# US 11,112,792 B2 · Cleaning robot and method for controlling cleaning robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,112,792 B2 - Document ID: US11112792B2 - Status: Granted - Kind: B2 - Application number: 16/061,262 - Filed: 2016-12-28 - Published: 2018-12-27 - Granted: 2021-09-07 - Earliest claimed: 2015-12-28 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Seong Joo Han - Web page: https://patentgrep.com/patent/US11112792B2 ## CPC - G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)} - A47L 9/009: {Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles} - A47L 9/2805: {Parameters or conditions being sensed} - A47L 9/2826: {the condition of the floor} - A47L 9/2842: {Suction motors or blowers} - A47L 9/2847: {Surface treating elements} - A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles} - A47L 9/2857: {User input or output elements for control, e.g. buttons, switches or displays} - A47L 9/2889: {Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user} - A47L 9/2894: {Details related to signal transmission in suction cleaners} - A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor} - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - A47L 2201/06: Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) ## Abstract A cleaning robot includes a user interface to display a map image including one or more divided regions, and the user interface displays an icon corresponding to a state value of a main device on the map image. ## Claims ### Claim 1 A cleaning robot comprising: a user interface configured to display a map image including a plurality of divided regions, and receive, from a user, a selection of divided regions from the plurality of divided regions and a cleaning order of the selected divided regions, wherein the user interface displays an icon corresponding to a state value of a main device on the map image; and a controller configured to: when the cleaning order of the selected divided regions is received from the user through the user interface, control the main device to perform cleaning based on the received cleaning order; when the cleaning order of the selected divided regions is not received from the user through the user interface, control the main device to perform cleaning based on a predetermined cleaning order; in response to the main device being located in a first divided region among the selected divided regions, generate a virtual wall around the first divided region; and in response to the main device completing cleaning of the first divided region, remove the virtual wall and control the main device to move to a second divided region corresponding to a next order among the selected divided regions. ### Claim 2 (depends on 1) The cleaning robot of claim 1, wherein the state value includes any one of a first state value which indicates that the main device is performing cleaning, a second state value which indicates that the main device has completed cleaning, and a third state value which indicates that an error has occurred. ### Claim 3 (depends on 1) The cleaning robot of claim 1, wherein: the user interface receives a user command, and the controller controls the main device based on the user command. ### Claim 4 (depends on 1) The cleaning robot of claim 1, wherein the user interface receives a command to designate at least one divided region, and changes an outline display attribute of the designated at least one divided region. ### Claim 5 (depends on 4) The cleaning robot of claim 4, wherein, in a case in which the user interface receives the command to designate the at least one divided region, the user interface changes an outline color or an outline thickness of the designated at least one divided region. ### Claim 6 (depends on 1) The cleaning robot of claim 1, wherein, in a case in which the main device is traveling, the user interface displays a translucent layer over the map image. ### Claim 7 (depends on 1) The cleaning robot of claim 1, wherein, in a case in which the main device is traveling, the user interface displays an animation which indicates that the main device is traveling. ### Claim 8 (depends on 1) The cleaning robot of claim 1, wherein the user interface further displays a message corresponding to the state value of the main device. ### Claim 9 (depends on 1) The cleaning robot of claim 1, wherein the user interface receives a command to designate at least one divided region and changes a name display attribute of the designated at least one divided region. ### Claim 10 (depends on 1) The cleaning robot of claim 1, further comprising: a storage unit configured to store the map image. ### Claim 11 (depends on 10) The cleaning robot of claim 10, wherein: the storage unit includes information on a region dividing point corresponding to each divided region; and the controller sets the virtual wall at the region dividing point. ### Claim 12 A method of controlling a cleaning robot, the method comprising: displaying a map image including a plurality of divided regions; displaying an icon corresponding to a state value of a main device on the map image; receiving, from a user, a selection of divided regions from the plurality of divided regions; when a cleaning order of the selected divided regions is received from the user through a user interface, performing cleaning based on the received cleaning order; when the cleaning order of the selected divided regions is not received from the user through the user interface, performing cleaning based on a predetermined cleaning order; in response to the main device being located in a first divided region among the selected divided regions, generating a virtual wall around the first divided region; and in response to the main device completing cleaning of the first divided region, removing the virtual wall and moving the main device to a second divided region corresponding to a next order among the selected divided regions. ### Claim 13 (depends on 1) The cleaning robot of claim 1, wherein the controller is further configured to: set a target point within each of the selected divided regions as one of: a central point of the each of the selected divided regions, a point farthest from surrounding obstacles within the each of the selected divided regions, and a point within the each of the selected divided regions and closest to a current position of the main device; and control the main device to perform cleaning from the target point of the each of the selected divided regions when cleaning the each of the selected divided regions. ### Claim 14 (depends on 12) The method of claim 12, further comprising: setting a target point within each of the selected divided regions as one of: a central point of the each of the selected divided regions, a point farthest from surrounding obstacles within the each of the selected divided regions, and a point within the each of the selected divided regions and closest to a current position of the main device; and performing cleaning from the target point of the each of the selected divided regions when cleaning the each of the selected divided regions.