Patent ID: 12185887

MODE FOR INVENTION

The expressions used in the following directions, such as “front(F)/rear(R)/left(Le)/right(Ri)/up(U)/down(D)”, are defined as indicated in the drawings, but this is for the purpose of describing the present disclosure so that the present disclosure can be clearly understood, and it is obvious that directions can be defined differently according to where the reference is placed.

For example, a direction parallel to a virtual line connecting a central axis of a left rotary mop and a central axis of a right rotary mop is defined as a left and right direction, a direction which is perpendicularly intersects with the left and right direction, parallel to the central axis of the rotary mops, or has an error angle within 5 degrees or less is defined as an up and down direction, and a direction which is perpendicularly intersects the left and right direction and the up and down direction is defined as a front rear direction. Obviously, the front may mean a main traveling direction of the robot cleaner or a main traveling direction of a pattern traveling of the robot cleaner. Here, the main progress direction may mean a vector sum value of directions progressing within a certain time.

The use of the terms ‘first, second’, etc. in front of constituent element mentioned below is only to avoid confusion of a referred constituent element, and is not related to the order, importance or master-servant relationship between the constituent elements. For example, an invention including only a second constituent element without a first constituent element can be implemented.

In the drawings, the thickness or size of each constituent element is exaggerated, omitted, or schematically illustrated for convenience and clarity of description. In addition, the size and area of each constituent element does not entirely reflect the actual size or area.

In addition, the angle and direction mentioned in the process of explaining a structure of the present disclosure are based on what is described in drawing. In the description of the structure in the specification, if the reference point and the positional relationship with respect to the angle are not clearly mentioned, reference is made to related drawings

FIG.1is a perspective view of a robot cleaner according to an embodiment of the present disclosure,FIG.2is a bottom view of the robot cleaner ofFIG.1, andFIG.3is another state diagram of the bottom view of the robot cleaner ofFIG.2.

Referring toFIGS.1to3, the robot cleaner100according to an embodiment of the present disclosure may provide a service in a prescribed place such as a house. For example, it may be a robot cleaner100that provides a cleaning service at a designated place in a home or the like. In particular, the robot cleaner100may provide a dry, wet or dry/wet cleaning service according to a function block included.

The robot cleaner100may be provided with communication means (not shown) supporting one or more communication standards to communicate with each other. In addition, a plurality of robot cleaners100may communicate with a PC, a mobile terminal, and other external server.

For example, the plurality of robot cleaners100may be implemented to perform a wireless communication by using a wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, and the like.

In particular, the robot cleaner100may perform a wireless communication with other robot100and/or a server2through a 5G network. When the robot cleaner100performs a wireless communication through the 5G network, real-time response and real-time control can be achieved.

A user can check information related to the robots100through a user terminal such as a PC, a mobile terminal.

The robot cleaner100may be provided with communication means (not shown) supporting one or more communication standards to communicate with each other.

The robot cleaner100may transmit a space, object, and usage-related data to the server2.

Here, in the data, the space, object-related data may be data related to the recognition of the space and object recognized by the robot cleaner100, or may be image data for the space and object obtained by the image acquisition unit.

According to an embodiment, the robot cleaner100may include artificial neural networks (ANN) in the form of software or hardware learned to recognize at least one of a property of an object such as a user, a voice, a property of a space, an obstacle, and the like.

According to an embodiment of the present disclosure, the robot cleaner100may include a deep neural network (DNN) such as convolutional neural network (CNN), recurrent neural network (RNN), deep belief network (DBN), and the like, which have been learned by deep learning. For example, the controller140of the robot cleaner100may be equipped with a deep neural network (DNN) structure such as a convolutional neural network (CNN).

In addition, the usage-related data may be data obtained according to the use of the robot cleaner100, and may correspond to usage history data, a detection signal obtained from a sensor unit, and the like.

The learned deep neural network (DNN) structure may receive input data for recognition, recognize attributes of person, object, and space included in the input data, and output the result.

