KR20190003157A - Robot cleaner and robot cleaning system - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cleaner and a robot cleaning system. More particularly, the present invention relates to a robot cleaner and a robot cleaner that recognize home appliances provided in a region to be cleaned, recognize home appliances provided in the region to be cleaned, Cleaning system.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner and a robot cleaning system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cleaner and a robot cleaning system, and more particularly, to a robot cleaner and a robot cleaning system that recognize a home appliance provided in a cleaning subject area and perform traveling and cleaning.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A representative example of the domestic robot is a robot cleaner, which is a type of household appliance that sucks and cleanes dust or foreign matter around the robot while traveling in a certain area by itself. Such a robot cleaner is generally equipped with a rechargeable battery and has an obstacle sensor capable of avoiding obstacles during traveling, so that it can run and clean by itself. The cleaner operates independently without interlocking with other devices, and performs the traveling and cleaning of the area to be cleaned based on collected information by operating alone. Here, the cleaner recognizes the position of the vehicle while driving and carries out cleaning and cleaning on the area to be cleaned, and creates a cleaning map based on the collected information.

In order to clean all the areas while traveling by itself, the cleaner must be able to recognize the position while driving and to prepare a cleaning map based on the recognized position. Various furniture or home appliances are arranged in the area to be cleaned, The writing was hard to be done. In addition, the operation time is limited, and there is a restriction that traveling, cleaning, and mapping of the entire area to be cleaned can not be performed smoothly due to the characteristics of the cleaner that operates independently without interlocking with other devices. This has led to a limitation of the cleaning range and limitation of the operable area. Particularly, this restriction becomes larger when cleaning a large-sized space in which various furniture and home appliances are arranged. Due to such a restriction, the cleaner has a limitation in that accuracy / efficiency / utility / applicability / scalability of the cleaning function for the area to be cleaned is limited. In recent years, a home management / network system for controlling and controlling home devices has been proposed. However, the vacuum cleaner is difficult to apply to such a system due to the above-described problems of availability and applicability.

As a result, in the conventional cleaner, traveling and mapping are difficult to be performed by various furniture or home appliances disposed in the area to be cleaned, and it is difficult to operate and operate independently without interlocking with other devices, It has been difficult to carry out accurate, efficient, proper running, cleaning, and mapping, and thus, the applicability / applicability has been limited. In addition, due to these limitations, various functions can not be added / expanded to improve convenience, and it is difficult to apply the system to a system provided with various functions.

SUMMARY OF THE INVENTION Accordingly, the present invention is directed to providing a robot cleaner and a robot cleaning system capable of recognizing home appliances provided in a cleaning target area and performing traveling and cleaning, thereby improving the limitations of the prior art.

Specifically, a robot cleaner and a robot cleaning system capable of recognizing home appliances and creating a cleaning map based on the home appliances and cleaning a specific point in the cleaning target area are provided.

The present invention also provides a robot cleaner and a robot cleaning system that can automatically perform cleaning according to an operation state of a home appliance.

In addition, the present invention is intended to provide a robot cleaner and a robot cleaning system capable of performing point cleaning according to the position and operation state of a home appliance.

In addition, the present invention is intended to provide a robot cleaner and a robot cleaning system that can extend the cleaning range of the vacuum cleaner and extend the functions and utilization range of the vacuum cleaner.

Technical Solution In order to solve the above problems, the robot cleaner and the robot cleaning system disclosed in the present specification recognize a home appliance provided in a cleaning area and perform traveling and cleaning.

More specifically, it is necessary to recognize the home appliance through the photographing section, to create a cleaning map for the area to be cleaned based on the recognized position and product information, and to carry out traveling and cleaning on the basis of the prepared cleaning map As a solution.

The present invention also provides a task resolution means for recognizing the home appliance through a photographing portion and a communication portion and performing communication with the home appliance to perform traveling and cleaning of the area to be cleaned according to the operation state of the home appliance .

The robot cleaner disclosed in the present specification having the technical features as described above is a robot cleaner for traveling and cleaning the area to be cleaned. The robot cleaner includes a main body that forms an appearance of the cleaner, a photographing part that photographs the periphery of the main body, And a control unit for analyzing the photographing result of the photographing unit, recognizing one or more home appliances existing at the photographed place, and controlling traveling and cleaning of the main body based on the recognition result.

In one embodiment, the photographing section can photograph the household appliance when the home appliance exists in the vicinity of the main body during traveling.

In one embodiment, the household appliance is provided with a recognition code including identification information, and the photographing section can photograph the recognition code provided in the household appliance.

In one embodiment, the control unit can identify and recognize the home appliance by analyzing the recognition code.

In one embodiment, the control unit can identify and recognize the home appliance by analyzing the recognition code based on the previously stored recognition information.

In one embodiment, the identification information may be identification information of the household appliance corresponding to the identification code.

In one embodiment, the control unit may analyze the photographing result and recognize the position and the product information of the home appliance.

In one embodiment, the control unit may create a cleaning map for the area to be cleaned based on the position of the home appliance and the product information.

In one embodiment, the control unit may reflect the position and the product information of the household appliance on the cleaning map for the created cleaning target area.

In one embodiment, the communication apparatus further includes a communication unit that performs communication with the recognized home appliance, and the control unit can control traveling and cleaning of the main body based on a communication result of the communication unit.

In one embodiment, the communication unit receives information on the operation state from the recognized home appliance, and the control unit can control traveling and cleaning of the main body according to the operation state.

In one embodiment, the control unit may control traveling and cleaning of the main body to clean the periphery of the home appliance in accordance with the product group of the home appliance.

In one embodiment, the control unit may control driving and cleaning of the main body to clean the periphery of the home appliance according to a predetermined control criterion according to a product group of the home appliance.

In one embodiment, the control unit may control driving and cleaning of the main body so as to clean the periphery of the home appliance before or after the appliance starts to operate.

According to another aspect of the present invention, there is provided a robot cleaner for traveling and cleaning a cleaning target area provided with at least one household appliance, the robot cleaner comprising: a body forming an outer appearance of the cleaner; A communication unit that transmits a photographing result of the photographing unit to a central server in which information of the home appliance is stored and receives information of the home appliance from the central server; And a controller for controlling the traveling and cleaning of the main body on the basis of the recognition result.

In one embodiment, the central server can determine the home appliance photographed by the photographing section based on the photographing result and the previously stored device information, and transmit the device information corresponding to the determined device to the communication section.

In one embodiment, the central server may update the pre-stored device information based on the photographing result.

In one embodiment, the central server can create a cleaning map for the area to be cleaned based on the device information, and transmit the cleaning map to the communication unit.

In one embodiment, the control unit may control traveling and cleaning of the main body based on the received cleaning map.

In one embodiment, the controller can recognize the location and product information of the home appliance based on the received appliance information.

In one embodiment, the control unit may create a cleaning map for the area to be cleaned based on the position of the home appliance and the product information.

In one embodiment, the control unit may reflect the position and the product information of the household appliance on the cleaning map for the created cleaning target area.

In one embodiment, the communication unit performs communication with the recognized home appliance to receive information on the operating state from the home appliance, and the control unit controls the traveling and cleaning of the main body according to the operating state can do.

In one embodiment, the control unit may control traveling and cleaning of the main body to clean the periphery of the home appliance in accordance with the product group of the home appliance.

In one embodiment, the control unit may control driving and cleaning of the main body to clean the periphery of the home appliance according to a predetermined control criterion according to a product group of the home appliance.

In one embodiment, the control unit may control driving and cleaning of the main body so as to clean the periphery of the home appliance before or after the appliance starts to operate.

In addition, the robot cleaning system disclosed in the present specification, which has technical features as described above, includes a robot cleaner for cleaning a region to be cleaned, one or more home appliances provided in the area to be cleaned, And a central server communicating with the home appliance and the cleaner, wherein the cleaner recognizes the home appliance on the basis of a result of communication with the central server, and runs and cleans the area to be cleaned.

In one embodiment, the vacuum cleaner photographs the home appliances existing in the vicinity of the vehicle while driving and transmits the photographed result to the central server, and the central server judges, based on the photographing result and pre- And transmits the appliance information corresponding to the determined appliance to the cleaner.

In one embodiment, the central server may update the pre-stored device information based on the photographing result.

In one embodiment, the central server may create a cleaning map for the area to be cleaned based on the device information, and transmit the cleaning map to the cleaner.

In one embodiment, the cleaner can travel and clean the area to be cleaned based on the received cleaning map.

