ELECTRONIC APPARATUS AND CONTROLLING METHOD THEREOF

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a continuation application, claiming priority under 35 U.S.C. § 365(c), of an International application No. PCT/KR2025/012069, filed on Aug. 8, 2025, which is based on and claims the benefit of a Korean patent application number 10-2024-0152637, filed on Oct. 31, 2024, in the Korean Intellectual Property Office, the disclosure of which is incorporated by reference herein in its entirety.

BACKGROUND

1. Field

The disclosure relates to an electronic apparatus and a controlling method thereof. More particularly, the disclosure relates to an electronic apparatus that supplies power for charging a mobile robot, and a controlling method thereof.

2. Description of Related Art

For charging a mobile robot, a separate charging station may exist. A charging station may be supplied with external power, and transmit the power to the mobile robot. The mobile robot may be a wireless apparatus. Even if a user does not separately put a plug into the mobile robot, the mobile robot may perform charging by using the charging station.

The charging station may contact the mobile robot and supply power. When the charging station and the mobile robot physically contact, power may be transmitted to the mobile robot through the contacted terminal.

In case physical contact between the charging station and the mobile robot is incomplete, an empty space may be generated. In case an empty space between the charging station and the mobile robot is generated, contact resistance may increase. If contact resistance increases, there is a risk that sparks may be generated.

If sparks are generated, a probability that breakdown may occur as physical shock is applied to the charging station or the mobile robot may increase.

The above information is presented as background information only to assist with an understanding of the disclosure. No determination has been made, and no assertion is made, as to whether any of the above might be applicable as prior art with regard to the disclosure.

SUMMARY

Aspects of the disclosure are to address at least the above-mentioned problems and/or disadvantages and to provide at least the advantages described below. Accordingly, an aspect of the disclosure is to provide an electronic apparatus that determines whether there is contact between the electronic apparatus and a mobile robot based on sensing data and a measured voltage, and a controlling method thereof.

Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments.

In accordance with an aspect of the disclosure, an electronic apparatus is provided. The electronic apparatus includes memory, including one or more storage media, store instructions, a communication interface configured to communicate with a mobile robot, a sensor configured to sense whether there is contact with the mobile robot, and at least one processor including processing circuitry communicatively coupled to the memory, the communication interface and the sensor, wherein the instructions, when executed individually or collectively by the at least one processor, cause the electronic apparatus to identify whether the mobile robot contacted based on sensing data obtained from the sensor, based on identifying that the mobile robot contacted, supply predetermined power to the mobile robot, obtain a first voltage measured at the electronic apparatus, obtain a second voltage measured at the mobile robot through the communication interface, generate a first control signal for charging the mobile robot based on a difference value between the first voltage and the second voltage, and transmit the first control signal to the mobile robot through the communication interface.

The mobile robot includes a magnetic element, and the instructions, when executed individually or collectively by the at least one processor, further cause the electronic apparatus to, based on identifying that the magnetic element contacted based on the sensing data, identify that the mobile robot contacted.

The instructions, when executed by individually or collectively the at least one processor, further cause the electronic apparatus to, based on identifying that the mobile robot contacted, turn on a first switch, turn on a second switch and a third switch by turning on the first switch, generate the predetermined power based on the second switch and the third switch, and supply the predetermined power to the mobile robot through a contact terminal contacted by the mobile robot.

The instructions, when executed by individually or collectively the at least one processor, further cause the electronic apparatus to, after supplying the predetermined power, obtain the first voltage through a first voltage measurement part included in the electronic apparatus, obtain the second voltage through a second voltage measurement part included in the mobile robot, obtain the difference value between the first voltage and the second voltage, and based on the difference value being smaller than or equal to a threshold value, generate the first control signal.

The instructions, when executed individually or collectively by the at least one processor, further cause the electronic apparatus to, based on the difference value being smaller than or equal to the threshold value, generate the first control signal for turning on a fourth switch included in the mobile robot.

The first control signal includes a control instruction for turning on the fourth switch such that the predetermined power supplied to the mobile robot is transmitted to a power part included in the mobile robot and a charging function is performed.

The instructions, when executed individually or collectively by the at least one processor, further cause the electronic apparatus to, based on the difference value exceeding the threshold value, identify that an event related to an abnormal state occurred, and the abnormal state may be a state wherein contact between the electronic apparatus and the mobile robot is abnormal.

The instructions, when executed individually or collectively by the at least one processor, further cause the electronic apparatus to, based on identifying the event related to the abnormal state, provide a guide user interface (UI) for indicating the abnormal state, and the guide UI may include at least one of a guide image or guide audio.

The instructions, when executed individually or collectively by the at least one processor, further cause the electronic apparatus to, based on identifying the event related to the abnormal state, obtain a target number of times that the event related to the abnormal state was identified during a threshold time, and based on the target number of times being greater than or equal to a threshold number of times, provide the guide UI.

The instructions, when executed individually or collectively by the at least one processor, further cause the electronic apparatus to, based on the target number of times being smaller than the threshold number of times, generate a second control signal for controlling the mobile robot to contact the electronic apparatus again after being separated from the electronic apparatus, and transmit the second control signal to the mobile robot through the communication interface.

In accordance with another aspect of the disclosure, a method of controlling an electronic apparatus configured to communicate with a mobile robot is provided. The method includes identifying whether the mobile robot contacted based on sensing data obtained from a sensor for sensing whether there is contact with the mobile robot, based on identifying that the mobile robot contacted, supplying predetermined power to the mobile robot, obtaining a first voltage measured at the electronic apparatus, obtaining a second voltage measured at the mobile robot, generating a first control signal for charging the mobile robot based on a difference value between the first voltage and the second voltage, and transmitting the first control signal to the mobile robot.

The mobile robot includes a magnetic element, and in the identifying whether the mobile robot contacted, based on identifying that the magnetic element contacted based on the sensing data, it is identified that the mobile robot contacted.

The controlling method includes the supplying the predetermined power to the mobile robot, and based on identifying that the mobile robot contacted, turning on a first switch, turning on a second switch and a third switch by turning on the first switch, generating the predetermined power based on the second switch and the third switch, and supplying the predetermined power to the mobile robot through a contact terminal contacted by the mobile robot.

In the obtaining the first voltage, after supplying the predetermined power, the first voltage is obtained through a first voltage measurement part included in the electronic apparatus, and in the obtaining the second voltage, the second voltage is obtained through a second voltage measurement part included in the mobile robot, and in the generating the first control signal, the difference value between the first voltage and the second voltage is obtained, and based on the difference value being smaller than or equal to a threshold value, the first control signal is generated.

In the generating the first control signal, based on the difference value being smaller than or equal to the threshold value, the first control signal for turning on a fourth switch included in the mobile robot may be generated.

The first control signal includes a control instruction for turning on the fourth switch such that the predetermined power supplied to the mobile robot is transmitted to a power part included in the mobile robot and a charging function is performed.

The controlling method includes the, based on the difference value exceeding the threshold value, identifying that an event related to an abnormal state occurred, and the abnormal state is a state wherein contact between the electronic apparatus and the mobile robot is abnormal.

The controlling method includes the, based on identifying the event related to the abnormal state, providing a guide UI for indicating the abnormal state, and the guide UI includes at least one of a guide image or guide audio.

The controlling method includes the, based on identifying the event related to the abnormal state, obtaining a target number of times that the event related to the abnormal state was identified during a threshold time, and in the step of providing the guide UI, based on the target number of times being greater than or equal to a threshold number of times, the guide UI is provided.

The controlling method includes the, based on the target number of times being smaller than the threshold number of times, generating a second control signal for controlling the mobile robot to contact the electronic apparatus again after being separated from the electronic apparatus, and transmitting the second control signal to the mobile robot.

In accordance with another aspect of the disclosure, one or more non-transitory computer-readable storage media storing one or more computer programs including computer-executable instructions, when executed individually or collectively by a processor of an electronic apparatus configured to communicate with a mobile robot to perform operations are provided. The operations include identifying whether the mobile robot contacted based on sensing data obtained from a sensor for sensing whether there is contact with the mobile robot, based on identifying that the mobile robot contacted, supplying predetermined power to the mobile robot, obtaining a first voltage measured at the electronic apparatus, obtaining a second voltage measured at the mobile robot, generating a first control signal for charging the mobile robot based on a difference value between the first voltage and the second voltage, and transmitting the first control signal to the mobile robot.

Other aspects, advantages, and salient features of the disclosure will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses various embodiments of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other aspects, features, and advantages of certain embodiments of the disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a diagram for illustrating a system including an electronic apparatus and a mobile robot according to an embodiment of the disclosure;

FIG. 2 is a block diagram illustrating an electronic apparatus according to an embodiment of the disclosure;

FIG. 3 is a block diagram for illustrating a detailed configuration of an electronic apparatus according to an embodiment of the disclosure;

FIG. 4 is a diagram for illustrating configurations of an electronic apparatus and a mobile robot according to an embodiment of the disclosure;

FIG. 5 is a diagram for illustrating an operation of an electronic apparatus of identifying a voltage difference according to an embodiment of the disclosure;

FIG. 6 is a diagram for illustrating an operation of generating a control signal for charging according to a voltage difference at an electronic apparatus according to an embodiment of the disclosure;

FIG. 7 is a diagram for illustrating an operation of specifying an embodiment in FIG. 6 according to an embodiment of the disclosure;

FIG. 8 is a diagram for illustrating an operation of providing a guide UI according to an embodiment of the disclosure;

FIG. 9 is a diagram for illustrating a guide UI according to an embodiment of the disclosure;

FIG. 10 is a diagram for illustrating an operation of outputting a guide UI according to an embodiment of the disclosure;

FIG. 11 is a diagram for illustrating an operation of moving a mobile robot according to an embodiment of the disclosure;

FIG. 12 is a diagram for illustrating an operation of generating a control signal for moving a mobile robot according to an embodiment of the disclosure;

FIG. 13 is a diagram for illustrating an operation of providing a guide UI according to a number of times of identifying an event according to an embodiment of the disclosure;

FIG. 14 is a diagram for illustrating an operation of generating a control signal for charging according to a voltage difference at a mobile robot according to an embodiment of the disclosure;

FIG. 15 is a diagram for illustrating an operation of specifying the embodiment in FIG. 14 according to an embodiment of the disclosure;

FIG. 16 is a diagram for illustrating an operation of outputting a guide UI according to an embodiment of the disclosure;

FIG. 17 is a diagram for illustrating an operation of generating a control signal for moving a mobile robot according to an embodiment of the disclosure;

FIG. 18 is a diagram for illustrating an operation of providing a guide UI according to the number of times of identifying an event according to an embodiment of the disclosure;

FIG. 19 is a diagram for illustrating a system communicating with a terminal apparatus according to an embodiment of the disclosure;

FIG. 20 is a diagram for illustrating an operation of providing a guide UI through a terminal apparatus according to an embodiment of the disclosure;

FIG. 21 is a diagram for illustrating circuit diagrams of an electronic apparatus and a mobile robot according to an embodiment of the disclosure;

FIG. 22 is a diagram for illustrating a circuit diagram of a mobile robot according to an embodiment of the disclosure;

FIG. 23 is a diagram for illustrating a location of a sensor according to an embodiment of the disclosure; and

FIG. 24 is a diagram for illustrating a controlling method of an electronic apparatus 100 according to an embodiment of the disclosure.