In addition, the learned deep neural network (DNN) structure may receive input data for recognition, analyze and learn the usage-related data of the robot cleaner100to recognize the use pattern, the use environment, and the like.

Accordingly, the robot100becomes more and more smart, and it is possible to provide an user experience (UX) that evolves as it is used.

The robot cleaner100that performs motion due to the rotation of the rotary mop according to the present embodiment moves within an area, and removes foreign matter on the floor surface during traveling.

In addition, the robot cleaner100travels on an area by storing charging power supplied from a charging base200in a battery (not shown).

The robot cleaner100includes a main body10for performing a designated operation, an obstacle detecting unit (not shown) disposed in the front surface of the main body10to detect obstacle, and an image acquisition unit170for photographing a 360-degree image. The main body10includes a casing (not shown) forming an outer shape and forming a space in which components constituting the main body10are accommodated, a rotary mop80provided to be rotatable, a roller89assisting the movement and cleaning of the main body10, and a charging terminal99supplied with charging power from the charging base2.

The rotary mop80is disposed in the casing and is formed toward the floor surface so that the mop cloth can be detachable. The rotary mop80includes a first rotating plate81and a second rotating plate82so that the main body10moves along the floor of an area through rotation.

The robot cleaner100according to the present embodiment may further include a water tank32disposed inside the main body10to store water, a pump34for supplying water stored in the water tank32to the rotary mop80, and a connection hose forming a connection flow path that connects the pump34and the water tank32or connects the pump34and the rotary mop80.

The robot cleaner100according to the present embodiment includes a pair of rotary mops80, and moves by rotating the pair of rotary mops80.

The main body10travels forward, backward, left, and right as the first and second rotating plates81and82of the rotary mop80rotate around a rotating shaft. In addition, as the first rotating plate and the second rotating plate81and82rotate, the main body10removes foreign matter on the floor surface by the attached mop cloth and performs wet cleaning.

The main body10may include a driving unit (not shown) for driving the first rotating plate81and the second rotating plate82. The driving unit may include at least one drive motor38.

A control panel including an operation unit (not shown) that receives various commands for controlling the robot cleaner100from a user may be provided in the upper surface of the main body10.

In addition, an image acquisition unit170is disposed in the front surface or upper surface of the main body10. The image acquisition unit170photographs an image of the indoor area. Based on the image photographed through the image acquisition unit170, it is possible to detect an obstacle around the main body as well as to monitor the indoor area.

The image acquisition unit170is disposed at a certain angle in a front and upper direction to photograph the front and the upper side of the mobile robot. The image acquisition unit170may further include a separate camera for photographing the front. The image acquisition unit170may be disposed in the upper portion of the main body10to face a ceiling, and in some cases, a plurality of cameras may be provided. In addition, the image acquisition unit170may be provided with a separate camera for photographing the floor surface.

The robot cleaner100may further include a location obtaining means (not shown) for obtaining the current location information. The robot cleaner100may include GPS and UWB to determine the current location. In addition, the robot cleaner100may determine the current location using an image.

The main body10is provided with a rechargeable battery (not shown). The charging terminal99of the battery is connected to a commercial power source (e.g. a power outlet in the home), or the main body10is docked to the charging base200connected to commercial power source. Thus, the charging terminal may be electrically connected to the commercial power source through contact with the terminal29of the charging base so that the battery can be charged by a charging power supplied to the main body10.

The electric components constituting the robot cleaner100may be supplied with power from a battery. Thus, the robot cleaner100can autonomously travel in a state where the robot cleaner100is electrically separated from the commercial power source while the battery is charged.

Hereinafter, the robot cleaner100will be described as an example of a mobile robot for wet cleaning, but is not limited thereto, and it should be noted that it is applicable to a robot that autonomously travels on an area and detects sound.

The rotary mop80used in the robot cleaner100of this embodiment is equipped with a microfiber or fabric type mop pad. Therefore, when rotating the rotary mop80, a slip occurs so that the robot cleaner100cannot move in comparison with the actual rotation of the rotary mop80. The rotary mop80may include a rolling mop driven by a rotation axis parallel to the floor, or a spin mop driven by a rotation axis almost perpendicular to the floor.

