KR102055760B1 - Method for controlling cleaning of home gateway connected to the floor and home gateway therefor and mobile cleaning robot using the same - Google Patents

Method for controlling cleaning of home gateway connected to the floor and home gateway therefor and mobile cleaning robot using the same Download PDF

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Publication number
KR102055760B1
KR102055760B1 KR1020130100937A KR20130100937A KR102055760B1 KR 102055760 B1 KR102055760 B1 KR 102055760B1 KR 1020130100937 A KR1020130100937 A KR 1020130100937A KR 20130100937 A KR20130100937 A KR 20130100937A KR 102055760 B1 KR102055760 B1 KR 102055760B1
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South Korea
Prior art keywords
cleaning
moving object
cleaning method
moving
information
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KR1020130100937A
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Korean (ko)
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KR20150024027A (en
Inventor
김완주
송지완
김현숙
정진수
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주식회사 케이티
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

In accordance with an aspect of the present invention, a home gateway connected to a mobile cleaning robot and a floor to control cleaning includes: a sensing information receiver configured to receive information of a moving object sensed at the floor; A moving line analyzing unit for analyzing and storing the moving line of the moving body based on the received information of the moving object; A cleaning method determination unit which determines a cleaning method based on a moving line record of the moving object analyzed by the moving line analyzing unit; And a transmission unit which transmits the information determined by the cleaning method determination unit to the mobile cleaning robot.

Description

METHOD FOR CONTROLLING CLEANING OF HOME GATEWAY CONNECTED TO THE FLOOR AND HOME GATEWAY THEREFOR AND MOBILE CLEANING ROBOT USING THE SAME}

The present invention relates to a cleaning control method of a home gateway, and more particularly, a method of controlling cleaning by using copper wire information of a moving object transmitted from the floor in a home gateway connected to a floor, and a home gateway and a mobile cleaning using the same. It's about robots.

The robot cleaner refers to a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the floor surface while driving itself in the area to be cleaned without a user's operation.

Such a robot cleaner is configured to perform a cleaning operation while driving a predetermined cleaning path according to a built-in program. In order to perform the cleaning operation while automatically driving the preset cleaning path, the position of the robot cleaner, mileage, and obstacles may be used. Cameras and a large number of sensors are used to detect the back.

In this way, a sensor is installed on the floor where the robot cleaner or the moving object moves, and by detecting the information such as the size and weight of the instantaneous pressure applied in a limited range by using the sensors to inform the user to the emergency medical support or security system, etc. Can be connected.

However, the information detected from the sensor installed on the floor is merely a role that is collected by the user and connected to the system, and the robot cleaner directly recognizes the movement of a moving object by using a built-in sensor and a camera. There is a problem that can not be cleaned efficiently because the cleaning must be avoided obstacles.

Korean Registered Patent No. 10-0585709 (2006.06.07 notification)

The present invention has been proposed to solve the above problems, and receives the information of the moving object sensed from the floor and analyzes it, records and stores it as copper line information, and determines the cleaning method using the copper line information and The purpose of the present invention is to provide a mobile cleaning robot and a cleaning control method using the same.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

According to an aspect of the present invention, a home gateway connected to a mobile cleaning robot and a floor for controlling cleaning includes: a sensing information receiver configured to receive information of a moving object sensed at the floor; A moving line analyzing unit for analyzing and storing the moving line of the moving body based on the received information of the moving object; A cleaning method determination unit which determines a cleaning method based on a moving line record of the moving object analyzed by the moving line analyzing unit; And a transmission unit which transmits the information determined by the cleaning method determination unit to the mobile cleaning robot.

The moving line analyzer may compare the object information stored in the storage unit with the information of the moving object to identify the moving object, and the cleaning method determiner may determine the cleaning method according to the identification result and the moving line recording of the moving object.

The cleaning method determining unit may select a basic cleaning method where the moving line of the moving body is not included.

The basic cleaning method may be a dust cleaning method.

The cleaning method determiner may select a cleaning method differently for each of the identified objects where the moving line of the moving object is included.

The floor may sense the weight or shape of the moving object touching the surface, and the copper moving part analyzing unit may analyze the moving line using at least one of the weight or shape and identify the moving object.

