information related to each operation after performing all operations. As another example, the docking station <NUM> may obtain information related to each operation while each operation is performed.

The docking station <NUM> may control the near field communicator <NUM> to transmit information related to the power charging operation obtained and an operation related to the dust discharge operation to the mobile robot <NUM> in operation S670. The mobile robot <NUM> may transmit information related to the received power charging operation and information related to the dust discharge operation to the user terminal device <NUM> in operation S675. The user terminal device <NUM> may display a UI including information related to the power charging operation and information related to the dust discharge operation based on the received information in operation S680. Since the operations S685 to S697 are the same as the operations S365 to S380, duplicated descriptions will be omitted.

<FIG> is a flowchart illustrating an operation of the docking station <NUM> according to an embodiment. S710 of <FIG> is the same as S340 of <FIG>, a description related to the operations S310 to S335 which are previous operations will be omitted.

In operation S710, the docking station <NUM> may receive a command for performing an operation corresponding to the type of the docking station from the mobile robot <NUM>. The docking station <NUM> may determine whether it is possible to perform an operation in operation S720.

In an embodiment, when a command for discharging dust included in the mobile robot <NUM> is received from the mobile robot <NUM>, the docking station <NUM> may determine whether to perform an operation to discharge the dust included in the mobile robot <NUM>. For example, the docking station <NUM> may identify whether power is sufficient enough to suck dust, whether the available space in the dust bag is greater than or equal to a threshold range, whether the dust bag is provided in the dust container in the docking station <NUM>, whether the filter or the motor has exceeded the threshold based on the replacement time point. In another embodiment, when a command to charge the mobile robot <NUM> is input from the mobile robot <NUM>, the docking station <NUM> may identify whether to perform an operation of charging the mobile robot <NUM>. For example, the docking station <NUM> may identify whether power is sufficient to charge the mobile robot <NUM> and whether the efficiency of the power transmission device is equal to or greater than a threshold value. The docking station <NUM> may identify the state information of the docking station <NUM> related to the dust discharge operation to determine whether to discharge the dust included in the mobile robot <NUM> as described above.

When it is identified that the operation of the mobile robot <NUM> is not performed to perform the mobile robot <NUM>, the docking station <NUM> may transmit information about the docking station related to the operation to the mobile robot <NUM> through the near field communicator in operation S730. The state information of the docking station associated with the operation may include information on the identified reason that the operation may not be performed. The mobile robot <NUM> may transmit information received from the docking station <NUM> to the user terminal device <NUM> or may transmit information received from the docking station <NUM> to the pre-registered terminal device of the user. As another example, the mobile robot <NUM> may output a message for the reason that the docking station <NUM> cannot perform a specific operation in a voice form. Accordingly, the user may recognize the reason why the docking station does not perform the specific operation through the user terminal device <NUM> or the mobile robot <NUM>.

When it is identified that the operation corresponding to the command received from the mobile robot <NUM> may be performed, the docking station <NUM> may perform an operation corresponding to the command. The docking station <NUM> may obtain information related to an operation corresponding to the command in operation S740. The docking station <NUM> may transmit the obtained information to the mobile robot <NUM> in operation S750. Since operations S740 and S750 have been described above, redundant descriptions thereof will be omitted.

<FIG> is a flowchart illustrating a process in which the docking station <NUM> transmits information related to an operation to a mobile robot according to an embodiment of the present invention. Meanwhile, S810 of <FIG> is the same as operation S345 of <FIG>. Since the operation of FIG. S810 is the same as the operations S310 to S340 of <FIG>, redundant descriptions will be omitted.

In operation S810, the docking station <NUM> may obtain information related to an operation corresponding to the command received from the mobile robot <NUM>. The docking station <NUM> may identify whether the numerical value corresponding to the information related to the operation exceeds the threshold range based on the information related to the obtained operation in operation S820. For example, the docking station <NUM> may identify whether a numerical value corresponding to information related to dust discharge exceeds a threshold range. The docking station <NUM> may identify whether a space filled with dust in the dust bag exceeds a threshold. As another example, the docking station <NUM> may identify whether a motor or a filter has been used in excess of a threshold number of times or a threshold time based on a replacement time point. As another example, the docking station <NUM> may identify whether the operating efficiency of the motor exceeds a threshold.