The robot cleaner100according to the present embodiment may further include a water tank32disposed inside the main body10and storing water, a pump34for supplying the water stored in the water tank32to the rotary mop80, and a connection hose forming a connection flow path that connects the pump34and the water tank32or connects the pump34and the rotary mop80. The robot cleaner100according to the present embodiment may supply the water stored in the water tank32to the rotary mop80by using a water supply valve (not shown) without a separate pump.

The robot cleaner100according to the present embodiment may be disposed in such a manner that the rotary mop80is inclined by a certain angle based on the floor surface. To facilitate the movement of the robot cleaner100, the entire surface of the rotary mop80may not be evenly contacted with the floor surface, but may be inclined by a certain angle (θ) to be contacted mainly at a certain portion of the rotary mop80. In addition, even if it comes into contact with the floor surface on the entire surface of the rotary mop80, it is also possible to dispose it to generate the most frictional force in a certain portion.

FIG.3is a diagram illustrating an embodiment in which a mop cloth is attached to the moving robot ofFIG.1.

As shown inFIG.3, the rotary mop80includes a first rotating plate81and a second rotating plate82.

The first rotating plate81and the second rotating plate82may be provided with attached mop cloth90(91,92), respectively.

The rotary mop80is configured such that mop cloth90(91,92) can be detachable. The rotary mop80may have a mounting member for attachment of the mop cloth90(91,92) provided in the first rotating plate81and the second rotating plate82, respectively. For example, the rotary mop80may be provided with a velcro, a fitting member, or the like so that the mop cloth90(91,92) can be attached and fixed. In addition, the rotary mop80may further include a mop cloth frame (not shown) as a separate auxiliary means for fixing the mop cloth90(91,92) to the first rotating plate81and the second rotating plate82.

The mop cloth90absorbs water to remove foreign matter through friction with the floor surface. The mop cloth90is preferably a material such as cotton fabric or cotton blend, but any material containing moisture in a certain ratio or higher and having a certain density can be used, and the material is not limited.

The mop cloth90is formed in a circular shape.

The shape of the mop cloth90is not limited to the drawing and may be formed in a quadrangle, polygon, or the like. However, considering the rotational motion of the first and second rotating plates81and82, it is preferable that the first and second rotating plates81are configured in a shape that does not interfere with the rotation operation of the first and second rotating plates81and82. In addition, the shape of the mop cloth90can be changed into a circular shape by the mop cloth frame provided separately.

The rotary mop80is configured such that when the mop cloth90is mounted, the mop cloth90comes into contact with the floor surface. Considering the thickness of the mop cloth90, the rotary mop80is configured to change a separation distance between a casing and the first and second rotating plates81and82according to the thickness of the mop cloth90.

The rotary mop80adjusts the separation distance between the casing and the rotating plate81,82so that the mop cloth90comes in contact with the floor surface, and the rotating plate81,82includes a mop fixing part (not shown) for fixing the mop cloth90. The mop fixing part may fix the mop cloth90in a detachable manner. The mop fixing part may be a velcro or the like disposed below the rotating plate81,82. The mop fixing part may be a hook or the like disposed in the edge of the rotating plate81,82.

FIG.4is a block diagram illustrating a controller of a robot cleaner and a configuration related to the controller according to an embodiment of the present disclosure.

The robot cleaner100according to the present embodiment further includes a motion detection unit110that detects the motion of the robot cleaner100according to a reference motion of the main body10when the spin mop rotates. The motion detection unit110may further include a gyro sensor112that detects the rotational speed of the robot cleaner100or an acceleration sensor114that detects an acceleration value of the robot cleaner100. In addition, the motion detection unit110may use an encoder (not shown) that detects the moving distance of the robot cleaner100.

The robot cleaner100according to the present embodiment provides power to the drive motor38that rotates the rotary mop80, and reads the output current of the drive motor38to transmit to a controller150.