The same reference numerals are used to represent the same elements throughout the drawings.

MODE FOR INVENTION

The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of various embodiments of the disclosure as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the various embodiments described herein can be made without departing from the scope and spirit of the disclosure. In addition, descriptions of well-known functions and constructions may be omitted for clarity and conciseness.

The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the disclosure. Accordingly, it should be apparent to those skilled in the art that the following description of various embodiments of the disclosure is provided for illustration purpose only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents.

It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a component surface” includes reference to one or more of such surfaces.

In addition, in this specification, expressions, such as “have,” “may have,” “include,” and “may include” denote the existence of such characteristics (e.g., elements, such as numbers, functions, operations, and components), and do not exclude the existence of additional characteristics.

In addition, the expression “at least one of A and/or B” should be interpreted to mean any one of “A” or “B” or “A and B.”

Further, the expressions “first,” “second,” and the like used in this specification may describe various elements regardless of any order and/or degree of importance. In addition, such expressions are used only to distinguish one element from another element, and are not intended to limit the elements.

Meanwhile, the description in the disclosure that one element (e.g., a first element) is “(operatively or communicatively) coupled with/to” or “connected to” another element (e.g., a second element) should be interpreted to include both the case where the one element is directly coupled to the another element, and the case where the one element is coupled to the another element through still another element (e.g., a third element).

Further, in the disclosure, terms, such as “include” and “consist of” should be construed as designating that there are such characteristics, numbers, steps, operations, elements, components, or a combination thereof described in the specification, but not as excluding in advance the existence or possibility of adding one or more of other characteristics, numbers, steps, operations, elements, components, or a combination thereof.

In addition, in the disclosure, “a module” or “a part” performs at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. Further, a plurality of “modules” or “parts” may be integrated into at least one module and implemented as at least one processor, except “modules” or “parts” which need to be implemented as specific hardware.

In addition, in this specification, the term “user” may refer to a person who uses an electronic apparatus or an apparatus using an electronic apparatus (e.g., an artificial intelligence electronic apparatus).

Hereinafter, an embodiment of the disclosure will be described in more detail with reference to the accompanying drawings.

It should be appreciated that the blocks in each flowchart and combinations of the flowcharts may be performed by one or more computer programs which include computer-executable instructions. The entirety of the one or more computer programs may be stored in a single memory device or the one or more computer programs may be divided with different portions stored in different multiple memory devices.

Any of the functions or operations described herein can be processed by one processor or a combination of processors. The one processor or the combination of processors is circuitry performing processing and includes circuitry like an application processor (AP, e.g., a central processing unit (CPU)), a communication processor (CP, e.g., a modem), a graphical processing unit (GPU), a neural processing unit (NPU) (e.g., an artificial intelligence (AI) chip), a wireless-fidelity (Wi-Fi) chip, a Bluetooth™ chip, a global positioning system (GPS) chip, a near field communication (NFC) chip, connectivity chips, a sensor controller, a touch controller, a finger-print sensor controller, a display drive integrated circuit (IC), an audio CODEC chip, a universal serial bus (USB) controller, a camera controller, an image processing IC, a microprocessor unit (MPU), a system on chip (SoC), an IC, or the like.

FIG. 1 is a diagram for illustrating a system including an electronic apparatus and a mobile robot according to an embodiment of the disclosure.

Referring to FIG. 1, a system 1000 may include an electronic apparatus 100 and a mobile robot 200.

The electronic apparatus 100 may be an apparatus that performs a charging function for charging the mobile robot 200. In addition, the electronic apparatus 100 may be an apparatus that supplies power for charging of the mobile robot 200. The electronic apparatus 100 may be described as a charger or a charging station. The electronic apparatus 100 may receive power from external power. The electronic apparatus 100 may supply the received power to the mobile robot 200.

The mobile robot 200 may be a movable apparatus. The mobile robot 200 may include a power part 275. The mobile robot 200 may be an apparatus that can move without being supplied with external power. The power part 275 may include a battery for charging. The mobile robot 200 may move by using power stored in the battery for charging. The mobile robot 200 may be described as a wireless robot or a mobile electronic apparatus. As an example, the mobile robot 200 may be implemented as one of a robot cleaner, a service robot, or a mobile projector.

The mobile robot 200 may contact the electronic apparatus 100 and perform charging. When the mobile robot 200 contacts the electronic apparatus 100, the electronic apparatus 100 may supply power to the mobile robot 200. The mobile robot 200 may perform a charging function by using the power received from the electronic apparatus 100.

FIG. 2 is a block diagram illustrating an electronic apparatus according to an embodiment of the disclosure.

Referring to FIG. 2, the electronic apparatus 100 may include at least one of memory 110 configured to store instructions, a communication interface 130 configured to communicate with a mobile robot 200, a sensor 185 for sensing whether there is contact with the mobile robot 200, or at least one processor 120 including processing circuitry.

The at least one processor 120 may identify whether the mobile robot 200 contacted based on sensing data obtained from the sensor 185. If it is identified that the mobile robot 200 contacted, the at least one processor 120 may supply predetermined power to the mobile robot 200. The at least one processor 120 may obtain a first voltage measured at the electronic apparatus 100, and obtain a second voltage measured at the mobile robot 200 through the communication interface 130. The at least one processor 120 may generate a first control signal for charging the mobile robot 200 based on a difference value between the first voltage and the second voltage, and transmit the first control signal to the mobile robot 200 through the communication interface 130.

The mobile robot 200 may include a magnetic element. The magnetic element may indicate an element including a material which is magnetic. The sensor 185 may obtain sensing data wherein a sensing value changes according to an adjacent magnetic element. As an example, if a magnetic element approaches within a threshold distance, the sensing value may be changed to be greater than or equal to a threshold value. If a sensing value included in the sensing data is greater than or equal to the threshold value, the at least one processor 120 may identify that a magnetic element contacted.

If it is identified that a magnetic element contacted based on the sensing data, the at least one processor 120 may identify that the mobile robot 200 contacted.

If it is identified that the mobile robot 200 contacted, the at least one processor 120 may turn on a first switch Q1. The first switch Q1 may be connected with a fourth switch Q4.

The at least one processor 120 may turn on a second switch Q2 and a third switch Q3 by turning on the first switch Q1. The at least one processor 120 may generate predetermined power based on the second switch Q2 and the third switch Q3. The at least one processor 120 may supply the predetermined power to the mobile robot 200 through a contact terminal contacted by the mobile robot 200.

The electronic apparatus 100 may receive power from external power. The second switch Q2 may be connected with a terminal that receives external power. The third switch Q3 may be connected to the contact terminal of the electronic apparatus 100 contacted by the mobile robot 200.

When the second switch Q2 and the third switch Q3 are turned on, the at least one processor 120 may generate predetermined power based on power received from external power. The at least one processor 120 may supply the predetermined power to the mobile robot 200 through the contact terminal of the electronic apparatus 100 connected with the third switch Q3.

After supplying the predetermined power, the at least one processor 120 may obtain a first voltage through a first voltage measurement part 180 included in the electronic apparatus 100.

The at least one processor 120 may obtain a second voltage through a second voltage measurement part 280 included in the mobile robot 200.

The at least one processor 120 may obtain a difference value between the first voltage and the second voltage. If the difference value is smaller than or equal to a threshold value, the at least one processor 120 may generate a first control signal.

If the difference value is smaller than or equal to the threshold value, the at least one processor 120 may generate the first control signal for turning on the fourth switch Q4 included in the mobile robot 200. The at least one processor 120 may transmit the first control signal to the mobile robot 200 through the communication interface 130.

The first control signal may include a control instruction for turning on the fourth switch Q4 such that the predetermined power supplied to the mobile robot 200 is transmitted to a power part 275 included in the mobile robot 200 and a charging function is performed.

The fourth switch Q4 may be a switch included in the mobile robot 200. The fourth switch Q4 may be a switch that determines whether to supply the predetermined power supplied to the mobile robot 200 to the power part 275 of the mobile robot 200.

The power part 275 of the mobile robot 200 may include a charging battery. The mobile robot 200 may charge the charging battery based on the predetermined power. When the fourth switch Q4 is turned on, the mobile robot 200 may charge the charging battery based on the predetermined power received from the electronic apparatus 100. When the fourth switch Q4 is turned off, the mobile robot 200 may block the predetermined power supplied to the charging battery.