The cleaning method determiner may select a special cleaning method as a cleaning method for the specific area when the moving object enters and exits a specific area.

According to another aspect of the present invention, a mobile cleaning robot connected to a home gateway and performing cleaning includes: a receiving unit receiving copper wire information of a moving object from the home gateway; A cleaning method determination unit which determines a cleaning method based on the received moving line information of the moving object; And a cleaning performing unit which performs cleaning according to the determined cleaning method.

According to another aspect of the present invention, there is provided a cleaning control method of a mobile gateway and a home gateway connected to a floor, the method comprising: receiving information of a moving object sensed at the floor from the floor; Analyzing and storing a moving line of the moving object based on the received information of the moving object; Determining a cleaning method based on the copper wire record of the analyzed moving object; And transmitting the determined cleaning method to the mobile cleaning robot.

The analyzing and storing of the moving line may include identifying the moving object by comparing the object-specific information stored in the storage unit with the information of the moving object, and determining the cleaning method may include identifying an identification result of the moving object and The copper record can determine how to clean.

In the determining of the cleaning method, a basic cleaning method may be selected where the moving line of the moving body is not included.

The basic cleaning method may be a dust cleaning method.

In the determining of the cleaning method, where the moving line of the moving object is not included, the cleaning method may be differently selected for each of the identified objects.

The floor may sense the weight or shape of the moving object touching the surface, and analyzing and storing the moving line may analyze the moving line and identify the moving object using at least one of the weight or shape.

The determining of the cleaning method may include selecting a special cleaning method as a cleaning method for the specific area when the moving object enters and leaves the specific area.

According to an aspect of the present invention, the home gateway receives the sensing information detected from the floor, analyzes it, stores it as copper line information, and sets the cleaning method for each object differently by using the copper line information to efficiently perform unnecessary cleaning. You can choose the cleaning method. In addition, as the efficient cleaning method is transmitted to the mobile cleaning robot as a cleaning execution command, the mobile cleaning robot can reduce unnecessary work, thereby extending its life and minimizing energy consumption.

The following drawings attached to this specification are illustrative of the preferred embodiments of the present invention, and together with the specific details for carrying out the invention serve to further understand the technical spirit of the present invention, the present invention to such drawings It should not be construed as limited to the matters described.
1 is a view schematically showing a cleaning system using a home gateway according to an embodiment of the present invention;
2 is a view showing the configuration of a home gateway according to an embodiment of the present invention;
3 is a view showing a cleaning method selection procedure in a home gateway according to an embodiment of the present invention;
4 is a view showing the configuration of a mobile cleaning robot according to another embodiment of the present invention,
5 is a view showing a cleaning method selection procedure in a mobile cleaning robot according to another embodiment of the present invention;
6 is a view showing the moving line information of the moving body according to an embodiment of the present invention,
7 is a diagram illustrating a procedure for selecting a cleaning method of a home gateway when selecting a living room according to a cycle setting according to another embodiment of the present invention.

The above objects, features, and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, whereby those skilled in the art may easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless otherwise stated. In addition, terms such as “··· part” described in the specification means a unit for processing at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software.

1 is a view schematically showing a cleaning system using a home gateway according to an embodiment of the present invention.

Referring to FIG. 1, the cleaning system according to the present invention may include a floor 100, a home gateway 200, and a mobile cleaning robot 300.

The floor 100 may include a plurality of detection sensors, and detects information of the moving object through the detection sensor and transmits the detected information of the moving object to the home gateway 200. Here, the detection sensor is for measuring a change or physical quantity of the moving object, and may include a pressure sensor or an image sensor, and the detecting sensor may have a weight, an area, or a foot shape of the moving object in contact with the floor 100. Information can be detected.

The home gateway 200 receives the information of the moving object detected by the floor 100, analyzes it, stores it as copper wire information, selects a cleaning method using the stored copper wire information, and includes the selected cleaning method. It serves to transmit a cleaning command to the mobile cleaning robot (300).

The home gateway 200 may receive and store location information of a place, for example, a living room, a bedroom, a kitchen, a study room, furniture arrangement information, and object-specific information in advance as location coordinates from a user. The object may be a child, a pet, an adult, and more particularly, may be a family member, ie, a dad, a mother, a child, a pet, and the object-specific information may include the weight of the object, the area of the object, and the shape of the object's foot. Information.