The controller150transmits a current for rotating the drive motor38, reads the output current of the drive motor38according to a set cycle, and transmits the output current to the controller150.

The controller150receives the output current from a motor controller160and analyzes the output current to determine the current water content of the spin mop.

At this time, the controller150may acquire a plurality of image information according to a plurality of light sources by using a camera sensor having separate light sources and image sensors, and compare the acquired image information to determine the state of the floor. However, it is not limited thereto.

The robot cleaner100may further include a cliff sensor that detects the existence of a cliff on the floor in the cleaning area. The cliff sensor according to the present embodiment may be disposed in the front portion of the robot cleaner100. In addition, the cliff sensor according to the present embodiment may be disposed in one side of a bumper.

When the controller150includes the cliff sensor, the material of the floor can be determined based on the amount of the light that is output from the light emitting device and reflected from the floor and then received by the light receiving device, but is not limited thereto.

The controller150determines the water content of the rotary mop80and a certain floor state according to the value of the output current of the drive motor38.

The water content refers to the degree to which the rotary mop80contains water, and a state in which the water content is ‘0’ means a state in which water is not contained in the rotary mop80at all. The water content according to the present embodiment may be set to a ratio of containing water according to the weight of the mop pad. It is also possible that the rotary mop80contains water of the same weight as the weight of the mop pad, or contains water in excess of the weight of the mop pad.

As shown inFIG.5A, in the rotary mop80containing more water, as the water content is increased, the frictional force with the floor surface is increased due to the influence of water.

In addition, as shown inFIG.5B, when the rotation speed of the motor38for rotating the rotary mop80decreases, it means that the torque of the motor38increases, and accordingly, the output current of the drive motor38for rotating the rotary mop80increases.

That is, when the water content is increased, a relationship in which the output current of the drive motor38for rotating the rotary mop80is increased due to the increasing frictional force is established.

Accordingly, as the output current of the drive motor38is measured, it is possible to determine the current state of the water content of the rotary mop80.

The relationship between the output current of the drive motor38and the water content can be experimentally determined, and can be stored as data in a storage unit130described below.

The controller150reads data stored in the storage unit130, for example, corresponding data according to the relationship between the water content and the output current, which are arranged in a lookup table, and determines a specific water content.

For example, the controller150stores a threshold value for a corresponding output current value as data with respect to the output current value of the drive motor38and the water content, and compares the obtained output current value with the data of threshold value to determine whether the output current value in the current cycle is greater than the threshold value.

The threshold value may be defined as a minimum value of water content that can initiate wet cleaning.

The controller150may control the operation of the robot cleaner100by initially analyzing the value of the output current of the drive motor38according to a certain cycle.

The robot cleaner100according to the present embodiment may control to start cleaning in a state in which sufficient water content is satisfied by reading the output current value of the drive motor38by adding only simple logic.

Each data value for the output current value can be set experimentally, and can be updated by learning through artificial intelligence.

Meanwhile, the robot cleaner100of the present disclosure may include at least one water content sensor115, installed on the floor surface, for measuring the water content of the mop cloth90.

The water content sensor115is disposed in a surplus area between two rotating plates81and82, which are objects for measuring water content, as shown inFIGS.2and3, and senses the water content of the mop cloth90to output a detection signal to the controller150.

At this time, the water content sensor115may be formed to be close to the water tank, but may be formed to be close to the image sensor.

The water content sensor115may be a humidity sensor, or, alternatively, may be a conductivity sensor.

As described above, in the case of the conductivity sensor, the transferred electric conductivity is variable according to the water content of both mop cloths90, and the value of the output current is determined. Therefore, it is possible to determine the water content currently contained in the mop cloth90by reading the output detection signal.

The robot cleaner100according to the present embodiment may further include an input unit140for inputting a user's command. The user may set a driving method of the robot cleaner100, a threshold value of the water content of the spin mop, or the like through the input unit140.

In addition, the robot cleaner100may further include a communication unit, and may provide an alarm or information according to a determination result of the controller150to a server or a user terminal through the communication unit.