That the numerical value corresponding to the information related to the operation does not exceed the threshold range may mean that the state of the component necessary to perform the operation is normal. Accordingly, when the numerical value corresponding to the information related to the operation does not exceed the threshold range, the docking station may obtain information related to the operation. If it is identified that the numerical value corresponding to the operation related to the operation exceeds the threshold range, the docking station <NUM> may transmit the information related to the operation to the mobile robot <NUM> in operation S830.

The docking station <NUM> may transmit information related to operation to the mobile robot <NUM> periodically or in real time. As described with reference to <FIG>, when the numerical value corresponding to the information related to the operation exceeds the threshold range, the docking station <NUM> may transmit information related to the operation to the mobile robot <NUM>.

When the component on the docking station <NUM> is replaced from the user, the docking station <NUM> may recognize the detachment of the component through the sensor or identify the replacement of the component by checking the serial number of the replaced component. As another example, the docking station <NUM> may obtain information indicating that the component is replaced through the user terminal device <NUM> or the mobile robot <NUM>. When checking the replacement of the components, the docking station <NUM> may initialize or reset a numerical value or a threshold range corresponding to the component state.

<FIG> is a diagram illustrating an operation of the mobile robot <NUM> and the user terminal device <NUM> according to an embodiment.

The mobile robot <NUM> may transmit, to the user terminal device <NUM>, information related to an operation (e.g., a dust discharge operation or a power charging operation) that may be performed by the docking station <NUM> received from the docking station <NUM>, or may output the information in various ways. For example, the mobile robot <NUM> may provide status information or an operation of the docking station <NUM> received from the docking station <NUM> as a message <NUM> in the form of a voice. For example, as illustrated in <FIG>, when the docking station <NUM> receives information indicating that the available space of the dust bag remains <NUM>%, the mobile robot <NUM> may output the message <NUM> indicating that the dust bag of the current docking station is filled by <NUM>% in a voice form.

In another embodiment, the user terminal device <NUM> may display information on the state of the docking station <NUM> through various displays (e.g., LED, <NUM>-SEG LCD, TFT-LCD, etc.) included in the user terminal device <NUM>. Accordingly, the user may identify the state of the component of the docking station <NUM> through information output by the mobile robot <NUM>.

As still another embodiment, the mobile robot <NUM> may transmit the state information or information related to the operation of the docking station <NUM> received from the docking station <NUM> to the user terminal device <NUM>.

The user terminal device <NUM> may execute an application capable of controlling the docking station <NUM> or the mobile robot <NUM> by a user command. The application execution screen executed by the user terminal device <NUM> may include a UI capable of checking information or state information related to an operation performed by the docking station <NUM>. For example, when information related to an operation performed by the docking station <NUM> is received from the mobile robot <NUM>, the user terminal device <NUM> may display an application execution screen including a UI <NUM> capable of checking information related to state information or operation of the docking station <NUM> based on the received information.

The user terminal device <NUM> may display a notification window including a UI <NUM> capable of checking information related to state information or operation of the docking station <NUM>. In this case, the notification window displayed by the user terminal device <NUM> may also display a control UI capable of controlling the docking station <NUM>. The user terminal device <NUM> may display the notification window as a push notification, and may display the notification window on a quick panel or a lock screen.

As illustrated in <FIG>, the user terminal device <NUM> may include a control UI <NUM> for controlling the operation of the docking station <NUM> on the application execution screen. When a command to perform a specific operation of the docking station is input from the user through the control UI <NUM>, the user terminal device <NUM> may transmit a command to send the corresponding command to the docking station <NUM> to the mobile robot <NUM>. The control UI <NUM> illustrated in <FIG> is merely an example, and may be implemented as a UI that may require various operations to the docking station <NUM>.