Specifically, the home gateway 200 may receive the information of the moving object detected by the floor 100 and analyze the moving line of the moving object based on the information. As shown in FIG. 6, the copper line analysis of the moving object may be analyzed and stored for each object according to time using a tracking system, and the stored object information and the moving object received from the floor 100 may be analyzed. The mobile can be identified by comparing the information. In this case, at least one of the weight, the area, and the shape of the foot of the moving object and the object may be used for the comparison.

Thereafter, the home gateway 200 selects a zone to be cleaned and analyzes the copper wire information of the selected cleaning zone, and if there is a copper wire record of the moving object in the copper wire record of the zone, the copper wire information and the object-specific information are compared. The moving object can be identified, and the cleaning method can be selected differently according to the moving object identified by the comparison. At this time, the home gateway 200 may select a cleaning area according to a user-specified cycle (for example, cleaning at 9 am in the bedroom, 12 am at the living room, etc.). For example, when the current time is 12 am, the home gateway 200 selects the living room as the cleaning area according to a preset period and analyzes the selected place, that is, the moving line information of the living room. As a result of the analysis, if there is a moving line record of the moving object in the living room, the moving object may be compared with the information for each object to identify the moving object, and then the cleaning method may be differently selected according to the moving object. Specifically, when the identified moving object is an adult, since cleaning does not occur much in general, the cleaning may be performed based on the basic cleaning. That is, a simple cleaning method for removing dust can be selected. In addition, when the identified moving object is a child, it is generally possible to select a method of cleaning the crumbs or said filth that the children have spilled.If the identified moving object is a pet, hairs may be removed as the pet moves. Since dirt may need to be cleaned, it is possible to select a cleaning method suitable for this, namely, cleaning method for cleaning dirt and removing hair. By selecting different cleaning methods according to the identified moving bodies, it is possible to reduce energy consumption by performing unnecessary cleaning.

If, as a result of analyzing the copper wire information of the selected cleaning zone, if there is no copper wire record of the moving object in the zone, the cleaning is not performed as much as when an adult moves, and thus the main cleaning person You can choose to clean the dust.

As described above, when the cleaning method is determined according to the object, the home gateway 200 transmits a command including the cleaning method to the mobile cleaning robot 300 so that the mobile cleaning robot 300 corresponds to the command based on the command. Cleaning of the area can be performed.

In addition, the home gateway 200 may select a special cleaning method when the kitchen is selected as the cleaning area and the moving line analysis results in the movement of moving objects concentrated around the dining table, when it is confirmed that there is no moving object in the cleaning area of the kitchen. . That is, it is determined that the copper wire is concentrated around the dining table, and after checking that there is no moving object in order not to disturb the meal, selecting a cleaning method and transmitting a command including the cleaning method to the mobile cleaning robot 300. The special cleaning method may be a cleaning operation method of removing food, water, or the like that may have been spilled while eating.

The mobile cleaning robot 300 receives a cleaning command including the cleaning method selected by the home gateway 200 and performs cleaning. The cleaning robot 300 is not limited as long as the cleaning robot can perform cleaning.

2 is a diagram illustrating a configuration of a home gateway according to an embodiment of the present invention.

Referring to FIG. 2, the home gateway 200 according to the present invention may include a storage 210, a sensing information receiver 230, a copper line analyzer 250, a cleaning method determiner 270, and a transmitter 290. The cleaning area may be selected for each preset period.

The storage unit 210 may receive and store location information of a place, for example, a living room, a bedroom, a kitchen, a study room, furniture arrangement information, and object-specific information from a user in advance as location coordinates.

The object may be a child, a pet, an adult, and more particularly, may be a family member, ie, a dad, a mother, a child, a pet, and the object-specific information may include the weight of the object, the area of the object, and the shape of the object's foot. Information.

The sensing information receiver 230 serves to receive the information of the moving object sensed by the floor 100.