If the difference value exceeds the threshold value, the at least one processor 120 may identify that an event related to an abnormal state occurred. The abnormal state may be a state wherein contact between the electronic apparatus 100 and the mobile robot 200 is abnormal. If the difference value between the first voltage and the second voltage is greater than or equal to the threshold value, the at least one processor 120 may determine that the electronic apparatus 100 and the mobile robot 200 are not contacted completely. In case there is an empty space between the electronic apparatus 100 and the mobile robot 200, a voltage difference may be generated as the empty space performs a role of resistance.

Explanation related to an operation of the electronic apparatus 100 of identifying a voltage difference will be described in FIGS. 5 to 13.

Explanation related to an operation of calculating a voltage difference will be described in FIGS. 5 to 8.

If an event related to an abnormal state is identified, the at least one processor 120 may provide a guide UI for indicating the abnormal state. The guide UI may include at least one of a guide image or guide audio. Explanation related to the guide UI will be described in FIGS. 8 to 10.

If an event related to an abnormal state is identified, the at least one processor 120 may obtain a target number of times that the event related to the abnormal state was identified during a threshold time. If the target number of times is greater than or equal to a threshold number of times, the at least one processor 120 may provide the guide UI. An operation related to this will be explained in the operation S1370 in FIG. 13.

If the target number of times is smaller than the threshold number of times, the at least one processor 120 may generate a second control signal for controlling the mobile robot 200 to contact the electronic apparatus 100 again after being separated from the electronic apparatus 100. The at least one processor 120 may transmit the second control signal to the mobile robot 200 through the communication interface 130. Explanation related to this will be described in FIG. 13.

An operation of calculating a voltage difference may be performed at the mobile robot 200. Explanation related to this will be described in FIGS. 14 to 18.

The electronic apparatus 100 or the mobile robot 200 may perform communication with a terminal apparatus 300. Explanation related to this will be described in FIGS. 19 and 20.

The electronic apparatus 100 may perform a first recognition operation by determining whether the mobile robot 200 contacted. The electronic apparatus 100 may perform a second recognition operation by determining a difference value between the first voltage and the second voltage. The electronic apparatus 100 may determine whether there is physical contact through the first recognition operation. The electronic apparatus 100 may determine whether there is electric contact through the second recognition operation. By performing two times of contact recognition operations, the electronic apparatus 100 may determine whether there is contact correctly. By reducing poor contact, power waste can be reduced, and charging errors can be reduced.

The electronic apparatus 100 may supply power to the mobile robot 200 even in a state wherein communication with the mobile robot 200 cannot be performed through the communication interface. As an example, in case the battery of the mobile robot 200 is completely discharged, the mobile robot 200 cannot perform communication with the electronic apparatus 100. The electronic apparatus 100 may supply power to the mobile robot 200 that contacted without using the communication interface.

The electronic apparatus 100 may detect the mobile robot 200 by using the sensor 185, and supply power to the mobile robot 200 by using a plurality of switches 191, 192, 193.

The electronic apparatus 100 may detect the mobile robot 200 through the sensor 185 before supplying power to a charging contact terminal (an anode, a cathode).

FIG. 3 is a block diagram for illustrating a detailed configuration of an electronic apparatus according to an embodiment of the disclosure.

Referring to FIG. 3, the electronic apparatus 100 may include at least one of memory 110, at least one processor 120, a communication interface 130, a display 140, a manipulation interface 150, an input/output interface 155, a speaker 160, a microphone 165, a camera 170, or a sensor 185.

The memory 110, the at least one processor 120, the communication interface 130, and the sensor 185 may correspond to the explanation of FIG. 2. Accordingly, overlapping explanation will be omitted.

The memory 110 may be implemented as, for example, internal memory, such as ROM (e.g., electrically erasable programmable read-only memory (EEPROM)), RAM, or the like, included in the at least one processor 120, or memory separate from the at least one processor 120. The memory 110 may be implemented in the form of memory embedded in the electronic apparatus 100, or in the form of memory that can be attached to or detached from the electronic apparatus 100 according to the usage of stored data. For example, in the case of data for operating the electronic apparatus 100, the data may be stored in memory embedded in the electronic apparatus 100, and in the case of data for an extended function of the electronic apparatus 100, the data may be stored in memory that can be attached to or detached from the electronic apparatus 100.

In the case of memory embedded in the electronic apparatus 100, the memory may be implemented as at least one of volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM), or the like) or non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash, or the like), a hard drive or a solid state drive (SSD)). In the case of memory that can be attached to or detached from the electronic apparatus 100, the memory may be implemented in forms, such as memory card (e.g., compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), a multi-media card (MMC), or the like), external memory that can be connected to a USB port (e.g., USB memory), or the like.

The memory 110 may store at least one instruction. The at least one processor 120 may perform various operations based on the instructions stored in the memory 110.

The at least one processor 120 may be implemented as a digital signal processor (DSP) processing digital signals, a microprocessor, and a time controller (TCON). However, the disclosure is not limited thereto, and the at least one processor 120 may include one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a graphics-processing unit (GPU) or a communication processor (CP), and an advanced reduced instruction set computer (RISC) machines (ARM) processor, or may be defined by the terms. In addition, the at least one processor 120 may be implemented as a system on chip (SoC) having a processing algorithm stored therein or large scale integration (LSI), or in the form of a field programmable gate array (FPGA). The at least one processor 120 may perform various functions by executing computer executable instructions stored in the memory.

The communication interface 130 is a component that performs communication with various types of external apparatuses according to various types of communication methods. The communication interface 130 may include a wireless communication module or a wired communication module. Each communication module may be implemented in a form of at least one hardware chip.

A wireless communication module may be a module that communicates with an external apparatus wirelessly. For example, a wireless communication module may include at least one module among a Wi-Fi module, a Bluetooth module, an infrared communication module, or other communication modules.

A Wi-Fi module and a Bluetooth module may perform communication by a Wi-Fi method and a Bluetooth method, respectively. In the case of using a Wi-Fi module or a Bluetooth module, various types of connection information, such as a service set identifier (SSID) and a session key is transmitted and received first, and connection of communication is performed by using the information, and various types of information can be transmitted and received thereafter.

An infrared communication module performs communication according to an infrared data association (IrDA) technology of transmitting data to a near field wirelessly by using infrared rays between visible rays and millimeter waves.

Other communication modules may include at least one communication chip that performs communication according to various wireless communication protocols, such as Zigbee, 3^rd generation (3G), 3^rd generation partnership project (3GPP), long term evolution (LTE), LTE advanced (LTE-A), 4^th generation (4G), 5^th generation (5G), or the like, other than the aforementioned communication methods.

A wired communication module may be a module that communicates with an external apparatus via wire. For example, a wired communication module may include at least one of a local area network (LAN) module, an Ethernet module, a pair cable, a coaxial cable, an optical fiber cable, or an ultra wide-band (UWB) module.

According to an embodiment of the disclosure, the communication interface 130 may use the same communication module (e.g., a Wi-Fi module) for communicating with an external apparatus, such as a remote control apparatus and an external server.

In addition, according to an embodiment of the disclosure, the communication interface 130 may use different communication modules for communicating with an external apparatus, such as a remote control apparatus and an external server. For example, the communication interface 130 may use at least one of an Ethernet module or a Wi-Fi module for communicating with an external server, and use a Bluetooth module for communicating with an external apparatus, such as a remote control apparatus. However, this is merely an example, and the communication interface 130 may use at least one communication module among various communication modules in the case of communicating with a plurality of external apparatuses or external servers.

The display 140 may be implemented as displays in various forms, such as a liquid crystal display (LCD), an organic light emitting diodes (OLED) display, a plasma display panel (PDP), or the like. Inside the display 140, a driving circuit that may be implemented in forms, such as an amorphous silicon thin film transistor (a-si TFT), a low temperature poly silicon (LTPS) TFT, an organic TFT (OTFT), or the like, and a backlight unit, or the like, may also be included together. The display 140 may be implemented as a touch screen coupled with a touch sensor, a flexible display, a three-dimensional (3D) display, or the like. The display 140 according to an embodiment of the disclosure may include not only a display panel outputting images, but also a bezel housing the display panel. In particular, a bezel according to an embodiment of the disclosure may include a touch sensor for detecting user interactions.

The manipulation interface 150 may be implemented as a device like a button, a touch pad, a mouse, and a keyboard, or as a touch screen that can perform both of the aforementioned display function and a manipulation input function. A button may be various types of buttons, such as a mechanical button, a touch pad, a wheel, or the like, formed in any areas, such as the front surface part or the side surface part, the rear surface part, or the like, of the exterior of the main body of the electronic apparatus 100.

The input/output interface 155 may be any one interface among a high definition multimedia interface (HDMI), a mobile high-definition link (MHL), a universal serial bus (USB), a display port (DP), a Thunderbolt, a video graphics array (VGA) port, an RGB port, a D-subminiature (D-SUB), or a digital visual interface (DVI). The input/output interface 155 may input and output at least one of an audio signal or a video signal. Depending on implementation examples, the input/output interface 155 may include a port inputting and outputting only audio signals and a port inputting and outputting only video signals as separate ports, or it may be implemented as one port that inputs and outputs both audio signals and video signals. The electronic apparatus 100 may transmit at least one of an audio signal or a video signal to an external apparatus (e.g., an external display apparatus or an external speaker) through the input/output interface 155. An output port included in the input/output interface 155 may be connected with an external apparatus, and the electronic apparatus 100 may transmit at least one of an audio signal or a video signal to the external apparatus through the output port.

The input/output interface 155 may be connected with the communication interface. The input/output interface 155 may transmit information received from an external apparatus to the communication interface, or transmit information received through the communication interface to an external apparatus.

The speaker 160 may be a component that outputs not only various types of audio data but also various types of notification sounds or voice messages, or the like.