In one embodiment, the cleaner can recognize the location and product information of the home appliance based on the received appliance information.

In one embodiment, the cleaner can create a cleaning map for the area to be cleaned based on the position of the home appliance and the product information.

In one embodiment, the cleaner may reflect the position and product information of the household appliance on a cleaning map for the created cleaning target area.

In one embodiment, the cleaner recognizes the home appliance, communicates with the home appliance, and can run and clean the area to be cleaned based on the result of communication with the appliance.

In one embodiment, the home appliance transmits information on an operating state to the cleaner, and the cleaner can travel and clean the area to be cleaned according to the operation state.

In one embodiment, the cleaner can clean the periphery of the household appliances according to a product group of the household appliances.

In one embodiment, the cleaner may clean the periphery of the home appliance in accordance with a predetermined control criterion according to a product group of the home appliance.

In one embodiment, the cleaner may clean the periphery of the household appliance before or after the appliance is operated.

In one embodiment, the cleaner communicates with the central server that communicates with the home appliance, and can run and clean the area to be cleaned based on the result of communication with the central server.

In one embodiment, the household appliance transmits information on an operating state to the central server, and the cleaner receives information on the operating state from the central server, and according to the operating state, Can be driven and cleaned.

In one embodiment, the cleaner can clean the periphery of the household appliances according to a product group of the household appliances.

In one embodiment, the cleaner may clean the periphery of the home appliance in accordance with a predetermined control criterion according to a product group of the home appliance.

In one embodiment, the cleaner may clean the periphery of the household appliance before or after the appliance is operated.

The robot cleaner and the robot cleaning system disclosed in this specification recognize and carry out home appliances provided in the area to be cleaned, thereby performing accurate and detailed running and cleaning of the area to be cleaned equipped with one or more home appliances There is an effect that can be.

In addition, the robot cleaner and the robot cleaning system disclosed in the present specification can perform traveling and cleaning on the basis of information of recognized home appliances, thereby making cleaning map for the area to be cleaned, It is effective.

Accordingly, the robot cleaner and the robotic cleaning system disclosed in this specification have an effect that an accurate and efficient traveling / cleaning operation and mapping can be performed.

Further, the robot cleaner and the robot cleaning system disclosed in this specification can perform various cleaning operations and cleaning functions for the cleaning target area by performing traveling and cleaning based on the information of the recognized home appliances have.

In addition, the robot cleaner and the robot cleaning system disclosed in the present specification communicate with the recognized home appliances to perform traveling and cleaning according to the operating state of the home appliances, so that the operating state of the home appliances, that is, So that an appropriate cleaning according to the state can be performed.

In addition, the robot cleaner and the robot cleaning system disclosed in the present specification communicate with the recognized home appliances to perform traveling and cleaning according to the operation state of the home appliances, Can be achieved.

In addition, the robot cleaner and the robot cleaning system disclosed in the present specification communicate with the recognized home appliances to perform traveling and cleaning according to the operation state of the home appliances, thereby automatically cleaning specific points in the cleaning target area .

In addition, the robot cleaner and the robot cleaning system disclosed in the present specification perform traveling and cleaning on the basis of the information of the recognized home appliances, thereby expanding the range of the cleaner to be cleaned, There is an effect.

Accordingly, the robot cleaner and the robotic cleaning system disclosed in this specification have an effect of increasing the applicability / utility / efficiency / applicability of the cleaner in the area to be cleaned.

In addition, the robot cleaner and the robotic cleaning system disclosed in the present specification can perform an efficient home network system construction by performing traveling and cleaning through communication with a central server.

Accordingly, the robot cleaner and the robot cleaning system disclosed in the present specification can increase the functionality / utility / utility / suitability / applicability of the home network system technology field as well as the technical field of the robot cleaner.

As a result, the robot cleaner and the robot cleaning system disclosed in the present specification not only improve the limitations of the prior art, but also offer the development direction of the related art through the above-mentioned effects and promote the development.

1 is a block diagram showing a configuration of a robot cleaner disclosed in this specification;
Fig. 2 is a view showing an example of the body of the robot cleaner disclosed in this specification. Fig.
3 shows an example of a body of the robot cleaner disclosed in this specification.
4 is a block diagram showing a configuration according to an embodiment of the robot cleaner disclosed in this specification;
5 is an exemplary view showing an example of a household appliance of the robot cleaner disclosed in this specification;
6 is an illustration showing an example of a recognition code of a household appliance according to an embodiment of the robot cleaner disclosed in this specification;
7 is an exemplary view showing an example of a cleaning target area according to the embodiment of the robot cleaner disclosed in this specification;
8 is an exemplary view for explaining traveling and cleaning examples according to an embodiment of the robot cleaner disclosed in this specification;
9 is a block diagram showing the configuration of the robot cleaner disclosed in this specification and the robot cleaning system including the same.

The techniques disclosed herein can be applied to a robot cleaner and a robot cleaning system. However, the technology disclosed in this specification is not limited thereto, and can be applied to all the cleaning robots, the automatic cleaner, and the control system thereof to which the technical idea of the present invention can be applied.

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the scope of the technology disclosed herein. Also, the technical terms used herein should be interpreted as being generally understood by those skilled in the art to which the presently disclosed subject matter belongs, unless the context clearly dictates otherwise in this specification, Should not be construed in a broader sense, or interpreted in an oversimplified sense. In addition, when a technical term used in this specification is an erroneous technical term that does not accurately express the concept of the technology disclosed in this specification, it should be understood that technical terms which can be understood by a person skilled in the art are replaced. Also, the general terms used in the present specification should be interpreted in accordance with the predefined or prior context, and should not be construed as being excessively reduced in meaning.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In this specification, the terms " comprising ", or " comprising " and the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted.

Further, in the description of the technology disclosed in this specification, a detailed description of related arts will be omitted if it is determined that the gist of the technology disclosed in this specification may be obscured. It is to be noted that the attached drawings are only for the purpose of easily understanding the concept of the technology disclosed in the present specification, and should not be construed as limiting the spirit of the technology by the attached drawings.

Hereinafter, the robot cleaner and the robot cleaning system disclosed in this specification will be described with reference to Figs. 1 to 9, respectively.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a block diagram showing a configuration of a robot cleaner disclosed in the present specification. FIG.

2 is an exemplary view 1 showing an example of the body of the robot cleaner disclosed in this specification.

3 is an exemplary view 2 showing an example of a body of the robot cleaner disclosed in this specification.

4 is a block diagram showing a configuration according to an embodiment of the robot cleaner disclosed in this specification.

5 is an exemplary view showing an example of a household appliance of the robot cleaner disclosed in this specification.

6 is an exemplary view showing an example of a recognition code of a household appliance according to an embodiment of the robot cleaner disclosed in this specification.

7 is an exemplary view showing an example of a cleaning object area according to an embodiment of the robot cleaner disclosed in this specification.

8 is an exemplary view for explaining traveling and cleaning examples according to the embodiment of the robot cleaner disclosed in this specification.

FIG. 9 is a block diagram showing a configuration of a robot cleaner and a robot cleaning system including the robot cleaner disclosed in the present specification.

<Robot cleaner 1>

First, an embodiment of the robot cleaner 1 (hereinafter referred to as a cleaner) disclosed in this specification will be described with reference to Figs. 1 to 8. Fig.

The robot cleaner 1 disclosed in the present specification may be implemented as a part or a combination of elements or steps included in the following embodiments, or may be implemented as a combination of the embodiments, and the technical terms used are only used to describe specific embodiments And does not limit the spirit of the technology disclosed herein.

The cleaner may be a cleaning robot for cleaning the area to be cleaned

Here, the area to be cleaned may mean an indoor environment having one or more zones.

For example, it may mean an indoor space, i.e., a home space, having a structure including at least one room.

The cleaner may be a cleaning robot provided in the area to be cleaned and performing cleaning while traveling the area to be cleaned.

The cleaner may be a cleaning robot that performs running and cleaning automatically or by user's operation.

The cleaner may be a cleaning robot that travels through the area to be cleaned and recognizes the position.

The cleaner may be a cleaning robot that recognizes a position during traveling and creates a map of the area to be cleaned.

The cleaner may have a plurality of configurations for traveling and cleaning.

The cleaner 100 is provided in the area to be cleaned 1 as shown in FIG. 1 to travel and clean the area to be cleaned 1.

2, the cleaner 100, which is provided in the area to be cleaned 1 as shown in FIG. 1 to travel and clean the area to be cleaned 1, (11) for photographing the periphery of the main body (10), and one or more home appliances (200) existing in a place where the photographing result of the photographing unit (11) And a control unit 20 for controlling driving and cleaning of the main body 10 based on the recognition result.