The moving line analyzer 250 analyzes the moving line of the moving object based on the information of the moving object received by the sensing information receiver 230. In this case, the copper wire analysis of the moving object may be analyzed and stored for each object by time by the tracking system, and an example thereof is as shown in FIG. 6. In addition, the moving line analyzer 250 may identify what the moving object is by comparing the stored object-specific information with the information of the moving object received by the sensing information receiver 230, and the comparison of the moving object and the object At least one or more of weight, area, and foot shape information may be used.

The cleaning method determiner 270 cleans according to the moving object identified by the moving line analyzer 250 when a moving line record of the moving object exists in the selected cleaning area, which is preset for each cycle as a result of the analysis by the moving line analyzing unit 250. You can decide differently. For example, when the identified moving object is an adult, since cleaning does not occur much in general, the cleaning may be performed based on the basic cleaning. That is, a simple cleaning method for removing dust can be selected. In addition, when the identified moving object is a child, it is generally possible to select a method for cleaning confectionery or said dirt that has been spilled by children. Since dirt may need to be cleaned, it is possible to select a cleaning method suitable for this, namely, cleaning method for cleaning dirt and removing hair. By selecting different cleaning methods according to the identified moving bodies, it is possible to reduce energy consumption by performing unnecessary cleaning.

In addition, when there is no moving line recording of the moving object in the selected cleaning area as a result of the analysis of the moving line analyzing unit 250, since the cleaning does not occur as much as when the adult moves, the dust cleaning which is the main cleaning is selected. Can be.

The transmission unit 290 transmits the information determined by the cleaning method determination unit 270, that is, a cleaning command including the cleaning method to the mobile cleaning robot 300, and thus the mobile cleaning robot 300 transmits the cleaning command. Based on the cleaning orders received, the area may be cleaned.

3 is a diagram illustrating a cleaning method selection procedure in a home gateway according to an embodiment of the present invention.

As shown in FIG. 3, the floor 100 detects information of the moving object using the installed detection sensor, collects the information of the moving object, and transmits the collected information to the home gateway 200 (S301).

In this case, the sensing sensor is for measuring the change or physical quantity of the moving body, and may include a pressure sensor or an image sensor, and the sensing sensor may include a weight, an area, or an area of the moving body in contact with the floor 100. Information such as a foot shape may be sensed, and the information may include weight of the moving body, area of the moving body, and foot shape information of the moving body.

The home gateway 200 may receive and store location information, such as a living room, a bedroom, a kitchen, a study room, furniture arrangement information, and object-specific information in advance as a location coordinate from a user, and store the home gateway 200 in the home gateway 200. In step S305, the floor 100 may analyze the information of the moving object detected and transmitted by the sensor and store it as copper wire information (S305). Here, the copper line information may be a copper line record of the moving object analyzed using the tracking system, and the copper line information for each object may be recorded according to time.

The home gateway 200 selects a zone to be cleaned and compares the copper wire information of the selected cleaning zone with the information of previously stored objects to identify what moving object has recorded the copper wire information in the cleaning zone (S307) ( S309). At this time, the information of the pre-stored object may be the weight of the object, the area of the object and the shape of the foot of the object, the cleaning area is a user-designated period (for example, the bedroom cleaning at 9 am, living room is 12 am, etc.).

Thereafter, the home gateway 200 may select a different cleaning method according to the identified moving object (S311).

For example, when the identified moving object is an adult, since cleaning does not occur much in general, the cleaning may be performed based on the basic cleaning. That is, a simple cleaning method for removing dust can be selected. In addition, when the identified moving object is a child, it is generally possible to select a method of cleaning the crumbs or said filth that the children have spilled.If the identified moving object is a pet, hairs may be removed as the pet moves. Since dirt may need to be cleaned, it is possible to select a cleaning method suitable for this, namely, cleaning method for cleaning dirt and removing hair.

When a cleaning method is selected according to the identified object, the home gateway 200 transmits a cleaning command including the cleaning method to the mobile cleaning robot 300, and the mobile cleaning robot 300 receives the received command. Based on the cleaning of the area can be performed (S313) (S315).

4 is a view showing the configuration of a mobile cleaning robot according to another embodiment of the present invention.

Referring to FIG. 4, the mobile cleaning robot 300 according to the present invention may include a receiver 310, a cleaning method determiner 330, and a cleaning performer 350.