The microphone 165 is a component for receiving input of a user voice or other sounds, and converting them into audio data. The microphone 165 may receive a user's voice in an activated state. For example, the microphone 165 may be formed as an integrated type on the upper side or the front surface direction, the side surface direction, or the like, of the electronic apparatus 100. The microphone 165 may include various components, such as a microphone collecting a user voice in an analog form, an amp circuit amplifying the collected user voice, an A/D conversion circuit that samples the amplified user voice and converts the user voice into a digital signal, a filter circuit that removes noise components from the converted digital signal, or the like.

The camera 170 is a component for generating a photographed image by photographing a subject, and a photographed image is a concept including both of a moving image and a still image. The camera 170 may obtain an image for at least one external apparatus, and may be implemented as a camera, a lens, an infrared sensor, or the like.

The camera 170 may include a lens and an image sensor. As types of a lens, there are general generic-purpose lenses, wide-angle lenses, zoom lenses, or the like, and the type may be determined according to the type, the characteristic, the use environment, or the like, of the electronic apparatus 100. As an image sensor, a complementary metal oxide semiconductor (CMOS) and a charge coupled device (CCD), or the like, may be used.

FIG. 4 is a diagram for illustrating configurations of an electronic apparatus and a mobile robot according to an embodiment of the disclosure.

Referring to FIG. 4, the electronic apparatus 100 may include at least one of a power part 175, a processor 120, a communication interface 130, a voltage measurement part 180, a sensor 185, a first switch 191, a second switch 192, or a third switch 193.

The power part 175 may be connected with external power. The power part 175 may include a module that supplies power. The power part 175 may operate by receiving external power. In a specific situation (a situation wherein the mobile robot 200 contacted), the power part 175 may supply the received external power to the mobile robot 200. The power part 175 may be described as a first power part.

The processor 120 may be described as a first processor.

The communication interface 130 may include at least one of a first communication module 131 or a second communication module 132. The communication interface 130 may be described as a first communication interface.

As an example, the first communication module 131 and the second communication module 132 may be modules using the same communication method.

As an example, the first communication module 131 and the second communication module 132 may be modules using different communication methods. For example, the first communication module 131 may be a module performing an infrared communication method. The second communication module 132 may be a module performing a Bluetooth communication method.

The electronic apparatus 100 may perform communication with an external apparatus by using the communication interface 130.

As an example, the electronic apparatus 100 may perform communication with the mobile robot 200 and the terminal apparatus 300 by using the first communication module 131.

As an example, the electronic apparatus 100 may perform communication with the mobile robot 200 and the terminal apparatus 300 by using the second communication module 132.

As an example, the electronic apparatus 100 may perform communication with the mobile robot 200 by using the first communication module 131, and perform communication with the terminal apparatus 300 by using the second communication module 132.

As an example, the electronic apparatus 100 may perform communication with the terminal apparatus 300 by using the first communication module 131, and perform communication with the mobile robot 200 by using the second communication module 132.

The voltage measurement part 180 may identify a voltage for a specific node of the electronic apparatus 100. The voltage measurement part 180 may obtain a voltage supplied at the electronic apparatus 100. The obtained voltage may be described as a first voltage. The voltage measurement part 180 may be described as a first voltage measurement part.

The sensor 185 may be a sensor for detecting whether the mobile robot 200 contacted. The sensor 185 may obtain sensing data for indicating contact of an external apparatus. The electronic apparatus 100 may identify whether the mobile robot 200 contacted based on the sensing data. Contact may also be described as approach. The sensor 185 may be described as a contact sensor or a proximity sensor.

The first switch Q1 191 may be a switch for controlling the second switch Q2 and the third switch Q3 based on sensing data obtained at the sensor 185. The electronic apparatus 100 may control on/off of the second switch Q2 and the third switch Q3 through the first switch Q1.

The second switch Q2 192 and the third switch Q3 may be switches that are used in supplying external power to the mobile robot 200. When the second switch Q2 and the third switch Q3 are turned on, external power may be supplied to the mobile robot 200 through the electronic apparatus 100.

When the second switch Q2 193 and the third switch Q3 are turned off, the electronic apparatus 100 may block external power supplied to the mobile robot 200.

The mobile robot 200 may include at least one of a motor 210, a power part 275, a processor 220, a communication interface 230, a power measurement part 280, a voltage adjustment part 281, or a fourth switch 294.

The motor 210 may output physical energy for moving the mobile robot 200. The motor 210 may provide energy for rotating a moving element (e.g., a wheel) by power supplied from the power part 275.

The power part 275 may receive power supplied from the electronic apparatus 100. The power part 275 may perform a charging function based on the received power. The power part 275 may supply charged power for controlling the mobile robot 200 to at least one hardware component included in the mobile robot 200. The power part 275 may be described as one of a second power part, a battery, or a charging battery.

The processor 220 may control the mobile robot 200. The processor 220 may be described as at least one processor, a second processor, or a charging processor.

The communication interface 230 may include at least one of a first communication module 231 or a second communication module 232. The communication interface 230 may be described as a second communication interface.

As an example, the first communication module 231 and the second communication module 232 may be modules using the same communication method.

As an example, the first communication module 231 and the second communication module 232 may be modules using different communication methods. For example, the first communication module 231 may be a module performing an infrared communication method. The second communication module 232 may be a module performing a Bluetooth communication method.

The mobile robot 200 may perform communication with an external apparatus by using the communication interface 230.

As an example, the mobile robot 200 may perform communication with the electronic apparatus 100 and the terminal apparatus 300 by using the first communication module 231.

As an example, the mobile robot 200 may perform communication with the electronic apparatus 100 and the terminal apparatus 300 by using the second communication module 232.

As an example, the mobile robot 200 may perform communication with the electronic apparatus 100 by using the first communication module 231, and perform communication with the terminal apparatus 300 by using the second communication module 232.

As an example, the mobile robot 200 may perform communication with the terminal apparatus 300 by using the first communication module 231, and perform communication with the electronic apparatus 100 by using the second communication module 232.

The voltage measurement part 280 may identify a voltage for a specific node of the mobile robot 200. The voltage measurement part 280 may obtain a voltage supplied at the mobile robot 200. The obtained voltage may be described as a second voltage. The voltage measurement part 280 may be described as a second voltage measurement part.

The voltage adjustment part 281 may adjust the size of power used in the mobile robot 200. The voltage adjustment part 281 may adjust the size of power that the mobile robot 200 received from the electronic apparatus 100. As an example, the voltage adjustment part 281 may control the size of power that the processor 220 supplies to the power part 275 of the mobile robot 200. As an example, the voltage adjustment part 281 may control the size of power that the processor 220 supplies to the load of the mobile robot 200.

The fourth switch Q4 294 may be a switch for determining whether to supply power supplied from the electronic apparatus 100 to the power part 275. When the fourth switch Q4 is turned on, power supplied from the electronic apparatus 100 may be supplied to the power part 275. When the fourth switch Q4 is turned off, power supplied from the electronic apparatus 100 may be blocked.

Even if power received from the electronic apparatus 100 is not supplied to the power part 275, only the charging function is not performed, and the mobile robot 200 may perform various operations.

As an example, the mobile robot 200 may perform various operations by using power charged in the power part 275.

As an example, the mobile robot 200 may receive power received from the electronic apparatus 100 from the processor 220. The processor 220 may supply the received power to the hardware component included in the mobile robot 200 in a state wherein power was not supplied to the power part 275. In a completely discharged state, the power supplied from the electronic apparatus 100 may be transmitted to the hardware component included in the mobile robot 200. A completely discharged state may indicate a state wherein power charged in the power part 275 is smaller than a threshold value. Even if the power supplied from the electronic apparatus 100 is supplied to the mobile robot 200 in a completely discharged state, if the electronic apparatus 100 and the mobile robot 200 are separated, the mobile robot 200 may not operate normally. This is because charging was not performed as power was still not supplied to the power part 275. Only when the fourth switch Q4 is turned on, the power received from the electronic apparatus 100 may be supplied to the power part 275.

In FIGS. 5 to 13, an embodiment of generating a first control signal for controlling the electronic apparatus 100 to perform a charging function on the mobile robot 200 will be explained.

FIG. 5 is a diagram for illustrating an operation of an electronic apparatus of identifying a voltage difference according to an embodiment of the disclosure.

Referring to FIG. 5, the electronic apparatus 100 may identify whether the mobile robot 200 contacted based on sensing data in the operation S511. The electronic apparatus 100 may identify whether the mobile robot 200 contacted based on sensing data obtained from the sensor 185.

If it is identified that the mobile robot 200 contacted the electronic apparatus 100 based on the sensing data, the electronic apparatus 100 may supply predetermined power to the mobile robot 200 in the operation S523. The predetermined power may include at least one of a predetermined voltage or a predetermined current.

After supplying the predetermined power, the electronic apparatus 100 may obtain a difference value between a first voltage measured at the electronic apparatus 100 and a second voltage measured at the mobile robot 200 in the operation S534. The electronic apparatus 100 may obtain the first voltage for a specific node of circuitry included in the electronic apparatus 100. The electronic apparatus 100 may obtain the second voltage for a specific node of circuitry included in the mobile robot 200. The electronic apparatus 100 may obtain a difference value between the first voltage and the second voltage.

The electronic apparatus 100 may identify whether the difference value is smaller than or equal to a threshold value in the operation S535. The threshold value may be changed according to the user's setting.

If the difference value is smaller than or equal to the threshold value in the operation S535-Y, the electronic apparatus 100 may provide a first control signal for charging the mobile robot 200 in the operation S540. The electronic apparatus 100 may transmit the first control signal to the mobile robot 200. The mobile robot 200 may perform the charging function by using the predetermined power supplied by the operation S523 based on the first control signal.

If the difference value exceeds the threshold value in the operation S535-N, the electronic apparatus 100 may identify an event related to an abnormal state in the operation S550. The electronic apparatus 100 may identify that an event related to an abnormal state occurred. The event related to an abnormal state may be described as a predetermined event.

FIG. 6 is a diagram for illustrating an operation of generating a control signal for charging according to a voltage difference at an electronic apparatus according to an embodiment of the disclosure.