The cleaner 100 may be in the form as shown in Fig. 2 or in the form shown in Fig.

3, the vacuum cleaner 100 includes a sensing unit 110, a suction unit 120, and a dust box 130 in the main body 10, can do.

The sensing unit 110 may be disposed at one side of the main body 10 where the suction unit 120 is located, that is, at a front side of the main body 10.

The sensing unit 110 may protrude from the upper surface and the side surface of the main body 10 and the upper end may protrude upward from the upper surface of the main body 10. [

The sensing unit 110 may be arranged to overlap the suction unit 120 in the vertical direction of the main body 100.

That is, the sensing unit 110 is disposed at an upper portion of the suction unit 120, so that the suction unit 120 located at the forefront of the vacuum cleaner 100 does not obstruct the obstacle, And so on.

The sensing unit 110 may further be configured to perform a sensing function other than the sensing function.

The suction unit 120 may be arranged to protrude from one side of the main body 10 to suck air containing dust.

Here, the one side may be the side on which the main body 10 travels in the forward direction F, that is, the front side of the main body 10.

The suction unit 120 may be detachably coupled to the main body 10.

When the suction unit 120 is detached from the main body 10, a mop module (not shown) may be detachably coupled to the main body 10 in place of the separated suction unit 120.

The dust-containing air introduced through the suction unit 120 may be introduced into the dust container 130 via the intake air passage in the main body 10. [

The cleaner 100 may have a shape as shown in FIG. 2 or FIG. 3, and may have various forms that can perform traveling and cleaning in addition to the shape shown in FIG. 2 or FIG.

In the vacuum cleaner 100, the photographing unit 11 photographs the periphery of the main body 10 while the main body 10 is running.

That is, the photographing unit 11 may be means for photographing the area to be cleaned 1 while the main body 10 is running.

The photographing unit 11 may be a camera for photographing the surroundings of the cleaner 100 while driving.

The photographing unit 11 may be controlled by the control unit 20 to photograph the surroundings.

The photographing unit 11 may transmit the photographed result photographed while driving to the control unit 20 so that the control unit 20 controls the driving and cleaning operation of the main body 10 .

In the vacuum cleaner 100, the controller 20 may be a central processing unit of the vacuum cleaner 100.

The control unit 20 may include a plurality of circuit configurations for arithmetic processing.

The control unit 20 may be connected to other components included in the main body 10 to control various functions of the main body 10 to be performed.

The control unit 20 may drive and control one or more other components included in the main body 10 so that various functions of the main body 10 may be performed.

That is, the controller 20 may drive and control other components included in the main body 10 to control the moving operation including traveling and cleaning of the main body 10. [

A specific example of the control unit 20 for controlling the configuration of the main body 10 and the configurations included in the main body 10 is as shown in FIG.

4, the main body 10 includes a communication unit 12, a power source unit 13, an input unit 14, a detection unit 15, a cleaning unit 16, an output unit 17, a storage unit 18 And a driving unit 19. The control unit 20 may be connected to each of the components included in the inside and the outside of the main body 10 to control each of the connected components.

The control unit 20 controls driving and cleaning of the main body 10 through the control of the above-described configurations, and controls the driving of the main body 10, data processing, communication with an external device, Can be controlled.

The communication unit 12 may be means for communicating with external communication means.

The communication unit 12 may transmit at least one of cleaning map, time information, status information, and obstacle location information of the cleaner 100 to an external communication unit and receive control signals from the external communication unit have.

Here, the external communication means includes all the wired / wireless communication devices capable of mutual communication with the communication unit 12, and may be, for example, a server, a computer, a mobile phone, a PDA (Personal Digital Assistants) An information communication terminal or the like, or a home appliance provided in the area to be cleaned 1.

The communication unit 12 is controlled by the control unit 20 to transmit information on the operation of the vacuum cleaner 100 to the external communication means or to control the operation of the vacuum cleaner 100 A control signal for control may be received.

The power supply unit 13 may be a means for storing and supplying driving power of the vacuum cleaner 100.

That is, the power source unit 13 may be a battery of the vacuum cleaner 100.

The power supply unit 13 can charge the driving power from the charging stand of the vacuum cleaner 100 and store it.

The power supply unit 13 may be a battery that stores the driving power charged in the charging stand and supplies the driving power to one or more configurations included in the main body 10. [

The power supply unit 13 may charge the driving power by receiving the driving power from the docked charging base by docking the main body 10 to the charging base.

In this case, the main body 10 is docked to the docked charging stand so that the charging terminal provided in the outer case is electrically connected to the charging terminal provided in the docked charging stand, and receives the driving power through the connected charging terminal So that the power source unit 13 can be charged.

The power supply unit 13 may be controlled by the control unit 20 to supply the driving power to one or more components included in the main body 10. [

That is, the charging and supplying of the driving power of the power supply unit 13 can be controlled by the control unit 20. [

The power supply unit 13 may also transmit status information of the power supply unit 13 to the control unit 20 so that the control unit 20 controls the power supply unit 13 based on the status information.

For example, the control unit 20 transmits the status information of the charging status of the power unit 13, the consumption of the driving power, and the supply status of the power unit 13 to the controller 20 so that the controller 20 may charge the driving power based on the status information And to control the supply.

The input unit 14 may be means for the user's operation or command input to the cleaner 100.

The input unit 14 may include a plurality of buttons for operating the operation of the vacuum cleaner 100.

The input unit 14 includes an OK button for inputting a command for confirming the pre-cleaning area and a non-cleaning area, a setting button for inputting a command to be set, a reset button for inputting a command for resetting, A cleaning start button for inputting a command for performing a cleaning operation based on the set areas, and a stop button for inputting a command for stopping the cleaning operation.

Here, when the output unit 17 has a form of a touch screen capable of both inputting and outputting, the function of the input unit 14 may be included in the output unit 17.

The input unit 14 may be operated by a user to transmit a signal to the control unit 20 so that the control unit 20 controls the operation of the vacuum cleaner 100 based on the signal.

The detection unit 15 may be means for detecting environmental information around the main body 10 or information about a cleaning operation of the vacuum cleaner 100. [

The detection unit 15 may include an obstacle detection sensor that detects an obstacle around the main body 10. [

The detection unit 15 transmits a signal such as a supersonic sensor, an infrared sensor, and an RF sensor to detect the position of the obstacle and the distance to the obstacle through the received signal A collision sensor that detects an obstacle by collision with an obstacle, and the like can be used.

The detection unit 15 may be controlled by the control unit 20 to detect an obstacle around the main body 10. [

The detection unit 15 may also transmit the detected information to the control unit 20 so that the control unit 20 controls the position recognition and mapping operation based on the detected information.

The cleaning unit 16 may be a means for cleaning the foreign substance during traveling of the cleaner 100.

The cleaning unit 16 may absorb foreign substances under the main body 10 during movement or stop, thereby performing a cleaning operation.

The cleaning unit 16 may include an air purification unit for purifying contaminants in the air.

The cleaning unit 16 may be controlled by the control unit 20 to perform a cleaning operation while driving.

The output unit 17 may be provided on the upper surface or the side surface of the main body 10 and may be a means for displaying the operation of the vacuum cleaner 100 on the outside.

The output unit 17 may display the operation status of the main body 10 controlled by the control unit 20, such as a cleaning map generated by the control unit 20.

The output unit 17 may further display one or more pieces of time information among a cleaning start time, a required time, an end time, a remaining time, an expected time, and a current time.

The output unit 17 may further display status information such as the current status of the components included in the main body 10 or the current cleaning status.

The output unit 17 may be a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, an organic light emitting diode (OLED) It may be formed of any one of the elements.

Here, the output unit 17 may have a form of a touch screen capable of both inputting and outputting.

The output unit 17 may be controlled by the control unit 20 to display the operation of the vacuum cleaner 100 on the outside.

The storage unit 18 may be a means for storing information on the traveling of the cleaner 100. [

The storage unit 18 may be various types of memories such as a RAM (Random Access Memory) and a ROM (Read Only Memory).

The storage unit 18 may store data generated and processed by the controller 20 such as a cleaning history of the cleaner 100, a cleaning map, cleaning time information, status information, and obstacle information.

The storage unit 18 may be controlled by the control unit 20 to store data generated and processed by the control unit 20.

The storage unit 18 may also transmit the stored data to the control unit 20 so that the control unit 20 controls the operation of the cleaner 100 based on the stored data.