The floor 100 including a plurality of detection sensors detects information of the moving object through the sensor and transmits the detected information of the moving object to the home gateway 200, and the home gateway 200 is the floor 100. Receives the detected information of the moving object and analyzes it and stores it as copper line information. At this time, the information may be the weight of the moving object, the area of the moving object and the shape of the foot of the moving object, the copper wire analysis of the moving object may be analyzed and stored for each object by the tracking system according to time.

The home gateway 200 may receive and store location information of a place, such as a living room, a bedroom, a kitchen, a study room, furniture arrangement information, and object-specific information in advance as a location coordinate from a user, and the object may be a child or a pet. , May be an adult, and more specifically, may be a family member, that is, a dad, a mother, a child, a pet, and the object-specific information may be weight of the object, area of the object, and foot shape information of the object.

When the mobile cleaning robot 300 selects a cleaning area to perform cleaning, the receiving unit 310 of the mobile cleaning robot 300 may receive the moving line information and the object-specific information of the moving object stored in the home gateway 200. have. At this time, the cleaning area may be selected according to a user-designated cycle (for example, cleaning at 9 am in the bedroom, 12:00 am at the living room, etc.).

The cleaning method determiner 330 may identify the moving object by comparing the moving line information of the moving object and the object-specific information received by the receiving unit 310, and in this comparison, the weight, area, At least one or more of the shape information of the foot may be used.

When the moving object is identified according to the comparison, the cleaning method may be determined differently according to the identified moving object. For example, when the identified moving object is an adult, since cleaning does not occur much in general, the cleaning may be performed based on the basic cleaning. That is, a simple cleaning method for removing dust can be selected. In addition, when the identified moving object is a child, it is generally possible to select a method of cleaning the crumbs or said filth that the children have spilled.If the identified moving object is a pet, hairs may be removed as the pet moves. Since dirt may need to be cleaned, it is possible to select a cleaning method suitable for this, namely, cleaning method for cleaning dirt and removing hair.

The cleaning performer 350 may serve to clean the cleaning area according to the cleaning method determined by the cleaning method determiner 330.

5 is a view showing a cleaning method selection procedure in a mobile cleaning robot according to another embodiment of the present invention.

As shown in FIG. 5, the floor 100 detects information of the moving object using the installed detection sensor, collects the collected information, and transmits the collected information to the home gateway 200 (S501).

In this case, the sensing sensor is for measuring the change or physical quantity of the moving body, and may include a pressure sensor or an image sensor, and the sensing sensor may include a weight, an area, or an area of the moving body in contact with the floor 100. Information such as a foot shape may be sensed, and the information may include weight of the moving body, area of the moving body, and foot shape information of the moving body.

The home gateway 200 may receive and store location information, such as a living room, a bedroom, a kitchen, a study room, furniture arrangement information, and object-specific information in advance as a location coordinate from a user, and store the home gateway 200 in the home gateway 200. May analyze the information of the moving object sensed and transmitted by the sensing sensor in the floor 100 and store it as copper line information (S505). The copper line information may be a copper line record of a moving object analyzed using a tracking system, and the copper line information for each object may be recorded according to time.

Thereafter, the home gateway 200 may transmit the analyzed moving line information of the moving object and information stored in advance to the moving cleaning robot 300 (S507).

The moving cleaning robot 300 selects an area to be cleaned and compares the moving line information and the object-specific information of the moving object transmitted from the home gateway 200 to identify the moving object having the moving line information in the selected cleaning area. In this case, the cleaning area may be selected according to a user-designated cycle (for example, cleaning at 9 am in the bedroom, 12 am at the living room, etc.) (S509) (S511).

Thereafter, the mobile cleaning robot 300 may select a different cleaning method according to the identified moving object (S513).

For example, when the identified moving object is an adult, since cleaning does not occur much in general, the cleaning may be performed based on the basic cleaning. That is, a simple cleaning method for removing dust can be selected. In addition, when the identified moving object is a child, it is generally possible to select a method of cleaning the crumbs or said filth that the children have spilled.If the identified moving object is a pet, hairs may be removed as the pet moves. Since dirt may need to be cleaned, it is possible to select a cleaning method suitable for this, namely, cleaning method for cleaning dirt and removing hair.