FIG.6is a diagram for explaining the motion of the robot cleaner100according to an embodiment of the present disclosure, and the traveling of the robot cleaner100and the movement of the robot cleaner100according to the rotation of the rotary mop will be explained with reference toFIG.6.

The robot cleaner100according to the present embodiment includes a pair of rotary mops, and moves by rotating the pair of rotary mops. The robot cleaner100may control the traveling of the robot cleaner100by varying the rotation direction or the rotation speed of each of the pair of rotary mops.

Referring toFIG.6A, the robot cleaner100may move in a straight line by rotating the pair of rotary mops in opposite directions. In this case, the rotation speed of each of the pair of rotary mops is the same, but the rotation direction is different. The robot cleaner100may move forward or backward by changing the rotation direction of both rotary mops.

In addition, referring toFIGS.6band6c, the robot cleaner100may rotate by rotating each of the pair of rotary mops in the same direction. The robot cleaner100may rotate in place by varying the rotation speed of each of the pair of rotary mops, or perform a round rotation that moves in a curve. The radius of the round rotation can be adjusted by varying the rotation speed ratio of each of the pair of rotary mops of the robot cleaner100.

Hereinafter, a method of controlling the water content of the robot cleaner100according to the present embodiment will be described with reference toFIGS.7and8.

FIG.7is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present disclosure.

The robot cleaner100according to the present embodiment may receive a cleaning start command from a server or an application of a user terminal. In addition, the robot cleaner100may receive a cleaning start command directly from the user through the input unit (S10).

Before starting cleaning according to the received cleaning start command, the controller150of the robot cleaner100escapes from the charging base200as a preliminary operation in a preliminary step and rotates the drive motor38to move (S11).

At this time, the preliminary operation may be a preset operation, and be a forward operation that moves to escape the charging base200such that the drive motor38is rotated to rotate the rotary mop80in a certain direction.

At this time, the controller150may read the initial value of the output current from the drive motor38and set an initial value (S12).

Before performing the wet cleaning, the controller150determines whether the current value of the drive motor38is greater than the threshold value, based on the output current value of the drive motor38obtained while performing the preliminary operation around the charging base200for a certain time (S13).

The threshold value may be defined as a minimum value that can be determined to be sufficient for the water content of the mop cloth90of the rotary mop80to proceed with a main wet cleaning, and when the initial output current value of the drive motor38is greater than the threshold value, it is determined to be sufficient to proceed with the main wet cleaning, so that the main wet cleaning is started (S15).

That is, the nozzle and the pump34are driven and the main wet cleaning is performed by rotating the rotary mop80while adjusting the water spray amount to maintain the water content of a certain value.

Meanwhile, when the motor current value obtained in the preliminary operation is smaller than the threshold value, the nozzle and the pump34are controlled to meet a certain water content, so that water spray is continued (S14). At this time, water spray may proceed in the state in which the robot cleaner100is stopped, that is, the driving of the drive motor38is stopped, but unlike this, water spray may proceed while implementing a motion such as a forward movement within a certain section or a rotation in place.

When a motion such as a forward movement within a certain section or an in-place rotation is performed, the rotary mop80is rotated due to the driving of the drive motor38, and water can be uniformly spread throughout the mop cloth90, so that the time for reaching a desired water content level can be effectively reduced.

Therefore, when the water content is improved to a certain level, the current value is read and compared with a threshold value, and when the current value is greater than the threshold value, the main cleaning start step is repeated.

When the main cleaning starts, the robot cleaner100moves and cleans while rotating the rotary mop80. The rotary mop80also performs wet cleaning in a state of containing certain water content according to water spray from the nozzle driven by the pump34.

At this time, the controller150may proceed with cleaning intensity and traveling by controlling the rotational direction and rotational speed of the rotary mop80, and perform cleaning while traveling in a certain mode according to the cleaning area.

As described above, when the cleaning start command is received, the controller150determines the water content by driving the drive motor38in a preliminary operation before the main cleaning step, so that the wet cleaning is performed only when the mop cloth90has more than a certain water content.