The driving unit 19 may be a wheel for moving the main body 10.

The driving unit 19 can move the main body 10 to travel the main body 10.

The driving unit 19 may be controlled by the control unit 20 to drive the main body 10.

That is, the main body 10 may be driven by the control unit 20 controlling the driving unit 19.

The driving unit 19 may be provided on each of the left and right sides of the lower surface of the main body 10 in a pair.

The driving unit 19 is provided on each of the left and right sides of the lower portion of the main body 10 and is provided at a position where the center of gravity can be maintained when the main body 10 is in a stopped state or running .

That is, the driving unit 19 is provided at each of left and right sides of the lower portion of the main body 10, and may be provided at a position where the main body 10 can be easily moved.

For example, on the left and right sides of the central portion of the main body 10, respectively.

The control unit 20 controls the functions of the main body 10 such as the moving operation including traveling and cleaning of the vacuum cleaner 1, To be performed.

The cleaner 100 including the main body 10, the photographing section 11 and the control section 20 as described above is configured such that the photographing section 11 photographs the periphery of the main body 10 while the main body 10 is running , The control unit 20 analyzes the photographing result of the photographing unit 11 and recognizes one or more home appliances 200 existing at the photographed place, .

That is, the photographing unit 11 photographs the home appliance 200, recognizes the home appliances 200 photographed by the controller 20, and controls driving and cleaning of the main body 10 .

Here, the household appliance 200 may refer to a home appliance provided in the area to be cleaned 1.

5, any one of the air conditioner 200 # 1, the TV 200 # 2, the refrigerator 200 # 3, the washing machine 200 # 4 and the oven 200 # .

One or more of the home appliances 200 may be provided in the area to be cleaned 1 and used by the user of the area to be cleaned 1.

One or more of the home appliances 200 may be provided at different positions within the cleaning target area 1, respectively.

The home appliance 200 may include a wireless communication module that communicates with an external communication unit by a wireless communication method.

Here, the external communication means includes all of the wireless communication devices capable of communicating with the wireless communication module. For example, the external communication means may include a wireless communication module, for example, A central server, a computer, a mobile phone, a PDA (Personal Digital Assistants) phone, a smart phone, and the like.

The home appliance 200 can communicate with the external communication means through a wireless communication system including Bluetooth or Wi-Fi communication system.

The home appliance 200 can also communicate with other home appliances provided in the area 1 to be cleaned.

The home appliance 200 preferably communicates with a central server that integrally controls / controls the area to be cleaned 1, and may share information with the central server or may be shared by the central server Can be integratedly controlled.

The photographing unit 11 can photograph the home appliance 200 when the home appliance 200 is present in the vicinity of the main body 10 during traveling.

That is, the photographing unit 11 may photograph the home appliances 200 so that the home appliances 200 may be photographed when the home appliances 200 are present at a photographing target place during driving.

As shown in FIG. 6, the home appliance 200 photographed by the photographing unit 11 may be provided with a recognition code 210 including identification information.

The recognition code 210 may be a code image including the identification information as a basis for identifying the home appliance 200.

Such as a BAR code, a QR code, an RFID tag, an NFC tag, or the like, or may be a specific type of image.

In this case, the photographing section 11 can photograph the recognition code 210 provided in the home appliance 200. [

The recognition code 210 is preferably provided at the lower end of the home appliance 200.

The photographing unit 11 may photograph the recognition code 210 so that the control unit 20 analyzes the recognition code 210. [

The control unit 20 can identify and recognize the home appliance 200 by analyzing the recognition code 210. [

That is, the control unit 20 identifies the home appliance 200 provided with the recognition code 210 based on the recognition code 210 photographed by the photographing unit 11, 200).

The control unit 20 can identify and recognize the home appliance 200 by analyzing the identification information included in the recognition code 210. [

For example, the recognition code 210 provided in the air conditioner includes identification information for identifying the air conditioner, and the controller 20 analyzes the identification information included in the recognition code 210, It is possible to identify and recognize that the home appliance 200 is an air conditioner.

The control unit 20 can identify and recognize the home appliance 200 by analyzing the recognition code 210 based on the previously stored recognition information.

Here, the identification information may be identification information of the home appliance 200 corresponding to the recognition code 210. [

For example, table information such as [Acknowledgment code # 1 for air conditioner], [Recognition code # 2 for TV], [Recognition code # 3 for refrigerator], [Recognition code # 4 for washing machine] and [Recognition code # 5 for oven] Lt; / RTI &gt;

The control unit 20 can identify and recognize the home appliance 200 by determining information corresponding to the recognition code 210 among the recognition information.

For example, if the recognition information is [A recognition code # 1 is an air conditioner], [A recognition code # 2 is a TV], [A recognition code # 3 is a refrigerator], [A recognition code # 4 is a washing machine] Oven], and if the recognition code 210 corresponds to recognition code # 2, the home appliance 200 can identify and recognize the TV.

The control unit 20 can analyze the photographing result and recognize the position and the product information of the home appliance 200.

The control unit 20 analyzes the photographing result to identify the home appliance 200, recognizes the position information of the home appliance 200 based on the position where the appliance 200 is photographed, And the product information of the home appliance 200 can be recognized based on the result.

That is, the control unit 20 can recognize the position and the product information of the home appliance 200 by analyzing the photographing result.

The control unit 20 may store the recognized result as information on the area to be cleaned (1).

The control unit 20 can create a cleaning map for the area to be cleaned 1 based on the position of the home appliance 200 and the product information.

The control unit 20 can create the cleaning map so that the position of the home appliance 200 and the product information are included in the cleaning map.

The cleaning map is information on the basis of which the cleaner 100 travels and cleans the area to be cleaned 1 and includes information on the structure of the area to be cleaned 1, the position of the structure, May be included.

7, for example, the first appliance 200 # 1 is located at the first point P1 of the first area 1a in the area 1 to be cleaned, When the device 200 # 2 is located at the second point P2 of the second area 1b and the third home appliance 200 # 3 is located at the third point P3 of the third area 1c, The cleaning map can be created as shown in FIG.

The control unit 20 creates the cleaning map so that the position and the product information of the home appliance 200 are included in the cleaning map and controls the running and cleaning of the main body 10 based on the cleaning map .

The control unit 20 may also reflect the position of the home appliance 200 and the product information on the cleaning map for the created cleaning target area 1.

That is, when the cleaning map is prepared in advance, the control unit 20 may modify the previously created cleaning map so that the position and the product information of the home appliance 200 are reflected on the cleaning map previously created.

The vacuum cleaner 100 recognizing the home appliance 200 and traveling and cleaning the home appliance 200 may further include the communication unit 12 that communicates with the recognized home appliance 200. The controller 20 Can control traveling and cleaning of the main body 10 based on the communication result of the communication unit 12. [

The communication unit 12 can communicate with the recognized home appliances 200 in a wireless communication manner.

The communication unit 12 can communicate with the recognized home appliances 200 and can exchange information with each other.

The communication unit 12 receives information on the operation state from the recognized home appliance 200 and the control unit 20 can control driving and cleaning of the main body 10 in accordance with the operation state have.

That is, the vacuum cleaner 100 may be configured such that the communication unit 12 receives information on the operation state from the home appliance 200, and the control unit 20 controls the operation of the home appliance 200 according to the operation state of the appliance 200 The driving and cleaning of the main body 10 can be controlled.

For example, the driving and cleaning of the main body 10 may be controlled according to the state before, during, or after the operation of the home appliance 200.

Alternatively, the driving and cleaning of the main body 10 may be controlled according to the operation mode of the home appliance 200.

The control unit 20 may control driving and cleaning of the main body 10 to clean the periphery of the home appliance 200 according to the product group of the home appliance 200. [

That is, the control unit 20 controls driving and cleaning of the main body 10 according to the operation state of the home appliance 200, and controls the operation of the home appliance 200 according to the product group of the home appliance 200 The driving and cleaning of the main body 10 can be controlled to clean the periphery.

For example, when the home appliance 200 is an air conditioner, dust and moisture may be generated around the home appliance 200 after the appliance 200 is operated. Therefore, after the appliance 200 is operated, 200 can be cleaned around the periphery of the home appliance 200 by controlling traveling and cleaning of the main body 10.