The operations S611, S623, S634, S635, S640, and S650 in FIG. 6 may correspond to the operations S511, S523, S534, S535, S540, and S550 in FIG. 5.

The electronic apparatus 100 may identify whether the mobile robot 200 contacted based on sensing data in the operation S611.

If it is identified that the mobile robot 200 contacted in the operation S611-Y, the electronic apparatus 100 may generate predetermined power in the operation S622. The electronic apparatus 100 may supply the predetermined power to the mobile robot 200 in the operation S623. The electronic apparatus 100 may supply the predetermined power to the mobile robot 200 through a connection terminal (or a contact terminal) contacted by the mobile robot 200.

The electronic apparatus 100 may obtain the first voltage through the first voltage measurement part 180 in the operation S631.

The mobile robot 200 may obtain the second voltage through the second voltage measurement part 280 in the operation S632. The mobile robot 200 may transmit the second voltage to the electronic apparatus 100 in the operation S633.

The electronic apparatus 100 may receive the second voltage from the mobile robot 200. The electronic apparatus 100 may obtain a difference value between the first voltage and the second voltage in the operation S634.

The electronic apparatus 100 may identify whether the difference value is smaller than or equal to a threshold value in the operation S635. If the difference value is smaller than or equal to the threshold value in the operation S635-Y, the electronic apparatus 100 may generate a first control signal for charging the mobile robot 200 in the operation S640. The electronic apparatus 100 may transmit the first control signal to the mobile robot 200 in the operation S641.

The mobile robot 200 may receive the first control signal from the electronic apparatus 100. The mobile robot 200 may perform the charging function by supplying power to the power part 275 based on the first control signal in the operation S643. The mobile robot 200 may supply power to the power part 275 based on the voltage supplied by the operation S623.

If the difference value exceeds the threshold value in the operation S635-N, the electronic apparatus 100 may identify an event related to an abnormal state in the operation S650. If the difference value exceeds the threshold value, the electronic apparatus 100 may identify that an event related to an abnormal state occurred.

FIG. 7 is a diagram for illustrating an operation of specifying an embodiment in FIG. 6 according to an embodiment of the disclosure.

Referring to FIG. 7, operations S711, S722, S723, S731, S732, S733, S734, S735, S740, S741, S743, and S750 in FIG. 7 may correspond to the operations S611, S622, S623, S631, S632, S633, S634, S635, S640, S641, S643, and S650 in FIG. 6.

The electronic apparatus 100 may obtain sensing data from the sensor 185 in the operation S710. The electronic apparatus 100 may identify whether the mobile robot 200 contacted based on the sensing data in the operation S711.

If contact of the mobile robot 200 is not identified in the operation S711-N, the electronic apparatus 100 may repeatedly perform the operations S710 and S711.

If contact of the mobile robot 200 is identified in the operation S711-Y, the electronic apparatus 100 may turn on the first switch Q1 in the operation S720. The electronic apparatus 100 may turn on the second switch Q2 and the third switch Q3 in the operation S721.

The electronic apparatus 100 may generate predetermined power in the operation S722. The electronic apparatus 100 may receive external power. The electronic apparatus 100 may turn on the second switch Q2 and the third switch Q3 by turning on the first switch Q1. When the second switch Q2 and the third switch Q3 are turned on, the electronic apparatus 100 may generate predetermined power based on external power. The electronic apparatus 100 may supply the predetermined power to the mobile robot 200 in the operation S723. The predetermined power may be transmitted to the mobile robot 200 through the contact terminal of the electronic apparatus 100.

The mobile robot 200 may receive the predetermined power from the electronic apparatus 100 through the contact terminal of the mobile robot 200. The mobile robot 200 may supply the received predetermined power to the charging processor 220 of the mobile robot 200 in the operation S724.

The mobile robot 200 may perform system booting by using the power supplied to the charging processor 220 in the operation S725. The mobile robot 200 may activate the second communication interface 230 by using the power supplied to the charging processor 220 in the operation S726.

The mobile robot 200 may obtain the second voltage through the second voltage measurement part in the operation S732. The mobile robot 200 may transmit the second voltage to the electronic apparatus 100 in the operation S732. The mobile robot 200 may transmit the second voltage to the electronic apparatus 100 through the second communication interface 230.

The electronic apparatus 100 may receive the second voltage from the mobile robot 200. The electronic apparatus 100 may obtain a difference value between the first voltage and the second voltage in the operation S734. The electronic apparatus 100 may identify whether the difference value is smaller than or equal to a threshold value in the operation S735.

If the difference value is smaller than or equal to the threshold value in the operation S735-Y, the electronic apparatus 100 may generate the first control signal for turning on the fourth switch Q4 in the operation S740. The electronic apparatus 100 may transmit the first control signal to the mobile robot 200 in the operation S741.

The mobile robot 200 may receive the first control signal from the electronic apparatus 100. The mobile robot 200 may receive the first control signal through the second communication interface 230. The mobile robot 200 may turn on the fourth switch Q4 based on the first control signal in the operation S742. When the fourth switch Q4 is turned on, the mobile robot 200 may perform the charging function by supplying power to the power part 275 in the operation S743. The power may be power supplied by the operation S723. The mobile robot 200 may supply the power supplied to the charging processor 724 to the power part 275 through the fourth switch Q4.

FIG. 8 is a diagram for illustrating an operation of providing a guide UI according to an embodiment of the disclosure.

Referring to the embodiment 810 in FIG. 8, the electronic apparatus 100 may determine whether an event related to an abnormal state is identified in the operation S850-1. If an event related to an abnormal state is identified in the operation S850-1-Y, the electronic apparatus 100 may provide a guide UI for indicating the abnormal state in the operation S870-1.

The guide UI may include at least one of a guide image or guide audio. The electronic apparatus 100 may output the guide image through the display 140. The electronic apparatus 100 may output the guide audio through the speaker 160. The guide UI may include information for notifying the abnormal state to the user.

Referring to the embodiment 820 in FIG. 8, the electronic apparatus 100 may determine whether an event related to an abnormal state is identified in the operation S850-2. If an event related to an abnormal state is identified in the operation S850-2-Y, the electronic apparatus 100 may transmit a notification of an abnormal state to the mobile robot 200 in the operation S851-2. The notification of an abnormal state may include a notification for indicating that abnormality occurred related to contact between the electronic apparatus 100 and the mobile robot 200.

The mobile robot 200 may receive the notification of an abnormal state from the electronic apparatus 100. The mobile robot 200 may provide a guide UI for indicating the abnormal state in the operation S870-2. The guide UI may include at least one of a guide image or guide audio. The mobile robot 200 may output the guide image through the display of the mobile robot 200. The mobile robot 200 may output the guide audio through the speaker of the mobile robot 200.

FIG. 9 is a diagram for illustrating a guide UI according to an embodiment of the disclosure.

Referring to FIG. 9, the electronic apparatus 100 or the mobile robot 200 may output a guide UI including a guide image 900.

The guide image 900 may include at least one of a UI 910 explaining an abnormal state, an image 920 explaining the abnormal state, or a UI 930 indicating an operation for resolving the abnormal state.

The UI 910 may include information explaining that a problem occurred related to contact between the electronic apparatus 100 and the mobile robot 200.

The image 920 may include an image indicating that contact between the electronic apparatus 100 and the mobile robot 200 is problematic.

The UI 930 may include information for guiding a specific operation to the user for resolving the abnormal state.

FIG. 10 is a diagram for illustrating an operation of outputting a guide UI according to an embodiment of the disclosure.

Referring to the embodiment 1010 in FIG. 10, the electronic apparatus 100 may include a speaker 160. The electronic apparatus 100 may output guide audio through the speaker 160. The guide audio may include a predetermined beep sound or a predetermined guide phrase.

Referring to the embodiment 1020 in FIG. 10, the electronic apparatus 100 may include a display 140. The display 140 may be arranged on the upper surface of the electronic apparatus 100.

Referring to the embodiment 1030 in FIG. 10, the electronic apparatus 100 may include a display 140. The display 140 may be arranged on the front surface of the electronic apparatus 100.

FIG. 11 is a diagram for illustrating an operation of moving a mobile robot according to an embodiment of the disclosure.

Referring to an embodiment 1100 in FIG. 11, if an event related to an abnormal state is identified while the mobile robot 200 contacts the electronic apparatus 100, the mobile robot 200 may move on a predetermined moving route. The predetermined moving route may be a route for contacting the electronic apparatus 100 again after being separated from the electronic apparatus 100 by a threshold distance.

The mobile robot 200 may move by the threshold distance in a direction of getting far from the electronic apparatus 100 from the current location, and then move to a location for contacting the electronic apparatus 100 (or a charging location) again.

As an example, the mobile robot 200 may move to a first position p1 (1110) for performing charging by using the electronic apparatus 100. It is assumed that an event related to an abnormal state occurred while the mobile robot 200 is in the first position p1. The mobile robot 200 may move from the first position p1 to a second position p2 (1120), and then move to the first position p1 again. The first position p1 may be different from the second position p2. The second position p2 may be a position that is distanced from the first position p1 by a threshold distance. In addition, the second position p2 may be a position that is distanced from the first position p1 by the threshold distance in a direction toward the front surface of the electronic apparatus 100.

FIG. 12 is a diagram for illustrating an operation of generating a control signal for moving a mobile robot according to an embodiment of the disclosure.

Referring to FIG. 12, the electronic apparatus 100 may determine whether an event related to an abnormal state is identified in the operation S1250. If an event related to an abnormal state is identified in the operation S1250-Y, the electronic apparatus 100 may generate a second control signal for rearranging the mobile robot 200 in the operation S1280. The second control signal may include a signal for controlling the mobile robot 200 to drive on the predetermined moving route described in FIG. 11. The electronic apparatus 100 may transmit the second control signal to the mobile robot 200.