When the cleaning method is selected according to the moving object identified as described above, the mobile cleaning robot 300 may perform cleaning on the selected cleaning area based on the selected cleaning method (S515).

7 is a diagram illustrating a procedure for determining a cleaning method of a home gateway when selecting a living room according to a cycle setting according to another embodiment of the present invention.

As shown in FIG. 7, the floor 100 detects information of a moving object using the installed detection sensor, collects the information of the moving object, and transmits the collected information to the home gateway 200 (S701).

In this case, the sensing sensor is for measuring the change or physical quantity of the moving body, and may include a pressure sensor or an image sensor, and the sensing sensor may include a weight, an area, or an area of the moving body in contact with the floor 100. Information such as a foot shape may be sensed, and the information may include weight of the moving body, area of the moving body, and foot shape information of the moving body.

The home gateway 200 may receive and store location information, such as a living room, a bedroom, a kitchen, a study room, furniture arrangement information, and object-specific information in advance as a location coordinate from a user, and store the home gateway 200 in the home gateway 200. 6 may analyze information of the moving object detected and transmitted by the sensing sensor in the floor 100 and store the information as moving line information as shown in FIG. 6 (S705). Here, the copper line information may be a copper line record of the moving object analyzed using the tracking system, and the copper line information for each object may be recorded according to time.

At this time, the home gateway 200 may select a cleaning area according to a cycle designated by the user (for example, cleaning at 9 am in the bedroom, 12 am at the living room, etc.) (S707).

For example, when the current time is 12 am, the home gateway 200 selects a living room as a cleaning area according to a preset period and based on the analyzed copper wire information based on the analysis of the presence or absence of copper wire information in the selected place, that is, the living room. (S709), when there is no copper wire recording in the place, since the cleaning does not occur much, it is possible to select the dust cleaning, which is mainly the main cleaning (S711).

On the other hand, when there is a moving line record in the selected place, that is, the living room, the home gateway 200 compares the analyzed moving line information with the object-specific information to identify what the moving object is (S713). Subsequently, the moving line recording information is searched for in the living room, which is the selected cleaning area, to determine whether a moving object exists based on the current time (S715), and when there is no moving object, a cleaning method differentiated according to the identified moving object is performed. Can be selected (S717).

For example, when a moving line record exists in the living room, which is the selected cleaning area, and the identification is made, since the identified moving object is an adult, it is generally not necessary to perform cleaning according to movement, so cleaning is performed mainly for basic cleaning. You can proceed. That is, a simple cleaning method for removing dust can be selected. In addition, when the identified moving object is a child, it is generally possible to select a method of cleaning the crumbs or said filth that the children have spilled.If the identified moving object is a pet, hairs may be removed as the pet moves. Since dirt may need to be cleaned, it is possible to select a cleaning method suitable for this, namely, cleaning method for cleaning dirt and removing hair.

However, when the moving object record information of the living room, which is the selected cleaning area, is searched to determine whether the moving object exists based on the current time, when the moving object exists, the waiting time ( For example, wait until 30 minutes have passed, and then search for copper wire record information of the living room, which is the selected cleaning area, and then, based on the current time (30 minutes after waiting time), the moving object exists in the living room, which is the selected cleaning area. If the moving object does not exist, the cleaning method may be selected according to the identified moving object.

Thereafter, the home gateway 200 transmits a cleaning command including the selected cleaning method to the mobile cleaning robot 300 so that the mobile cleaning robot 300 performs the cleaning of the selected cleaning area based on the command. This can be done (S719) (S721).

In addition, the home gateway 200 may select a special cleaning method when the kitchen is selected as the cleaning area and the moving line analysis results in the movement of moving objects concentrated around the dining table, when it is confirmed that there is no moving object in the cleaning area of the kitchen. . That is, it is determined that the copper wire is concentrated around the dining table, and after checking that there is no moving object in order not to disturb the meal, selecting a cleaning method and transmitting a command including the cleaning method to the mobile cleaning robot 300. The special cleaning method may be a cleaning operation method of removing food, water, or the like that may have been spilled while eating.

As described above, according to the present invention, the home gateway 200 receives and analyzes the information of the moving object sensed by the floor 100, stores the information as copper wire information, and utilizes the cleaning method for each moving object so that more efficient cleaning is possible. It can be performed, the mobile cleaning robot 300 to perform the cleaning by receiving the cleaning method has the advantage of reducing the energy consumption due to unnecessary cleaning.