For example, when a command to terminate the power of the docking station <NUM> is input from the user through a control UI <NUM>, the user terminal device <NUM> may transmit a command for requesting the mobile robot <NUM> to transmit a command to terminate the power supply to the docking station <NUM>. Upon receiving the command, the mobile robot <NUM> may transmit a command to terminate power to the docking station <NUM> through an infrared transmission module or the like. When a command to terminate the power supply is received through a near field communication module (e.g., an infrared receiving module, etc.), the docking station <NUM> may terminate the power supply. In another embodiment, the user terminal device <NUM> may output information related to state information and operation of the docking station <NUM> received from the mobile robot <NUM> in a voice form. Accordingly, the user may identify various information related to the state and operation of the docking station <NUM> through the user terminal device <NUM>.

According to another embodiment, the user terminal device <NUM> may execute an application capable of checking a state of the docking station <NUM> according to a user command and controlling an operation. The mobile robot <NUM> may transmit information and status information related to the operation received from the docking station <NUM> to the server <NUM> capable of managing or controlling the application. The server <NUM> may transmit information received from the mobile robot <NUM> to the user terminal device <NUM>. The user terminal device <NUM> may update information and state information related to an operation performed by the docking station <NUM>, which is previously stored, by using information related to the operation performed by the docking station <NUM> received from the server <NUM> and state information. When a user command for executing an application is input, the user terminal device <NUM> may display an application execution screen including a UI indicating information related to an operation performed by the updated docking station <NUM> and state information. Accordingly, the user may easily recognize information related to the operation of the docking station or the current state information of the docking station through the user terminal device <NUM>.

<FIG> and <FIG> are diagrams illustrating an operation of a docking station, a mobile robot, a user terminal device, and a sever according to an embodiment. 8B and 8C assume that the docking station <NUM> is a model of a type capable of performing a dust discharge operation.

As shown in <FIG>, the docking station <NUM> may transmit information related to the dust discharge operation to the mobile robot <NUM> using the IR module. However, this is merely an example, and the docking station <NUM> may transmit various information to the mobile robot <NUM> using various near field communicators such as an RF module. The mobile robot <NUM> may transmit information related to the dust discharge operation to the server <NUM>. In this case, the server <NUM> may be at least one of a server of a manufacturer of a mobile robot or a docking station, a server for managing and controlling an application capable of controlling a mobile robot or a docking station, and a relay server. As illustrated in <FIG>, the mobile robot <NUM> may transmit various information to the server <NUM> using a Wi-Fi module, but this is merely an example and various information may be transmitted to the server <NUM> using various wireless communication modules.

The server <NUM> may transmit received information related to the dust discharge operation to the user terminal device <NUM>. The user terminal device <NUM> may display an application screen including a UI indicating information related to a dust discharge operation. For example, when information indicating that the dust container of the docking station is not closed among the information related to the dust discharge operation is received, the user terminal device <NUM> may provide an application screen displaying a UI including the notification window <NUM> to close the dust container. Although <FIG> illustrates that the notification window <NUM> is displayed on the application screen, this is merely an example, and the user terminal device <NUM> may display the notification window <NUM> in various regions such as a push notification, a quick panel, and a lock screen.

As illustrated in <FIG>, the user terminal device <NUM> may receive a command to perform various operations from a user on an application capable of controlling a docking station or a mobile robot, as shown in <FIG>. For example, the user terminal device <NUM> may display an application screen including a control UI <NUM> capable of controlling the docking station <NUM>. When a toggle button for automatically discharging dust collected in the mobile robot <NUM> is input from the user, the user terminal device <NUM> may transmit a command to perform an operation of automatically discharging dust to the server <NUM>. The server <NUM> may transmit a command instructing to automatically discharge dust to the mobile robot <NUM> pre-registered by the user. If docked on the docking station <NUM>, the mobile robot <NUM> may transmit a command received from the server <NUM> to the docking station <NUM> using the near field communicator <NUM>-<NUM>. The docking station <NUM> may automatically discharge dust included in the docked mobile robot <NUM> in response to the received command.