The mobile robot 200 may receive the second control signal from the electronic apparatus 100. The mobile robot 200 may receive the second control signal from the electronic apparatus 100 through the second communication interface 230. The mobile robot 200 may drive on the predetermined moving route based on the second control signal. The mobile robot 200 may drive on a moving route for re-contacting the electronic apparatus 100 after being separated from the electronic apparatus 100 based on the second control signal in the operation S1282.

The electronic apparatus 100 may obtain sensing data from the sensor in the operation S1210. The electronic apparatus 100 may identify whether the mobile robot 200 re-contacted based on the sensing data. The operation S1210 may correspond to the operation S710 in FIG. 7. After the re-contact, the electronic apparatus 100 may perform the operations disclosed in FIG. 7.

FIG. 13 is a diagram for illustrating an operation of providing a guide UI according to a number of times of identifying an event according to an embodiment of the disclosure.

The operations S1350, S1380, S1381, S1382, and S1310 in FIG. 13 may correspond to the operations S1250, S1280, S1281, S1282, and S1210 in FIG. 12. Accordingly, overlapping explanation will be omitted.

If an event related to an abnormal state is identified in the operation S1350-Y, the electronic apparatus 100 may identify a target number of times that the event related to the abnormal state was identified during a threshold time in the operation S1360. The electronic apparatus 100 may store information on the time when the event related to the abnormal state was identified. The electronic apparatus 100 may obtain the target number of times that the event related to the abnormal state was identified during the threshold time based on the time point when the event related to the abnormal state was identified.

The electronic apparatus 100 may identify whether the identified number of times (or target number of times) is smaller than a threshold number of times in the operation S1361. If the target number of times is smaller than the threshold number of times in the operation S1361-Y, the electronic apparatus 100 may perform the operations S1380, S1381, and S1310, and the mobile robot 200 may perform the operation S1382.

If the target number of times is greater than or equal to the threshold number of times in the operation S1361-N, the electronic apparatus 100 may provide a guide UI for indicating the abnormal state in the operation S1370. As an example, the guide UI may be provided through the electronic apparatus 100. In addition, as an example, the guide UI may be provided through the mobile robot 200. An operation related to this will be described in FIG. 8.

In FIGS. 5 to 13, an embodiment of generating the first control signal for controlling the electronic apparatus 100 to perform the charging function on the mobile robot 200 was explained.

In FIGS. 14 to 18, an embodiment wherein the mobile robot 200 directly determines whether to perform the charging function will be explained.

FIG. 14 is a diagram for illustrating an operation of generating a control signal for charging according to a voltage difference at a mobile robot according to an embodiment of the disclosure.

Referring to FIG. 14, operation S1411, S1422, S1423, S1431, and S1432 in FIG. 14 may correspond to the operation S611, S622, S623, S631, and S632 in FIG. 6. Accordingly, overlapping explanation will be omitted.

After obtaining the first voltage, the electronic apparatus 100 may transmit the first voltage to the mobile robot 200 in the operation S1433.

The mobile robot 200 may receive the first voltage from the electronic apparatus 100. The mobile robot 200 may receive the first voltage from the electronic apparatus 100 through the second communication interface 230.

The mobile robot 200 may obtain a difference value between the first voltage and the second voltage in the operation S1434. The mobile robot 200 may identify whether the difference value is smaller than or equal to a threshold value in the operation S1435.

If the difference value is smaller than or equal to the threshold value in the operation S1435-Y, the mobile robot 200 may perform the charging function by supplying power to the power part 275 in the operation S1443. The mobile robot 200 may supply power to the power part 275 based on the voltage supplied by the operation S1423.

If the difference value exceeds the threshold value in the operation S1435-N, the mobile robot 200 may identify an event related to an abnormal state in the operation S1450. If the difference value exceeds the threshold value, the mobile robot 200 may identify that an event related to an abnormal state occurred.

FIG. 15 is a diagram for illustrating an operation of specifying an embodiment in FIG. 14 according to an embodiment of the disclosure.

Referring to FIG. 15, operation S1510, S1511, S1520, S1521, S1522, S1523, S1524, S1525, S1526, S1531, S1532, and S1533 in FIG. 15 may correspond to the operations S710, S711, S720, S721, S722, S723, S724, S725, S726, S731, S732, and S733 in FIG. 7. Accordingly, overlapping explanation will be omitted.

The operations S1534, S1535, S1543, and S1550 in FIG. 15 may correspond to the operations S1434, S1435, S1443, and S1450 in FIG. 14. Accordingly, overlapping explanation will be omitted.

If the difference value is smaller than or equal to the threshold value in the operation S1535-Y, the mobile robot 200 may turn on the fourth switch Q4 in the operation S1542. When the fourth switch Q4 is turned on, the mobile robot 200 may perform the charging function by supplying power to the power part 275 in the operation S1543. The power may be power supplied by the operation S1523. The mobile robot 200 may supply the power supplied to the charging processor 724 to the power part 275 through the fourth switch Q4.

FIG. 16 is a diagram for illustrating an operation of outputting a guide UI according to an embodiment of the disclosure.

Referring to the embodiment 1610 in FIG. 16, the mobile robot 200 may determine whether an event related to an abnormal state is identified in the operation S1650-1. If an event related to an abnormal state is identified in the operation S1650-1-Y, the mobile robot 200 may provide a guide UI for indicating the abnormal state in the operation S1670-1.

The guide UI may include at least one of a guide image or guide audio. The mobile robot 200 may output the guide image through the display of the mobile robot 200. The mobile robot 200 may output the guide audio through the speaker of the mobile robot 200. The guide UI may include information for notifying the abnormal state to the user.

Referring to the embodiment 1620 in FIG. 16, the mobile robot 200 may determine whether an event related to an abnormal state is identified in the operation S1650-2. If an event related to an abnormal state is identified in the operation S1650-2-Y, the mobile robot 200 may transmit a notification of an abnormal state to the electronic apparatus 100 through the communication interface 230 in the operation S1651-2. The notification of an abnormal state may include a notification for indicating that abnormality occurred related to contact between the electronic apparatus 100 and the mobile robot 200.

The electronic apparatus 100 may receive the notification of an abnormal state from the mobile robot 200. The mobile robot 200 may provide a guide UI for indicating the abnormal state in the operation S1670-2. The guide UI may include at least one of a guide image or guide audio. The electronic apparatus 100 may output the guide image through the display 140. The electronic apparatus 100 may output the guide audio through the speaker 160.

FIG. 17 is a diagram for illustrating an operation of generating a control signal for moving a mobile robot according to an embodiment of the disclosure.

Referring to FIG. 17, operations S1782, S1710 may correspond to the operation S1282 and S1210 in FIG. 12. Accordingly, overlapping explanation will be omitted.

The mobile robot 200 may determine whether an event related to an abnormal state is identified in the operation S1750. If an event related to an abnormal state is identified in the operation S1750-Y, the mobile robot 200 may generate a second control signal for rearranging the mobile robot 200 in the operation S1780. The second control signal may include a signal for controlling the mobile robot 200 to drive on the predetermined moving route described in FIG. 11.

The mobile robot 200 may drive on the predetermined moving route based on the second control signal. The mobile robot 200 may drive on a moving route for re-contacting the electronic apparatus 100 after being separated from the electronic apparatus 100 based on the second control signal in the operation S1782.

The electronic apparatus 100 may obtain sensing data from the sensor in the operation S1710. The electronic apparatus 100 may identify whether the mobile robot 200 re-contacted based on the sensing data. The operation S1710 may correspond to the operation S1510 in FIG. 15. After the re-contact, the electronic apparatus 100 may perform the operations disclosed in FIG. 15.

FIG. 18 is a diagram for illustrating an operation of providing a guide UI according to a number of times of identifying an event according to an embodiment of the disclosure.

Referring to FIG. 18, operations S1850, S1880, S1882, and S1810 may correspond to the operations S1750, S1780, S1782, and S1710 in FIG. 17. Accordingly, overlapping explanation will be omitted.

If an event related to an abnormal state is identified in the operation S1850-Y, the mobile robot 200 may identify a target number of times that the event related to the abnormal state was identified during a threshold time in the operation S1860. The mobile robot 200 may store information on the time when the event related to the abnormal state was identified. The mobile robot 200 may obtain the target number of times that the event related to the abnormal state was identified during the threshold time based on the time point when the event related to the abnormal state was identified.

The mobile robot 200 may identify whether the identified number of times (or target number of times) is smaller than a threshold number of times in the operation S1861. If the target number of times is smaller than the threshold number of times in the operation S1861-Y, the mobile robot 200 may perform the operations S1880, S1882, and S1810.

If the target number of times is greater than or equal to the threshold number of times in the operation S1861-N, the mobile robot 200 may provide a guide UI for indicating the abnormal state in the operation S1870. As an example, the guide UI may be provided through the electronic apparatus 100. In addition, as an example, the guide UI may be provided through the mobile robot 200. An operation related to this will be described in FIG. 16.

FIG. 19 is a diagram for illustrating a system communicating with a terminal apparatus according to an embodiment of the disclosure.

Referring to FIG. 19, a system 1900 may include at least one of an electronic apparatus 100, a mobile robot 200, or a terminal apparatus 300. The terminal apparatus 300 may indicate a user terminal apparatus. The terminal apparatus 300 may include at least one of a smartphone 301, a smart watch 302, or a smart ring 303. In addition, the terminal apparatus 300 may include a wearable apparatus.

As an example, the electronic apparatus 100 may perform communication with the mobile robot 200 and the terminal apparatus 300 based on a first communication method. The mobile robot 200 may perform communication with the electronic apparatus 100 and the terminal apparatus 300 based on the first communication method.

As an example, the electronic apparatus 100 may perform communication with the mobile robot 200 and the terminal apparatus 300 based on a second communication method. The mobile robot 200 may perform communication with the electronic apparatus 100 and the terminal apparatus 300 based on the second communication method.