If the home appliance 200 is a TV, dust may be generated around the home appliance 200 after the appliance 200 is operated. Therefore, after the appliance 200 is operated, The periphery of the home appliance 200 can be cleaned by controlling traveling and cleaning of the main body 10 to clean the periphery of the home appliance 200. [

Alternatively, when the household appliance 200 is an oven, foreign substances generated during cooking may be dispersed to the surroundings after the household appliance 200 operates. Therefore, after the household appliance 200 operates, 200 can be cleaned around the periphery of the home appliance 200 by controlling traveling and cleaning of the main body 10.

The range of the peripheral area of the home appliance 200 to be cleaned by the cleaner 100 when the periphery of the home appliance 200 is cleaned according to the product group of the home appliance 200 is not limited to the range of the home appliance 200 ). &Lt; / RTI &gt;

For example, as shown in FIG. 8, when the household appliance 200 is the air conditioner 200 # 1, the appliance 200 is cleaned mainly in front of the appliance 200, In the case of the TV 200 # 2, the viewable range of the home appliances 200 can be cleaned.

The control unit 20 may control traveling and cleaning of the main body 10 to clean the periphery of the home appliance 200 according to a predetermined control criterion according to the product group of the home appliance 200. [

For example, when the household appliance 200 is a refrigerator and the household appliance 200 is not opened or closed for a predetermined period of time or consumed no power, the user uses the household appliance 200 It is determined that the cleaning of the home appliances 200 is in a favorable time zone and the circumference of the home appliances 200 is controlled to be cleaned.

The control unit 20 may control traveling and cleaning of the main body 10 so as to clean the periphery of the home appliance 200 before or after the home appliance 200 operates.

That is, the control unit 20 controls the main body 200 to clean the periphery of the home appliance 200 before or after the home appliance 200 operates according to the product group of the home appliance 200 10 of the vehicle.

<Robot cleaner 2>

Hereinafter, an embodiment of the robot cleaner 2 (hereinafter referred to as a cleaner) disclosed in this specification will be described with reference to FIG. 9, with further reference to FIGS. 4 to 7. FIG.

The robot cleaner 2 disclosed in this specification can be implemented as a part or a combination of the configurations or steps included in the above-described or later embodiments, or can be implemented as a combination of the embodiments, And is not intended to limit the scope of the technology disclosed herein.

The cleaner may be a cleaning robot for cleaning the area to be cleaned, such as the robot cleaner 1 described above

Here, the area to be cleaned may mean an indoor environment having one or more zones.

For example, it may mean an indoor space, i.e., a home space, having a structure including at least one room.

The cleaner may be a cleaning robot provided in the area to be cleaned and performing cleaning while traveling the area to be cleaned.

The cleaner may be a cleaning robot that performs running and cleaning automatically or by user's operation.

The cleaner may be a cleaning robot that travels through the area to be cleaned and recognizes the position.

The cleaner may be a cleaning robot that recognizes a position during traveling and creates a map of the area to be cleaned.

The cleaner may have a plurality of configurations for traveling and cleaning.

The cleaner 100 is provided in the area to be cleaned 1 having one or more home appliances 200 as shown in FIG. 9 to travel and clean the area to be cleaned 1.

The cleaner 100 provided in the cleaning area 1 as shown in FIG. 9 for traveling and cleaning the area to be cleaned 1 includes a main body 10 A photographing unit 11 for photographing the home appliance 200 existing in the vicinity of the main body 10 and a photographing unit 11 for photographing the photographing result of the photographing unit 11 in a central server 300 to receive the information of the home appliance 200 from the central server 300 and the home appliance 200 on the basis of the communication result of the communication unit 12, And a control unit (30) for controlling driving and cleaning of the main body (10) based on the recognition result.

In the vacuum cleaner 100, the photographing unit 11 photographs the periphery of the main body 10 while the main body 10 is running.

That is, the photographing unit 11 may be means for photographing the area to be cleaned 1 while the main body 10 is running.

The photographing unit 11 may be a camera for photographing the surroundings of the cleaner 100 while driving.

The photographing unit 11 may be controlled by the control unit 20 to photograph the surroundings.

The photographing unit 11 may transmit the photographed result photographed while driving to the control unit 20 so that the control unit 20 controls the driving and cleaning operation of the main body 10 .

In the vacuum cleaner 100, the communication unit 12 may be means for communicating with external communication means.

The communication unit 12 may transmit at least one of cleaning map, time information, status information, and obstacle location information of the cleaner 100 to an external communication unit and receive control signals from the external communication unit have.

The external communication means includes all of the wired and wireless communication devices capable of communicating with the communication unit 12 and may be configured to communicate with the central server 300 or a computer as well as a mobile phone, ), An information communication terminal such as a phone or a smart phone, or a home appliance 200 provided in the area to be cleaned 1.

The communication unit 12 is controlled by the control unit 20 to transmit information on the operation of the vacuum cleaner 100 to the external communication means or to control the operation of the vacuum cleaner 100 A control signal for control may be received.

In the vacuum cleaner 100, the controller 20 may be a central processing unit of the vacuum cleaner 100.

The control unit 20 may include a plurality of circuit configurations for arithmetic processing.

The control unit 20 may be connected to other components included in the main body 10 to control various functions of the main body 10 to be performed.

The control unit 20 may drive and control one or more other components included in the main body 10 so that various functions of the main body 10 may be performed.

That is, the controller 20 may drive and control other components included in the main body 10 to control the moving operation including traveling and cleaning of the main body 10. [

A specific example of the control unit 20 for controlling the configuration of the main body 10 and the configurations included in the main body 10 is as shown in FIG.

4, the main body 10 includes a power source unit 13, an input unit 14, a detection unit 15, a cleaning unit 16, an output unit 17, a storage unit 18, and a driving unit 19 And the control unit 20 may be connected to each of the components included in the inside and the outside of the main body 10 to control each of the connected components.

The control unit 20 controls driving and cleaning of the main body 10 through the control of the above-described configurations, and controls the driving of the main body 10, data processing, communication with an external device, Can be controlled.

The power supply unit 13 may be a means for storing and supplying driving power of the vacuum cleaner 100.

That is, the power source unit 13 may be a battery of the vacuum cleaner 100.

The power supply unit 13 can charge the driving power from the charging stand of the vacuum cleaner 100 and store it.

The power supply unit 13 may be a battery that stores the driving power charged in the charging stand and supplies the driving power to one or more configurations included in the main body 10. [

The power supply unit 13 may charge the driving power by receiving the driving power from the docked charging base by docking the main body 10 to the charging base.

In this case, the main body 10 is docked to the docked charging stand so that the charging terminal provided in the outer case is electrically connected to the charging terminal provided in the docked charging stand, and receives the driving power through the connected charging terminal So that the power source unit 13 can be charged.

The power supply unit 13 may be controlled by the control unit 20 to supply the driving power to one or more components included in the main body 10. [

That is, the charging and supplying of the driving power of the power supply unit 13 can be controlled by the control unit 20. [

The power supply unit 13 may also transmit status information of the power supply unit 13 to the control unit 20 so that the control unit 20 controls the power supply unit 13 based on the status information.

For example, the control unit 20 transmits the status information of the charging status of the power unit 13, the consumption of the driving power, and the supply status of the power unit 13 to the controller 20 so that the controller 20 may charge the driving power based on the status information And to control the supply.

The input unit 14 may be means for the user's operation or command input to the cleaner 100.

The input unit 14 may include a plurality of buttons for operating the operation of the vacuum cleaner 100.

The input unit 14 includes an OK button for inputting a command for confirming the pre-cleaning area and a non-cleaning area, a setting button for inputting a command to be set, a reset button for inputting a command for resetting, A cleaning start button for inputting a command for performing a cleaning operation based on the set areas, and a stop button for inputting a command for stopping the cleaning operation.

Here, when the output unit 17 has a form of a touch screen capable of both inputting and outputting, the function of the input unit 14 may be included in the output unit 17.

The input unit 14 may be operated by a user to transmit a signal to the control unit 20 so that the control unit 20 controls the operation of the vacuum cleaner 100 based on the signal.

The detection unit 15 may be means for detecting environmental information around the main body 10 or information about a cleaning operation of the vacuum cleaner 100. [

The detection unit 15 may include an obstacle detection sensor that detects an obstacle around the main body 10. [

The detection unit 15 transmits a signal such as a supersonic sensor, an infrared sensor, and an RF sensor to detect the position of the obstacle and the distance to the obstacle through the received signal A collision sensor that detects an obstacle by collision with an obstacle, and the like can be used.

The detection unit 15 may be controlled by the control unit 20 to detect an obstacle around the main body 10. [

The detection unit 15 may also transmit the detected information to the control unit 20 so that the control unit 20 controls the position recognition and mapping operation based on the detected information.