<FIG> is a flowchart illustrating a mobile robot management method including the docking station <NUM> and the mobile robot <NUM> according to an embodiment of the present invention. The mobile robot <NUM> may transmit a command for discharging dust included in the mobile robot <NUM> to the docking station <NUM> in operation S1010. Specifically, if docked on the docking station <NUM>, the mobile robot <NUM> may transmit a command to discharge dust to the docking station <NUM> through the near field communicator.

In an embodiment, when the mobile robot <NUM> is docked on the docking station <NUM>, the mobile robot <NUM> may immediately transmit a command for discharging dust to the docking station <NUM>. In another embodiment, if the mobile robot <NUM> is docked on the docking station <NUM>, the docking station <NUM> may transmit information about the type of the docking station <NUM> to the mobile robot <NUM>. If it is identified that the docking station <NUM> is a type of device for discharging dust of the mobile robot through the information on the type of the docking station <NUM>, the mobile robot <NUM> may transmit a command for discharging dust to the docking station <NUM>.

When a command for discharging dust from the mobile robot <NUM> is received from the mobile robot <NUM>, the docking station <NUM> may obtain information related to the dust discharge operation from the mobile robot <NUM> in operation S1020. In order to transmit information related to the obtained operation to the user terminal device <NUM> connected to the mobile robot <NUM>, the docking station <NUM> may transmit information related to the obtained dust discharge operation to the mobile robot <NUM> in operation S1030. The docking station <NUM> may transmit information related to the obtained operation to the mobile robot <NUM> through a near field communicator (e.g., an infrared transmission module, or the like). The mobile robot <NUM> may transmit information related to the dust discharge operation received from the docking station <NUM> to the user terminal device <NUM> in operation S1040. Accordingly, the user may recognize information related to the state information or operation of the docking station through the user terminal device <NUM> or the like.

Embodiments may be implemented as software that includes instructions stored in machine-readable storage media readable by a machine (e.g., a computer). A device may call instructions from a storage medium and that is operable in accordance with the called instructions, including an electronic device (e.g., the electronic device <NUM>). When the instruction is executed by a processor, the processor may perform the function corresponding to the instruction, either directly or under the control of the processor, using other components. The instructions may include a code generated by a compiler or a code executed by an interpreter. The, "non-transitory" storage medium may not include a signal and is tangible, but does not distinguish whether data is permanently or temporarily stored in a storage medium. For example, the "non-transitory storage medium" may include a buffer in which data is temporarily stored.

According to various embodiments, a method disclosed herein may be provided in a computer program product. A computer program product may be traded between a seller and a purchaser as a commodity. A computer program product may be distributed in the form of a machine readable storage medium (e.g., compact disc ROM (CD-ROM)) or distributed online through an application store (e.g., PlayStore™) or distributed (e.g., download or upload) online between two user devices (e.g., smartphones) directly. In the case of on-line distribution, at least a portion of the computer program product (e.g., a downloadable app) may be stored temporarily or at least temporarily in a storage medium such as a manufacturer's server, a server in an application store, or a memory in a relay server.

Claim 1:
A mobile robot management system comprising:
a mobile robot (<NUM>): and
a docking station (<NUM>),
wherein the docking station (<NUM>) comprises:
a memory (<NUM>);
a near-field communicator (<NUM>) to communicate with the mobile robot;
a function performer (<NUM>) to remove dust collected in the mobile robot;
a processor (<NUM>) characterized in that the processor is configured to:
based on receiving a command to discharge dust from the mobile robot through the near-field communicator (<NUM>), obtain information related to dust discharge operation,
controlling the function performer (<NUM>) to remove the dust in the mobile robot, and
in order to transmit the obtained information related to the dust discharge operation to a user terminal device connected to the mobile robot, control the near-field communicator (<NUM>) to transmit the information related to the dust discharge operation to the mobile robot.