As an example, the electronic apparatus 100 may perform communication with the mobile robot 200 by the first communication method, and perform communication with the terminal apparatus 300 by the second communication method. The mobile robot 200 may perform communication with the electronic apparatus 100 by the first communication method, and perform communication with the terminal apparatus 300 by the second communication method.

As an example, the first communication method may be an infrared communication method, and the second communication method may be a Bluetooth communication method.

FIG. 20 is a diagram for illustrating an operation of providing a guide UI through a terminal apparatus according to an embodiment of the disclosure.

Referring to the embodiment 2010 in FIG. 20, the electronic apparatus 100 may identify an event for providing a guide UI in the operation S2071-1. If an event for providing a guide UI is identified in the operation S2071-1, the electronic apparatus 100 may transmit a notification of an abnormal state to the terminal apparatus 300 in the operation S2072-1. The event for providing a guide UI may include an event wherein it is identified that the operation S870-1 in FIG. 8 is performed or an event wherein it is identified that the operation S1370 in FIG. 13 is performed.

The terminal apparatus 300 may receive the notification of an abnormal state from the electronic apparatus 100. The terminal apparatus 300 may provide a guide UI for indicating the abnormal state in the operation S2073-1. The terminal apparatus 300 may output the guide image included in the guide UI through the display of the terminal apparatus 300. The terminal apparatus 300 may output the guide audio included in the guide UI through the speaker of the terminal apparatus 300.

Referring to the embodiment 2020 in FIG. 20, the mobile robot 200 may identify an event for providing a guide UI in the operation S2071-2. If an event for providing a guide UI is identified in the operation S2071-2, the mobile robot 200 may transmit a notification of an abnormal state to the terminal apparatus 300 in the operation S2072-2. The event for providing a guide UI may include an event wherein it is identified that the operation S1670-1 in FIG. 16 is performed or an event wherein it is identified that the operation S1870 in FIG. 18 is performed.

The terminal apparatus 300 may receive the notification of an abnormal state from the electronic apparatus 100. The terminal apparatus 300 may provide a guide UI for indicating the abnormal state in the operation S2073-2. The terminal apparatus 300 may output the guide image included in the guide UI through the display of the terminal apparatus 300. The terminal apparatus 300 may output the guide audio included in the guide UI through the speaker of the terminal apparatus 300.

FIG. 21 is a diagram for illustrating circuit diagrams of an electronic apparatus and a mobile robot according to an embodiment of the disclosure.

Referring to an embodiment 2100 in FIG. 21, the electronic apparatus 100 may include at least one of a first power part 175, a first MCU 125, a first switch 194, a second switch 192, a third switch 193, a sensor 185, or a first voltage measurement part 180.

A first terminal a of the first MCU 125 may be connected to a circuit substrate of the electronic apparatus 100. The first terminal a of the first MCU 125 may be connected to the processor 120 of the electronic apparatus 100.

A second terminal b of the first MCU 125 may be connected to an output port (hall_out) of the sensor.

A third terminal c of the first MCU 125 may be connected to a first terminal a of the first switch 194.

A second terminal b of the first switch 194 may be connected to a short circuit terminal and a charging cathode terminal S− of the electronic apparatus 100. The short circuit terminal may also be described as a ground terminal.

A third terminal c of the first switch 194 may be connected to a second terminal b of the second switch 192 and a second terminal b of the third switch 193.

A first terminal a of the second switch 192 may be connected to a first terminal a of the first power part 175 provided in the electronic apparatus 100. As an example, the power may be 17.54V.

A third terminal c of the second switch 192 may be connected to a first terminal a of the third switch 193.

A third terminal c of the third switch 193 may be connected to a second terminal b of a first resistance R1 included in the first voltage measurement part 180 and a charging anode terminal S+ of the electronic apparatus 100.

The first voltage measurement part 180 may include a first resistance R1 and a second resistance R2. A first terminal a of the first resistance R1 may be connected to a second terminal b of the second resistance R2 and an output port P1 of the first voltage measurement part 180. A first terminal a of the second resistance R2 may be short-circuited. The first voltage measurement part 180 may measure the first voltage through the output port P1. The output port P1 may be connected to the system of the electronic apparatus 100. The first voltage measurement part 180 may obtain the first voltage by measuring the system voltage of the electronic apparatus 100.

A first terminal a of the sensor 185 may be connected to the circuit substrate of the electronic apparatus 100. The first terminal a of the sensor 185 may be connected to the processor 120 of the electronic apparatus 100.

A second terminal b of the sensor 185 may be connected to an output port (hall_out) of the sensor 185.

In a charging process, a charging cathode terminal S− of the electronic apparatus 100 may contact a charging cathode terminal R-of the mobile robot 200.

In addition, in a charging process, a charging anode terminal S+ of the electronic apparatus 100 may contact a charging anode terminal R+ of the mobile robot 200.

The mobile robot 200 may include at least one of a magnetic element 260, a charging processor 220, a voltage adjustment part 281, a fourth switch 294, a second power part 275, a second voltage measurement part 280, or a second MCU 225.

In case the mobile robot 200 contacts the electronic apparatus 100, the sensor 185 of the electronic apparatus 100 may detect the magnetic element 260 of the mobile robot 200. If the sensor 185 detects the magnetic element 260, a signal indicating the fact that the magnetic element 260 was detected may be transmitted to the first MCU 125 through the output port (hall_out) of the sensor 185.

A first terminal a of the charging processor 220 may be connected to the charging anode terminal R+ of the mobile robot 200 and a first terminal a of the voltage adjustment part 281.

A second terminal b of the charging processor 220 may be connected to a second terminal b of the voltage adjustment part 281.

A third terminal c of the charging processor 220 may be connected to a third terminal c of the fourth switch 294, a third terminal c of the voltage adjustment part 281, and a first terminal a of the third resistance R3 of the second voltage measurement part 280.

A fourth terminal d of the charging processor 220 may be connected to a first terminal a of the fourth switch 294.

A second terminal b of the fourth switch 294 may be connected to a second terminal b of the second power part 275. The second terminal b of the second power part 275 may be an anode terminal of the second power part 275.

A first terminal a of the second power part 275 may be connected to the charging cathode terminal R-of the mobile robot 200.

The second voltage measurement part 280 may include at least one of a third resistance R3, a fourth resistance R4, or an output port P2.

A second terminal b of the third resistance R3 may be connected to a first terminal a of the fourth resistance R4 and the output port P2.

A second terminal b of the fourth resistance R4 may be short-circuited.

The second voltage measurement part 280 may measure a second voltage for the second MCU 225. The second MCU 225 may be connected to a main processor (a third processor) of the mobile robot 200.

A first terminal a of the second MCU 225 may be connected to the main processor of the mobile robot 200. A second terminal b of the second MCU 225 may be connected to the output port P2 of the second voltage measurement part 280.

Power supplied by the first power part 175 may be transmitted to the charging anode terminal S+ of the electronic apparatus 100 through the second switch 192 and the third switch Q3. The supplied power may be transmitted to the first terminal a of the charging processor 220 through the charging anode terminal R+ of the mobile robot 200. The supplied power may be supplied to the second power part 275 through the fourth terminal d4 of the charging processor 220 and the fourth switch 294.

By controlling the fourth switch 294, it may be determined whether to supply power to the second power part 275.

The power supplied to the mobile robot 200 may be transmitted to the system of the mobile robot 200 through the power adjustment part 281.

The first switch 191 may be a switch for controlling the second switch 192 and the third switch 193. The first switch 191 may be an N-BJT.

The second switch 192 and the third switch 193 may be switches for blocking a charging voltage. The second switch 192 and the third switch 193 may be P-FETs.

FIG. 22 is a diagram for illustrating a circuit diagram of a mobile robot according to an embodiment of the disclosure.

Referring to FIG. 22, the mobile robot 200 may include at least one of a first noise filter 241, a first stabilization module 251, a voltage adjustment part 281, a second noise filter 242, a second stabilization module 252, a fourth switch 294, a second voltage measurement part 280, or a second MCU 225.

The first noise filter 241 may include a fifth resistance R5, a sixth resistance R6, a seventh resistance R7, and a first capacitor C1.

The voltage adjustment part 281 may include at least one of a fifth switch Q5, a sixth switch Q6, a seventh switch Q7, an eighth switch Q8, a first inductor L1, a third capacitor C3, or a fourth capacitor C4.

The second noise filter 242 may include at least one of an eighth resistance R8, a ninth resistance R9, a tenth resistance R10, or a sixth capacitor C6.

The first terminal a of the charging processor 220 may be connected to the charging anode terminal R+ of the mobile robot 200. The first terminal a of the charging processor 220 may be an ADP terminal. The first terminal a of the charging processor 220 may correspond to the first terminal a in FIG. 21.

A terminal ASGATE of the charging processor 220 may be connected to the charging anode terminal R+ of the mobile robot 200.

A terminal CSIP of the charging processor 220 may be connected to a first terminal a of the fifth resistance R5 and a first terminal a of the first capacitor C1.

A terminal CSIN of the voltage adjustment part 281 may be connected to a second terminal b of the first capacitor C1 and a first terminal a of the seventh resistance R7.

The second terminal b of the charging processor 220 in FIG. 22 may correspond to the terminals UGATE1, LGATE1, BOOT1, PHASE1, PHASE2, BOOT2, LGATE2, and UGATE2 in FIG. 23.

A second terminal b of the fifth resistance R5 may be connected to the charging anode terminal R+ of the mobile robot 200 and a first terminal a of the sixth resistance R6.

A second terminal b of the sixth resistance R6 may be connected to a second terminal b of the seventh resistance R7, a second terminal b of the second capacitor C2 of the first stabilization module 251, and a third terminal c of the fifth switch Q5.

A first terminal a of the second capacitor C2 of the first stabilization module 251 may be short-circuited.

A first terminal a of the fifth switch Q5 may be connected to a terminal UGATE1 (b1) of the charging processor 220.

A second terminal b of the fifth switch Q5 may be connected to a third terminal c of the sixth switch Q6, a second terminal b of the third capacitor C3, a terminal PHASE1 (b4) of the charging processor 220, and a first terminal a of the first inductor L1.