The cleaning unit 16 may be a means for cleaning the foreign substance during traveling of the cleaner 100.

The cleaning unit 16 may absorb foreign substances under the main body 10 during movement or stop, thereby performing a cleaning operation.

The cleaning unit 16 may include an air purification unit for purifying contaminants in the air.

The cleaning unit 16 may be controlled by the control unit 20 to perform a cleaning operation while driving.

The output unit 17 may be provided on the upper surface or the side surface of the main body 10 and may be a means for displaying the operation of the vacuum cleaner 100 on the outside.

The output unit 17 may display the operation status of the main body 10 controlled by the control unit 20, such as a cleaning map generated by the control unit 20.

The output unit 17 may further display one or more pieces of time information among a cleaning start time, a required time, an end time, a remaining time, an expected time, and a current time.

The output unit 17 may further display status information such as the current status of the components included in the main body 10 or the current cleaning status.

The output unit 17 may be a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, an organic light emitting diode (OLED) It may be formed of any one of the elements.

Here, the output unit 17 may have a form of a touch screen capable of both inputting and outputting.

The output unit 17 may be controlled by the control unit 20 to display the operation of the vacuum cleaner 100 on the outside.

The storage unit 18 may be a means for storing information on the traveling of the cleaner 100. [

The storage unit 18 may be various types of memories such as a RAM (Random Access Memory) and a ROM (Read Only Memory).

The storage unit 18 may store data generated and processed by the controller 20 such as a cleaning history of the cleaner 100, a cleaning map, cleaning time information, status information, and obstacle information.

The storage unit 18 may be controlled by the control unit 20 to store data generated and processed by the control unit 20.

The storage unit 18 may also transmit the stored data to the control unit 20 so that the control unit 20 controls the operation of the cleaner 100 based on the stored data.

The driving unit 19 may be a wheel for moving the main body 10.

The driving unit 19 can move the main body 10 to travel the main body 10.

The driving unit 19 may be controlled by the control unit 20 to drive the main body 10.

That is, the main body 10 may be driven by the control unit 20 controlling the driving unit 19.

The driving unit 19 may be provided on each of the left and right sides of the lower surface of the main body 10 in a pair.

The driving unit 19 is provided on each of the left and right sides of the lower portion of the main body 10 and is provided at a position where the center of gravity can be maintained when the main body 10 is in a stopped state or running .

That is, the driving unit 19 is provided at each of left and right sides of the lower portion of the main body 10, and may be provided at a position where the main body 10 can be easily moved.

For example, on the left and right sides of the central portion of the main body 10, respectively.

The control unit 20 controls the functions of the main body 10 such as the moving operation including traveling and cleaning of the vacuum cleaner 1, To be performed.

The cleaner 100 including the main body 10, the photographing unit 11, the communication unit 12 and the control unit 20 may be structured such that the photographing unit 11 is provided on the main body 10 The communication unit 12 transmits the photographing result of the photographing unit 11 to the central server 300 and the central server 300 transmits the photographing result of the photographing unit 11 to the central server 300, The controller 20 receives the information of the home appliance 200 and recognizes the home appliance 200 based on the communication result of the communication unit 12, And cleaning.

Here, the household appliance 200 may refer to a home appliance provided in the area to be cleaned 1.

5, any one of the air conditioner 200 # 1, the TV 200 # 2, the refrigerator 200 # 3, the washing machine 200 # 4 and the oven 200 # .

One or more of the home appliances 200 may be provided in the area to be cleaned 1 and used by the user of the area to be cleaned 1.

The home appliance 200 may include a wireless communication module that communicates with an external communication unit by a wireless communication method.

Here, the external communication means includes all of the wireless communication devices capable of communicating with the wireless communication module. For example, the external communication means may include a wireless communication module, for example, And may be an information communication terminal such as the central server 300, a computer, a mobile phone, a PDA (Personal Digital Assistants) phone, a smart phone, or the like.

The home appliance 200 can communicate with the external communication means through a wireless communication system including Bluetooth or Wi-Fi communication system.

The home appliance 200 can also communicate with other home appliances provided in the area 1 to be cleaned.

The home appliance 200 may preferably communicate with the central server 300 that controls and controls the area to be cleaned 1 to share information with the central server 300 , Or by the central server (300).

Here, the central server 300 may refer to a home server that integrally controls / controls the area to be cleaned (1).

The central server 300 can communicate with the vacuum cleaner 100 and the household appliances 200 in a wireless communication manner to exchange information with each other.

The photographing unit 11 can photograph the home appliance 200 when the home appliance 200 is present in the vicinity of the main body 10 during traveling.

That is, the photographing unit 11 may photograph the home appliances 200 so that the home appliances 200 may be photographed when the home appliances 200 are present at a photographing target place during driving.

As shown in FIG. 6, the home appliance 200 photographed by the photographing unit 11 may be provided with a recognition code 210 including identification information.

The recognition code 210 may be a code image including the identification information as a basis for identifying the home appliance 200.

Such as a BAR code, a QR code, an RFID tag, an NFC tag, or the like, or may be a specific type of image.

In this case, the photographing section 11 can photograph the recognition code 210 provided in the home appliance 200. [

The recognition code 210 is preferably provided at the lower end of the home appliance 200.

The photographing unit 11 may photograph the recognition code 210 so that the central server 300 identifies the home appliance 200 on the basis of the recognition code 210. [

The communication unit 12 communicates with the central server 300 in a wireless communication manner to transmit the photographing result of the photographing unit 11 to the central server 300, Information of the device 200 can be received.

The central server 300 determines the home appliances photographed by the photographing unit 11 based on the photographing result and the previously stored device information and transmits the appliance information corresponding to the judged appliance to the communication unit 12 .

Here, the pre-stored device information may include a photo image of the home appliance provided in the area to be cleaned (1).

The pre-stored device information may further include a current location of the home appliance 200 and product information.

The central server 300 matches the photographed result with the photographic image included in the previously stored device information to determine the home appliances photographed by the photographing unit 11, And transmits it to the communication unit 12.

That is, the central server 300 can identify the home appliances 200 based on the photographing result and the pre-stored device information.

The central server 300 can also identify the home appliance 200 by analyzing the recognition code 210.

That is, the central server 300 may identify the home appliances 200 provided with the recognition code 210 based on the recognition code 210 photographed by the photographing unit 11.

The central server 300 can identify the home appliance 200 by analyzing the identification information included in the recognition code 210. [

For example, the recognition code 210 provided in the air conditioner includes identification information for identifying the air conditioner, and the central server 300 analyzes the identification information included in the recognition code 210 , It is possible to identify that the home appliance 200 is an air conditioner.

The central server 300 can identify the home appliance 200 by analyzing the recognition code 210 based on the previously stored recognition information.

Here, the identification information may be identification information of the home appliance 200 corresponding to the recognition code 210. [

For example, table information such as [Acknowledgment code # 1 for air conditioner], [Recognition code # 2 for TV], [Recognition code # 3 for refrigerator], [Recognition code # 4 for washing machine] and [Recognition code # 5 for oven] Lt; / RTI &gt;

The central server 300 can identify the home appliance 200 by determining information corresponding to the recognition code 210 among the recognition information.

For example, if the recognition information is [A recognition code # 1 is an air conditioner], [A recognition code # 2 is a TV], [A recognition code # 3 is a refrigerator], [A recognition code # 4 is a washing machine] Oven], and if the recognition code 210 corresponds to the recognition code # 2, the household appliance 200 may be identified as a TV.

The central server 300 may analyze the photographing result to determine the position and the product information of the home appliance 200.

The central server 300 analyzes the photographing result to identify the home appliance 200 and determines the position information of the home appliance 200 on the basis of the position where the appliance 200 is photographed, And can determine the product information of the home appliance 200 based on the identification result.

That is, the central server 300 can determine the location and product information of the home appliance 200 by analyzing the photographing result.

The central server 300 may update the previously stored device information based on the photographing result.

For example, the information on the current position of the home appliance 200 may be updated.

The central server 300 can create a cleaning map for the area to be cleaned 1 based on the device information and transmit the cleaning map to the communication unit 12. [

The central server 300 can create a cleaning map for the area to be cleaned 1 based on the position of the home appliance 200 and the product information included in the device information.

The central server 300 may create the cleaning map so that the position of the home appliance 200 and the product information are included in the cleaning map.