Therefore, it is possible to prevent the decrease of efficiency due to the performing of wet cleaning in a state in which the mop cloth90does not retain sufficient moisture.

When the cleaning is terminated, the controller150may control to return to the charging base200(S16).

The robot system according to the present embodiment may have a configuration as shown inFIG.1, and when the robot cleaner100performing the operation as shown inFIG.7exists in the robot system, it may provide an alarm for water shortage to a user by using an output current value of the drive motor38in association with the server2and the user terminal3.

Hereinafter, a control method of the robot cleaner will be described with reference toFIG.8.

Referring toFIG.8, the robot cleaner100according to another embodiment of the present disclosure may receive a cleaning start command from an application of a server or a user terminal. In addition, the robot cleaner100may receive a cleaning start command directly from a user through the input unit (S20).

Before starting cleaning according to the received cleaning start command, the controller150of the robot cleaner100escapes from the charging base200as a preliminary operation and rotates the drive motor38to move (S11). At this time, as a preliminary operation, the robot cleaner100may move to be located within a certain distance from the charging base200.

At this time, the controller150may read a detection signal for the initial water content from the water content sensor115to set an initial value (S22).

Before performing the wet cleaning, the controller150determines whether the water content from the detection signal for the initial water content from the water content sensor115is greater than the threshold value, based on the detection signal for the initial water content from the water content sensor115obtained while performing the preliminary operation for a certain time around the charging base200(S33).

The threshold value may be defined as a minimum value that can be determined to be sufficient for the water content of the mop cloth90of the rotary mop80to proceed with a main wet cleaning, and when the water content of the detection signal from the water content sensor115is greater than the threshold value, it is determined to be sufficient to proceed with the main wet cleaning, so that the main wet cleaning is started (S25).

That is, the nozzle and the pump34are driven and the main wet cleaning is performed by rotating the rotary mop80while adjusting the water spray amount to maintain the water content of a certain value.

Meanwhile, when the initial water content from the water content sensor115obtained in the preliminary operation is smaller than the threshold value, the nozzle and the pump34are controlled to satisfy certain water content at the current position while stopping the driving of the drive motor38, so that water spray is continued (S24).

Therefore, when the water content is improved to a certain level, the detection signal is read again from the water content sensor115and compared with a threshold value, and when the detection signal is greater than the threshold value, the main cleaning start step is repeated.

When the main cleaning starts, the robot cleaner100moves and cleans while rotating the rotary mop80. The rotary mop80also performs wet cleaning in a state of containing certain water content according to water spray from the nozzle driven by the pump34.

At this time, the controller150may proceed with cleaning intensity and traveling by controlling the rotational direction and rotational speed of the rotary mop80, and perform cleaning while traveling in a certain mode according to the cleaning area.

As described above, when the cleaning start command is received, the controller150determines the water content from the water content sensor115as a preliminary operation before the main cleaning step, so that the wet cleaning is performed only when the mop cloth90has more than a certain water content.

Therefore, it is possible to prevent the decrease of efficiency due to the performing of wet cleaning in a state in which the mop cloth90does not retain sufficient moisture.

When the cleaning is terminated, the controller150may control to return to the charging base200(S16).

Meanwhile, according to an embodiment of the present disclosure, a smart home system including the robot cleaner described above may be implemented.

Hereinafter, a smart home system will be described with reference toFIGS.9to11B.

FIG.9is a configuration diagram of a smart home system including a robot cleaner according to an embodiment of the present disclosure,FIG.10is a flow chart illustrating the overall operation of a robot cleaner system of the present disclosure ofFIG.9, andFIGS.11A and11Bare state diagrams of a user terminal for explaining the flowchart ofFIG.10.

Referring toFIG.9, a smart home system according to an embodiment of the present disclosure may include one or more robot cleaners100to provide a service in a prescribed place such as a house. For example, the robot system may include a robot cleaner100that provides a cleaning service at a designated place in a home or the like. In particular, the robot cleaner100may provide a dry, wet or dry/wet cleaning service according to an included function block.