While this specification includes many features, such features should not be construed as limiting the scope of the invention or the claims. In addition, the features described in the individual embodiments of the present specification can be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment of the present specification can be implemented individually in various embodiments, or can be appropriately combined.

Although the operations are described in a particular order in the drawings, they should not be understood as being performed in a particular order as shown, or in a sequence of successive orders, or all of the described actions being performed to achieve a desired result. Multitasking and parallel processing may be advantageous in certain circumstances. In addition, it should be understood that the division of various system components in the above-described embodiments does not require such division in all embodiments. The program components and systems described above may generally be packaged in a single software product or multiple software products.

The method of the present invention as described above may be implemented as a program and stored in a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) in a computer-readable form. Since this process can be easily implemented by those skilled in the art will not be described in more detail.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by drawing

100: floor
200: home gateway
210: storage unit
230: sensing information receiving unit
250: copper wire storage unit
270: cleaning method determination unit
290: transmission unit
300: Moving Cleaning Robot

Claims (15)

A home gateway connected to a mobile cleaning robot and a floor to control cleaning,
A sensing information receiver configured to receive information of a moving object sensed at the floor;
A moving line analyzing unit for analyzing and storing a moving line of the moving body based on the received information of the moving object;
A cleaning method determiner configured to determine a cleaning method based on a moving line record of the moving object analyzed by the moving line analyzer; And
And a transmission unit which transmits the information determined by the cleaning method determination unit to the mobile cleaning robot. The method of claim 1,
The line analysis unit,
The moving object is identified by comparing the object-specific information stored in the storage unit with the moving object information,
The cleaning method determination unit,
And a cleaning method is determined according to the identification result of the moving object and the moving line record. The method of claim 2,
The cleaning method determination unit,
The home gateway, characterized in that the basic cleaning method is selected where the moving object is not included. The method of claim 3, wherein
The basic cleaning method is a home gateway, characterized in that the dust cleaning method. The method of claim 2,
The cleaning method determination unit,
Where the moving line of the moving object is included, the home gateway, characterized in that for differently selected cleaning method for each of the identified objects. The method according to claim 3 or 5,
The floor senses the weight or shape of the moving object on the surface,
The line analysis unit,
At least one of the weight or shape to analyze a moving line and identify a moving object. The method of claim 1,
The cleaning method determination unit,
And when the moving object enters and exits a specific zone, selects a special cleaning method as a cleaning method for the specific zone. delete In the cleaning control method of the home gateway connected to the mobile cleaning robot and the floor,
Receiving information of the moving object sensed at the floor from the floor;
Analyzing and storing a moving line of the moving object based on the received information of the moving object;
Determining a cleaning method based on the copper wire record of the analyzed moving object; And
And transmitting the determined cleaning method to the mobile cleaning robot. The method of claim 9,
Analyzing and storing the copper wire,
Comparing the object information stored in the storage unit with the information of the moving object to identify the moving object,
Determining the cleaning method,
And a cleaning method is determined according to the identification result of the moving object and the moving line recording. The method of claim 10,
Determining the cleaning method,
Where the moving line of the moving object is not included, the cleaning control method of the home gateway, characterized in that the basic cleaning method is selected. The method of claim 11,
The basic cleaning method is a cleaning control method of the home gateway, characterized in that the dust cleaning method. The method of claim 10,
Determining the cleaning method,
Where the moving line of the moving object is not included, the cleaning method of the home gateway, characterized in that for differently selected cleaning method for each identified object. The method according to claim 11 or 13,
The floor senses the weight or shape of the moving object on the surface,
Analyzing and storing the copper wire,
Cleaning control method of a home gateway, characterized in that for analyzing the moving line using at least one of the weight or shape to identify the moving object. The method of claim 9,
Determining the cleaning method,
And a special cleaning method is selected as a cleaning method for the specific area when the moving object enters and leaves the specific area.
KR1020130100937A 2013-08-26 2013-08-26 Method for controlling cleaning of home gateway connected to the floor and home gateway therefor and mobile cleaning robot using the same KR102055760B1 (en)

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