The cleaning map is information on the basis of which the cleaner 100 travels and cleans the area to be cleaned 1 and includes information on the structure of the area to be cleaned 1, the position of the structure, May be included.

7, for example, the first appliance 200 # 1 is located at the first point P1 of the first area 1a in the area 1 to be cleaned, When the device 200 # 2 is located at the second point P2 of the second area 1b and the third home appliance 200 # 3 is located at the third point P3 of the third area 1c, The cleaning map can be created as shown in FIG.

The control unit 20 can control traveling and cleaning of the main body 10 based on the cleaning map received from the central server 300.

The control unit 20 can recognize the position and the product information of the home appliance 200 based on the device information received from the central server 300.

The control unit 20 creates a cleaning map for the area to be cleaned 1 based on the position of the home appliance 200 and the product information, Cleaning can be controlled.

The control unit 20 may also reflect the position of the home appliance 200 and the product information on the cleaning map for the created cleaning target area 1.

That is, when the cleaning map is prepared in advance, the control unit 20 may modify the previously created cleaning map so that the position and the product information of the home appliance 200 are reflected on the cleaning map previously created.

The communication unit 12 of the cleaner 100 recognizing the home appliance 200 and traveling and cleaning the home appliance 200 communicates with the home appliance 200 as recognized, And the control unit 20 can control driving and cleaning of the main body according to the operation state.

That is, the vacuum cleaner 100 may be configured such that the communication unit 12 receives information on the operation state from the home appliance 200, and the control unit 20 controls the operation of the home appliance 200 according to the operation state of the appliance 200 The driving and cleaning of the main body 10 can be controlled.

For example, the driving and cleaning of the main body 10 may be controlled according to the state before, during, or after the operation of the home appliance 200.

Alternatively, the driving and cleaning of the main body 10 may be controlled according to the operation mode of the home appliance 200.

The control unit 20 may control driving and cleaning of the main body 10 to clean the periphery of the home appliance 200 according to the product group of the home appliance 200. [

That is, the control unit 20 controls driving and cleaning of the main body 10 according to the operation state of the home appliance 200, and controls the operation of the home appliance 200 according to the product group of the home appliance 200 The driving and cleaning of the main body 10 can be controlled to clean the periphery.

For example, when the home appliance 200 is an air conditioner, dust and moisture may be generated around the home appliance 200 after the appliance 200 is operated. Therefore, after the appliance 200 is operated, 200 can be cleaned around the periphery of the home appliance 200 by controlling traveling and cleaning of the main body 10.

If the home appliance 200 is a TV, dust may be generated around the home appliance 200 after the appliance 200 is operated. Therefore, after the appliance 200 is operated, The periphery of the home appliance 200 can be cleaned by controlling traveling and cleaning of the main body 10 to clean the periphery of the home appliance 200. [

Alternatively, when the household appliance 200 is an oven, foreign substances generated during cooking may be dispersed to the surroundings after the household appliance 200 operates. Therefore, after the household appliance 200 operates, 200 can be cleaned around the periphery of the home appliance 200 by controlling traveling and cleaning of the main body 10.

The range of the peripheral area of the home appliance 200 to be cleaned by the cleaner 100 when the periphery of the home appliance 200 is cleaned according to the product group of the home appliance 200 is not limited to the range of the home appliance 200 ). &Lt; / RTI &gt;

For example, as shown in FIG. 8, when the household appliance 200 is the air conditioner 200 # 1, the appliance 200 is cleaned mainly in front of the appliance 200, In the case of the TV 200 # 2, the viewable range of the home appliances 200 can be cleaned.

The control unit 20 may control traveling and cleaning of the main body 10 to clean the periphery of the home appliance 200 according to a predetermined control criterion according to the product group of the home appliance 200. [

For example, when the household appliance 200 is a refrigerator and the household appliance 200 is not opened or closed for a predetermined period of time or consumed no power, the user uses the household appliance 200 It is determined that the cleaning of the home appliances 200 is in a favorable time zone and the circumference of the home appliances 200 is controlled to be cleaned.

The control unit 20 may control traveling and cleaning of the main body 10 so as to clean the periphery of the home appliance 200 before or after the home appliance 200 operates.

That is, the control unit 20 controls the main body 200 to clean the periphery of the home appliance 200 before or after the home appliance 200 operates according to the product group of the home appliance 200 10 of the vehicle.

<Robot Cleaning System>

Hereinafter, an embodiment of the robot cleaning system (hereinafter, referred to as a system) disclosed in this specification will be described with continued reference to FIG. 9, but the parts common to and / or duplicated with those described in the <Robot cleaner 2> Will be described.

The robotic cleaning system disclosed herein may be implemented as a part or a combination of the configurations or steps included in the above-described or later embodiments, or may be implemented as a combination of the embodiments, and the technical terms used are only specific examples And is not intended to limit the scope of the technology disclosed herein.

The system may be a cleaning system of a robot cleaner that carries out cleaning simultaneously with driving.

The system may be a cleaning system of the robot cleaner for the area to be cleaned.

That is, the system may be a system in which cleaning is performed in the area to be cleaned by the cleaner.

The system may be a cleaning system for a cleaning target area of a robot cleaner that performs running and cleaning automatically or by user's operation.

The system may be a system for controlling the robot cleaner to recognize a position while driving and to create a map of the area to be cleaned.

The system is a cleaning system of the robot cleaner 2 as described above, specifically, a system in which the cleaner performs cleaning in an area to be cleaned having one or more home appliances.

That is, the system may be a robot cleaner 2 as described above or a system applied to the robot cleaner 2.

9, the system 1000 includes a robot cleaner 100 for cleaning the area to be cleaned 1, at least one household appliance 200 provided in the area to be cleaned 1, And a central server 300 for storing information of the appliance 200 and communicating with the home appliance 200 and the cleaner 100.

Here, the cleaner 100 recognizes the home appliance 200 based on a result of communication with the central server 300, and runs and cleans the area 1 to be cleaned.

The vacuum cleaner 100 may be the vacuum cleaner 100 previously described in the &quot; robot cleaner 2 &quot;.

The cleaner 100 is a robot cleaner that travels and cleans the area 1 to be cleaned like the cleaner 100 described in the robot cleaner 2, (11) for photographing home appliances existing in the vicinity of the main body (10), a central server (300) in which the information of the home appliances (200) , A communication unit (12) for receiving the information of the home appliance (200) from the central server (300), and the home appliance (200) based on the communication result of the communication unit And a control unit 20 for controlling driving and cleaning of the main body 10 based on the result.

The cleaner 100 photographs the home appliances 200 existing in the vicinity of the vehicle while traveling and transmits the photographing result to the central server 300. The central server 300 detects the photographing result and the pre- It is possible to determine the home appliance 200 photographed by the vacuum cleaner 100 based on the device information and transmit the appliance information corresponding to the determined appliance to the cleaner 100.

Here, the pre-stored device information may include a photo image of the home appliance provided in the area to be cleaned (1).

The pre-stored device information may further include a current location of the home appliance 200 and product information.

The central server 300 determines the home appliances photographed by the cleaner 100 by matching the photographed result and the photographed images included in the previously stored appliance information and transmits the appliance information corresponding to the determined appliance to the cleaner 100. [ (100).

That is, the central server 300 can identify the home appliances 200 based on the photographing result and the pre-stored device information.

The central server 300 may analyze the photographing result to determine the position and the product information of the home appliance 200.

The central server 300 analyzes the photographing result to identify the home appliance 200 and determines the position information of the home appliance 200 on the basis of the position where the appliance 200 is photographed, And can determine the product information of the home appliance 200 based on the identification result.

That is, the central server 300 can determine the location and product information of the home appliance 200 by analyzing the photographing result.

The central server 300 may update the previously stored device information based on the photographing result.

For example, the information on the current position of the home appliance 200 may be updated.

The central server 300 may create a cleaning map for the area to be cleaned 1 based on the device information and transmit the cleaning map to the cleaner 100. [

The central server 300 can create a cleaning map for the area to be cleaned 1 based on the position of the home appliance 200 and the product information included in the device information.

The central server 300 may create the cleaning map so that the position of the home appliance 200 and the product information are included in the cleaning map.

The cleaning map is information on the basis of which the cleaner 100 travels and cleans the area to be cleaned 1 and includes information on the structure of the area to be cleaned 1, the position of the structure, May be included.

The cleaner 100 may travel and clean the area to be cleaned 1 based on the received cleaning map.

The cleaner 100 can recognize the location and product information of the home appliance 200 based on the received appliance information.