A first terminal a of the sixth switch Q6 may be connected to a terminal LGATE1 (b2) of the charging processor 220.

A second terminal b of the sixth switch Q6 may be short-circuited.

A first terminal a of the third capacitor C3 may be connected to a terminal BOOT1 (b3) of the charging processor 220.

A second terminal b of the first inductor L1 may be connected to a terminal PHASE2 (b6) of the charging processor 220, a second terminal b of the fourth capacitor C4, a third terminal c of the eighth switch Q8, and a second terminal b of the seventh switch Q7.

A second terminal b of the eighth switch Q8 may be short-circuited.

A first terminal a of the eighth switch Q8 may be connected to a terminal LGATE2 (b8) of the charging processor 220.

A first terminal a of the seventh switch Q7 may be connected to a terminal UGATE2 (b9) of the charging processor 220.

A third terminal c of the seventh switch Q7 may be connected to a second terminal b of the fifth capacitor C5 of the second stabilization module 252, a third terminal VSYS (c) of the charging processor 220, a second terminal b of the ninth resistance R9, a second terminal b of the tenth resistance R10, and a first terminal a of the third resistance R3.

A first terminal a of the fifth capacitor C5 may be short-circuited.

A first terminal a of the ninth resistance R9 may be connected to a second terminal b of the sixth capacitor C6 and a terminal CSOP of the charging processor 220.

A first terminal a of the sixth capacitor C6 may be connected to a terminal CSON of the charging processor 220 and a first terminal a of the eighth resistance R8.

A second terminal b of the eighth resistance R8 may be connected to a third terminal c of the fourth switch Q4 and a first terminal a of the tenth resistance R10.

A first terminal a of the fourth switch Q4 may be connected to a fourth terminal BGATE (d) of the charging processor 220.

A second terminal b of the fourth switch Q4 may be connected to a terminal VBAT of the charging processor 220 and a second terminal b of the second power part 275.

A first terminal a of the second power part 275 may be connected to the charging cathode terminal R-of the mobile robot 200.

The second voltage measurement part 280 may include at least one of a third resistance R3, a fourth resistance R4, or an output port P2.

A second terminal b of the third resistance R3 may be connected to a first terminal a of the fourth resistance R4 and the output port P2.

A second terminal b of the fourth resistance R4 may be short-circuited.

The second voltage measurement part 280 may measure a second voltage for the second MCU 225. The second MCU 225 may be connected to the main processor (the third processor) of the mobile robot 200.

A first terminal a of the second MCU 225 may be connected to the main processor of the mobile robot 200. A second terminal b of the second MCU 225 may be connected to the output port P2 of the second voltage measurement part 280.

A plurality of switches Q5, Q6, Q7, Q8 included in the voltage adjustment part 281 may be switches for adjusting a charging voltage. The plurality of switches Q5, Q6, Q7, Q8 may be used in an operation of bucking the power or boosting the power.

FIG. 23 is a diagram for illustrating a location of a sensor according to an embodiment of the disclosure.

Referring to FIG. 23, an embodiment 2310 is a perspective view for indicating the location of the sensor 185.

The embodiment 2320 in FIG. 23 is a plan view for indicating the location of the sensor 185.

The sensor 185 may be arranged within a threshold distance from the charging cathode terminal S− of the electronic apparatus 100 through which the mobile robot 200 contacts the electronic apparatus 100 for charging.

The sensor 185 may be arranged to be closer to the charging cathode terminal S− than to the charging anode terminal P+.

FIG. 24 is a diagram for illustrating a controlling method of an electronic apparatus according to an embodiment of the disclosure.

Referring to FIG. 24, a controlling method of an electronic apparatus configured to communicate with a mobile robot includes the steps of identifying whether the mobile robot contacted based on sensing data obtained from a sensor for sensing whether there is contact with the mobile robot in operation S2410, and based on identifying that the mobile robot contacted, supplying predetermined power to the mobile robot in operation S2420, obtaining a first voltage measured at the electronic apparatus in operation S2430, obtaining a second voltage measured at the mobile robot in operation S2440, generating a first control signal for charging the mobile robot based on a difference value between the first voltage and the second voltage in operation S2450, and transmitting the first control signal to the mobile robot in operation S2460.

The mobile robot may include a magnetic element, and in the operation S2410 of identifying whether the mobile robot contacted, based on identifying that the magnetic element contacted based on the sensing data, it may be identified that the mobile robot contacted.

The controlling method may include the steps of supplying the predetermined power to the mobile robot in operation S2420, and based on identifying that the mobile robot contacted, turning on a first switch, turning on a second switch and a third switch by turning on the first switch, generating the predetermined power based on the second switch and the third switch, and supplying the predetermined power to the mobile robot through a contact terminal contacted by the mobile robot.

In the operation S2430 of obtaining the first voltage, after supplying the predetermined power, the first voltage may be obtained through a first voltage measurement part included in the electronic apparatus, and in the operation S2440 of obtaining the second voltage, the second voltage may be obtained through a second voltage measurement part included in the mobile robot, and in the operation S2450 of generating the first control signal, the difference value between the first voltage and the second voltage may be obtained, and based on the difference value being smaller than or equal to a threshold value, the first control signal may be generated.

In the operation S2450 of generating the first control signal, based on the difference value being smaller than or equal to the threshold value, the first control signal for turning on a fourth switch included in the mobile robot may be generated.

The first control signal may include a control instruction for turning on the fourth switch such that the predetermined power supplied to the mobile robot is transmitted to a power part included in the mobile robot and a charging function is performed.

The controlling method may include the, based on the difference value exceeding the threshold value, identifying that an event related to an abnormal state occurred, and the abnormal state may be a state wherein contact between the electronic apparatus and the mobile robot is abnormal.

The controlling method may include the, based on identifying the event related to the abnormal state, providing a guide UI for indicating the abnormal state, and the guide UI may include at least one of a guide image or guide audio.

The controlling method may include the, based on identifying the event related to the abnormal state, obtaining a target number of times that the event related to the abnormal state was identified during a threshold time, and in the providing the guide UI, based on the target number of times being greater than or equal to a threshold number of times, the guide UI may be provided.

The controlling method may include the, based on the target number of times being smaller than the threshold number of times, generating a second control signal for controlling the mobile robot to contact the electronic apparatus again after being separated from the electronic apparatus, and transmitting the second control signal to the mobile robot.

Methods according to the aforementioned various embodiments of the disclosure may be implemented in forms of applications that can be installed on electronic apparatuses.

In addition, the methods according to the aforementioned various embodiments of the disclosure may be implemented just with software upgrade, or hardware upgrade for electronic apparatuses.

In addition, the aforementioned various embodiments of the disclosure may also be performed through an embedded server provided on an electronic apparatus, or an external server of at least one of an electronic apparatus or a display apparatus.

Further, according to an embodiment of the disclosure, the aforementioned various embodiments may be implemented as software including instructions stored in machine-readable storage media, which can be read by machines (e.g., computers). The machines refer to apparatuses that call instructions stored in a storage medium, and can operate according to the called instructions, and the apparatuses may include an electronic apparatus according to the aforementioned embodiments. In case an instruction is executed by a processor, the processor may perform a function corresponding to the instruction by itself, or by using other components under its control. An instruction may include a code that is generated or executed by a compiler or an interpreter. A storage medium that is readable by machines may be provided in the form of a non-transitory storage medium. Here, the term ‘non-transitory’ only means that a storage medium does not include signals and is tangible, and the term does not distinguish a case wherein data is stored in the storage medium semi-permanently and a case wherein data is stored temporarily.

In addition, according to an embodiment of the disclosure, the methods according to the aforementioned various embodiments may be provided while being included in a computer program product. A computer program product refers to a product, and it can be traded between a seller and a buyer. A computer program product can be distributed in the form of a storage medium that is readable by machines (e.g., compact disc read only memory (CD-ROM)), or distributed on-line through an application store. In the case of on-line distribution, at least a portion of a computer program product may be stored in a storage medium, such as the server of the manufacturer, the server of the application store, and the memory of the relay server at least temporarily, or may be generated temporarily.

In addition, each of the components (e.g., a module or a program) according to the aforementioned various embodiments may consist of a singular object or a plurality of objects. In addition, among the aforementioned corresponding sub components, some sub components may be omitted, or other sub components may be further included in the various embodiments. Alternatively or additionally, some components (e.g., a module or a program) may be integrated as an object, and perform functions that were performed by each of the components before integration identically or in a similar manner. Further, operations performed by a module, a program, or other components according to the various embodiments may be executed sequentially, in parallel, repetitively, or heuristically. Alternatively, at least some of the operations may be executed in a different order or omitted, or other operations may be added.

It will be appreciated that various embodiments of the disclosure according to the claims and description in the specification can be realized in the form of hardware, software or a combination of hardware and software.

Any such software may be stored in non-transitory computer readable storage media. The non-transitory computer readable storage media store one or more computer programs (software modules), the one or more computer programs include computer-executable instructions that, when executed by one or more processors of an electronic device, cause the electronic device to perform a method of the disclosure.

Any such software may be stored in the form of volatile or non-volatile storage, such as, for example, a storage device like read only memory (ROM), whether erasable or rewritable or not, or in the form of memory, such as, for example, random access memory (RAM), memory chips, device or integrated circuits or on an optically or magnetically readable medium, such as, for example, a compact disk (CD), digital versatile disc (DVD), magnetic disk or magnetic tape or the like. It will be appreciated that the storage devices and storage media are various embodiments of non-transitory machine-readable storage that are suitable for storing a computer program or computer programs comprising instructions that, when executed, implement various embodiments of the disclosure. Accordingly, various embodiments provide a program comprising code for implementing apparatus or a method as claimed in any one of the claims of this specification and a non-transitory machine-readable storage storing such a program.

While the disclosure has been shown and described with reference to various embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.