Preferably, the robot system according to an embodiment of the present disclosure may include a plurality of artificial intelligence robot cleaners100and a server2capable of managing and controlling the plurality of artificial intelligence robot cleaners100.

The server2can remotely monitor and control the states of the plurality of robot cleaners100, and the robot system can provide a more effective service by using the plurality of robot cleaners100.

The plurality of robot cleaners100and the server2may be provided with communication means (not shown) supporting one or more communication standards to communicate with each other. In addition, the plurality of robot cleaners100and the server2may communicate with a PC, a mobile terminal, and other external server2.

For example, the plurality of robot cleaners100and the server2can be implemented to perform a wireless communication by using a wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, and the like. The robot cleaner100may be changed according to the communication method of other device or server2desired to communicate with.

In particular, the robot cleaner100may perform a wireless communication with other robot100and/or the server2through a 5G network. When the robot cleaner100performs a wireless communication through the 5G network, real-time response and real-time control can be achieved.

A user can check information related to the robots100in the robot system through a user terminal such as a PC, or a mobile terminal.

The server2may be implemented as a cloud server2, and the cloud server2may be linked to the robot100to monitor and control the robot cleaner100and remotely provide various solutions and contents.

The server2may store and manage information received from the robot cleaner100and other devices. The server2may be a server2provided by a manufacturer of the robot cleaner100or a company entrusted by a manufacturer. The server2may be a control server2for managing and controlling the robot cleaner100.

The server2may collectively control the robot cleaners100in the same manner, or may individually control the robot cleaners100. Meanwhile, the server2may be configured by distributing information and functions to a plurality of servers, or may be configured as a single integrated server.

The robot cleaner100and the server2may be provided with communication means (not shown) supporting one or more communication standards to communicate with each other.

The robot cleaner100is a robot cleaner according to an embodiment of the present disclosure described with reference toFIGS.1to4, and may be a smart cleaning robot that mainly performs wet cleaning.

The robot cleaner100may transmit data related to space, object, and usage to the server2.

Here, the data related to space, object, and usage may be a recognition-related data of space and object recognized by the robot cleaner100, or may be image data for space and object acquired by the image acquisition unit.

According to an embodiment, the robot cleaner100and the server2may include artificial neural networks (ANN) in the form of software or hardware learned to recognize at least one of attributes of object such as a user, a voice, an attribute of space, and an obstacle.

The server2allows the deep neural network (DNN) to learn based on data received from the robot cleaner100, data input by the user, and the like, and may transmit the updated deep neural network (DNN) structure data to the robot1. Accordingly, the deep neural network (DNN) structure of artificial intelligence provided by the robot100may be updated.

Based on the received data, the server2may allow the deep neural network (DNN) to learn, and transmit the updated deep neural network (DNN) structure data to the artificial intelligence robot cleaner100to update.

Accordingly, the robot100becomes more and more smart, and it is possible to provide a user experience (UX) that evolves as it is used.

Meanwhile, the server2may provide information related to the control and the current state of the robot cleaner100to the user terminal, and can generate and distribute an application for controlling the robot cleaner100.

Such an application may be an application for PC applied as the user terminal3or an application for smartphone.

For example, it may be an application for controlling a smart home appliance, such as a SmartThinQ application, which is an application that can simultaneously control and manage various electronic products of the present applicant.

Hereinafter, a control method of a smart home system including a robot cleaner performing the operations ofFIGS.1to8will be described with reference toFIG.10.

Referring toFIG.10, in the robot system including the robot cleaner100according to an embodiment of the present invention, the robot cleaner100, the server2, and the user terminal3may perform control of the robot cleaner100by performing wireless communication with each other.

First, the server2of the robot system produces a user application that can control the robot cleaner100, and holds the application in a state that can be distributed online.

The user terminal3downloads and installs the user application online (S100).

The user terminal3executes the user application and registers a member and registers the robot cleaner100owned by a user in a corresponding application, and links the application with a corresponding robot cleaner100.