The cleaner 100 creates a cleaning map for the area to be cleaned 1 based on the position of the home appliance 200 and the product information and displays the cleaning area 1 on the basis of the cleaning map You can drive and clean.

The cleaner 100 may also reflect the position and the product information of the home appliance 200 on the clean map of the cleaned area 1.

That is, when the cleaning map is prepared in advance, the cleaner 100 may correct the previously created cleaning map so that the position of the home appliance 200 and the product information are reflected on the cleaning map previously created.

The cleaner 100 recognizing the home appliance 200 and traveling and cleaning the home appliance 200 recognizes the home appliance 200 and communicates with the home appliance 200 and communicates with the home appliance 200 The cleaning area 1 can be driven and cleaned based on the result.

The home appliance 200 transmits information on the operation state to the cleaner 100 and the cleaner 100 can travel and clean the area to be cleaned 1 according to the operation state.

That is, the vacuum cleaner 100 receives the information on the operation state from the home appliance 200, and drives and cleans the area to be cleaned 1 according to the operation state of the home appliance 200 .

For example, the cleaning area 1 may be driven and cleaned depending on the state before, during, or after the operation of the home appliance 200.

Alternatively, the cleaning area 1 may be driven and cleaned according to the operation mode of the home appliance 200.

The vacuum cleaner 100 recognizing the home appliance 200 and traveling and cleaning the home appliance 200 also communicates with the central server 300 communicating with the home appliance 200, The cleaning area 1 may be driven and cleaned based on the result of the communication.

In this case, the home appliance 200 transmits information on the operation state to the central server 300, and the vacuum cleaner 100 receives information on the operation state from the central server 300 , The cleaning area 1 can be driven and cleaned according to the operation state.

That is, the vacuum cleaner 100 receives information on the operation state of the home appliances 200 from the central server 300, and controls the operation of the appliance 200 according to the operation state of the home appliances 200 1 may be driven and cleaned.

The vacuum cleaner 100 can clean the periphery of the home appliances 200 according to a product group of the home appliances 200.

That is, the cleaner 100 travels and cleans the area to be cleaned 1 according to the operation state of the home appliances 200, The cleaning area 1 can be driven and cleaned to clean the periphery.

The range of the peripheral area of the home appliance 200 to be cleaned by the cleaner 100 when the periphery of the home appliance 200 is cleaned according to the product group of the home appliance 200 is not limited to the range of the home appliance 200 ). &Lt; / RTI &gt;

The cleaner 100 can clean the periphery of the home appliance 100 according to a predetermined control criterion according to the product group of the home appliance 100.

For example, when the household appliance 200 is a refrigerator and the household appliance 200 is not opened or closed for a predetermined period of time or consumed no power, the user uses the household appliance 200 It is determined that the cleaning of the home appliances 200 is in a favorable time zone and the circumference of the home appliances 200 is controlled to be cleaned.

The cleaner 100 can clean the periphery of the household appliance 200 before or after the appliance 200 is operated.

That is, the control unit 20 controls the main body 200 to clean the periphery of the home appliance 200 before or after the home appliance 200 operates according to the product group of the home appliance 200 10 of the vehicle.

Embodiments of the robot cleaner and the robot cleaner system as described above can be applied to all the cleaning robots, the automatic cleaner, the system including the robot cleaner, and the control method thereof, to which the technical idea of the above technology can be applied.

In the above-described embodiments, the robot cleaner and the robot cleaning system disclosed in the present specification recognize the home appliances provided in the area to be cleaned and perform traveling and cleaning, It is possible to expect an effect that precise and detailed driving and cleaning can be performed.

In addition, by carrying out traveling and cleaning based on the information of the recognized home appliance, it is possible to expect a cleaning map to be prepared for the area to be cleaned, and traveling and cleaning can be easily performed accordingly.

As a result, it is possible to perform an accurate and efficient running / cleaning operation and map creation, as well as various cleaning operations and cleaning functions for the cleaning target area.

In addition, the robot cleaner and the robot cleaning system disclosed in the present specification communicate with the recognized home appliances to perform traveling and cleaning according to the operating state of the home appliances, so that the operating state of the home appliances, that is, It is possible to expect an effect that proper cleaning according to the state can be performed.

In addition, the cleaning of the event occurring in the area to be cleaned can be automatically performed, and the effect of automatically clearing a specific point in the area to be cleaned can be expected.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

10: main body 11: photographing section 12: communication section
13: power supply unit 14: input unit 15:
16: cleaning unit 17: output unit 18: storage unit
19: driving part 20: control part 100: robot cleaner
200: Home Appliances 1000: Robot Cleaning System

Claims (20)

1. A robot cleaner for traveling and cleaning a cleaning target area,
A body forming an outer appearance of the vacuum cleaner;
A photographing unit photographing the periphery of the main body; And
And a control unit for analyzing the photographing result of the photographing unit, recognizing one or more home appliances existing at the photographed place, and controlling traveling and cleaning of the main body based on the recognition result. The method according to claim 1,
Wherein,
When the home appliance is present around the main body during traveling,
And the appliances are photographed. 3. The method of claim 2,
Wherein the household appliance comprises:
A recognition code including identification information is provided,
Wherein,
And photographs the recognition code provided in the home appliance. The method of claim 3,
Wherein,
And analyzing the recognition code to identify and recognize the household appliances. The method according to claim 1,
Wherein,
And analyzes the photographing result to recognize the position and the product information of the household appliance. 6. The method of claim 5,
Wherein,
And generates a cleaning map for the area to be cleaned based on the position of the home appliance and the product information. 7. The method according to any one of claims 1 to 6,
And a communication unit for performing communication with the recognized home appliance,
Wherein,
And controls traveling and cleaning of the main body based on a communication result of the communication unit. 8. The method of claim 7,
Wherein,
Receives information on the operation state from the recognized home appliance,
Wherein,
And controls traveling and cleaning of the main body according to the operation state. 9. The method of claim 8,
Wherein,
And controls driving and cleaning of the main body so as to clean the periphery of the home appliances according to a predetermined control criterion according to a product group of the home appliances. 10. The method of claim 9,
Wherein,
Wherein the control unit controls the traveling and cleaning of the main body so as to clean the periphery of the home appliance before or after the home appliance. 1. A robot cleaner for traveling and cleaning a cleaning target area provided with one or more home appliances,
A body forming an outer appearance of the vacuum cleaner;
A photographing unit for photographing a home appliance existing in the periphery of the main body; And
A communication unit for transmitting the photographing result of the photographing unit to a central server in which the information of the home appliance is stored and for receiving the information of the home appliance from the central server; And
And a control unit for recognizing the home appliance based on the communication result of the communication unit and controlling traveling and cleaning of the main body based on the recognition result. 12. The method of claim 11,
Wherein,
Performs communication with the recognized home appliance, receives information on the operating state from the home appliance,
Wherein,
And controls traveling and cleaning of the main body according to the operation state. 13. The method of claim 12,
Wherein,
And controls driving and cleaning of the main body so as to clean the periphery of the home appliances according to a predetermined control criterion according to a product group of the home appliances. A robot cleaner for cleaning the area to be cleaned;
One or more household appliances provided in the area to be cleaned; And
And a central server for storing information of the home appliance and communicating with the home appliance and the cleaner,
The cleaner includes:
Wherein the control unit recognizes the home appliance based on a result of communication with the central server, and runs and cleans the area to be cleaned. 15. The method of claim 14,
The cleaner includes:
Capturing the home appliances existing in the vicinity of the vehicle while driving, transmitting the photographing result to the central server,
The central server comprises:
Wherein the control unit judges the home appliance photographed by the cleaner based on the photographing result and the pre-stored device information, and transmits the appliance information corresponding to the determined appliance to the cleaner. 16. The method of claim 15,
The central server comprises:
A cleaning map for the area to be cleaned is created based on the device information, and the cleaning map is transmitted to the cleaner. 16. The method of claim 15,
The cleaner includes:
And recognizes the position and product information of the home appliance based on the received device information. 18. The method of claim 17,
The cleaner includes:
Wherein the controller generates a cleaning map for the area to be cleaned based on the position of the home appliance and the product information. 15. The method of claim 14,
The cleaner includes:
Communicates with the home appliance, recognizes the home appliance, communicates with the home appliance, and runs and cleans the area to be cleaned based on a result of communication with the home appliance. 20. The method of claim 19,
Wherein the household appliance comprises:
Transmits information on the operation state to the cleaner,
The cleaner includes:
Wherein the robot cleaner travels and cleans the area to be cleaned according to the operation state.

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