The user terminal3may set various functions for a corresponding robot cleaner100, and specifically, as shown inFIG.11A, it is possible to set a cleaning cycle, a preparation time for a preliminary operation for checking the water content of the rotary mop80, and a method of alarming the result of checking the water content of the rotary mop80according to the preparation time (S110).

The preparation time may be preferably within 3 minutes, and more preferably 0.5 to 1.5 minutes.

As an alarm method, a sound alarm and a display alarm can be selected, and an alarm cycle can also be set.

Further, in addition to displaying the alarm on the application of the user terminal3as an alarm method, a method that the robot cleaner100itself provides an alarm to arouse the user's attention may also be selected.

The user terminal3transmits data to the server2through the application for such a setting information, stores data in the server2(S111), and transmits data through the wireless communication for the preparation time for water content detection and alarm setting information also to the robot cleaner100.

Next, the robot cleaner100may receive a cleaning start command from an application of the user terminal3(S112). At this time, the start information from the application of the user terminal3can be transmitted to the server2and stored in the server2(S113).

When receiving a cleaning start command (S114), as a preliminary operation prior to the cleaning start, the robot cleaner100may perform an operation of measuring the water content of the rotary mop (S115).

At this time, in order to measure the water content, as described above, the output current of the motor may be detected and calculated, or the water content may be calculated through the output value from the water content sensor.

The robot cleaner100may transmit information related to the calculated water content to the server2through the communication unit (S116), and the server2may store the information.

Next, the robot cleaner100determines whether a corresponding water content exceeds a threshold value (S117).

At this time, the threshold value may be a minimum water content value for performing wet cleaning as described above.

The robot cleaner100may transmit the determination information to the server2through the communication unit (S118), and the server2may store the information.

In addition, when the water content is equal to or lower than a threshold value according to the determination information, the controller notifies the user terminal3that the water content of the corresponding robot cleaner100is insufficient through the application (S120).

As shown inFIG.11B, the user terminal3may display an information window for the robot cleaner100in the corresponding application, and an insufficient water content may be displayed in the information window.

At this time, the alarm of insufficient water content may be periodically flickered to arouse the user's attention.

The application of the user terminal3may induce a command for the next operation of the robot cleaner100to the user along with an alarm of insufficient water content.

As an example, as shown inFIG.11B, a selectable icon for various operations may be activated in the lower end or the surrounding of the alarm of insufficient water content.

Specifically, in the next operation, a water spray progress icon or a cleaning stop icon may be iconized and activated to increase the water content (S212).

The user terminal3may select one of the icons and transmit selection information to the robot cleaner100(S122).

The robot cleaner100analyzes the selection information (S124), and when a water spray start icon for increasing the water content is selected, the operation of the pump of the robot cleaner100is started and the water is sprayed from the nozzle, so that the water content of the mop cloth of the rotary mop can be increased.

At this time, the robot cleaner125may periodically detect the water content and proceed with the cleaning operation when the water content exceeds the threshold value (S125).

Meanwhile, when a cleaning stop icon of the user terminal3is selected, all operation of the drive motor38of the robot cleaner100stops so that the rotation of the rotary mop80of the robot cleaner100stops. This stop is achieved in the current position in a state where the operation of the robot cleaner100is stopped (S126).

At this time, when selecting the cleaning stop icon according to the setting, it is possible to induce the user to specifically determine the cause of the insufficient water content by transmitting information related to the current position to the user terminal3(S217).

As described above, after checking the water content of the rotary mop80before the start of the main cleaning, the wet cleaning starts in a state in which a certain level of water content is satisfied. Accordingly, uniform cleaning may be performed for all zones in which cleaning is performed.

Although the exemplary embodiments of the present disclosure have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. Accordingly, the scope of the present disclosure is not construed as being limited to the described embodiments but is defined by the appended claims as well as equivalents thereto.

[EXPLANATION OF REFERENCE NUMERAL]100: robot cleaner10: main body32: water tank34: pump38: drive motor80: rotary mop150: controller115: water content sensor130: storage unit140: input unit2: server3: user terminal