KR101075340B1 - Robot Cleaner with real-time sensing and method thereof - Google Patents

Abstract

The present invention relates to a robot cleaner having a real-time cleaning detection function and a method of controlling the same. The present invention relates to a robot cleaner wirelessly transmitting a state of a cleaning area detected by a plurality of sensing units installed on a ceiling and a wall of a room to a robot body to reduce contamination of foreign substances. The present invention provides a robot cleaner having a real-time cleaning detection function and a control method thereof which can perform cleaning by calculating and calculating an optimal cleaning path based on the calculation. The present invention for this purpose is installed on the wall and the ceiling of the plurality of sensing unit for detecting the state of the room; The state of the room is wirelessly received from the plurality of sensing units, and the subdivided into subdivided areas, and the optimum cleaning path is calculated by determining the presence of foreign substances and the pollution level of the subdivided areas, and cleaning is performed according to the calculated optimal cleaning path. Robot body to perform; characterized in that it comprises a. By the above configuration, the present invention can perform the cleaning efficiently and at the same time has the effect of increasing the convenience of the user by performing the cleaning more simply and effectively.

Robot Cleaner, Pollution Degree, Foreign Material, Deviation, Routing, Real Time

Description

Robot cleaner with real-time cleaning detection and its control method {Robot Cleaner with real-time sensing and method}

The present invention relates to a robot cleaner having a real-time cleaning detection function and a control method thereof, and more particularly, to a foreign body by wirelessly transmitting a state of a cleaning area detected by a plurality of sensing units installed on a ceiling and a wall of a room to a robot body. The present invention relates to a robot cleaner having a real-time cleaning detection function capable of effectively cleaning by calculating a pollution degree and calculating an optimum cleaning path based on the contamination level, and a control method thereof.

In general, home appliances are being automated to implement home automation. For example, in the case of a cleaner, a cleaning robot capable of automatically cleaning has emerged.

The cleaning robot performs a cleaning operation while the user moves along a previously recognized pattern, where the recognized pattern means information on the cleaning work area. Since the cleaning work area has a wide variety of shapes depending on the indoor environment, that is, the design structure or the number of floors, the recognition of the cleaning area is an important technology for the automation of the cleaning robot.

The cleaning area recognition technology of the cleaning robot is a general method to recognize the position in the area through various sensors installed inside the robot body and to move it by a predetermined pattern based on this.

However, such a conventional robot cleaner uniformly cleans the entire cleaning area irrespective of the state of the place to be cleaned, so unnecessary operations are performed and thus there is an inefficient problem.

In addition, the cleaning is only performed by the user's setting and is passive, and there is a problem in that the cleaning is not actively performed because the function of detecting the cleaning state is not considered.

The present invention has been proposed to solve the above problems, and has a detection unit for wireless transmission of the state of the area to be cleaned and transmits to the robot body in real time to effectively clean according to the optimal cleaning path based on the comprehensive state information of the room. An object of the present invention is to provide a robot cleaner having a real time cleaning detection function and a control method thereof.

The present invention for achieving the above object includes a photographing unit for photographing the floor of the room, a wireless communication unit for wirelessly transmitting the photographed image, and a control unit for controlling the photographing unit and the wireless communication unit, the indoor A plurality of sensing units installed on walls and ceilings of the plurality of sensing units; A wireless communication unit for wirelessly receiving the indoor state from the plurality of sensing units, an image processing unit for subdividing the indoor area into sub-regions based on the received indoor state image, and calculating the presence and contamination of obstacles and foreign substances; A path calculating unit configured to calculate an optimal cleaning path according to the cleaning mode set based on the calculated pollution degree, a storage unit storing the subdivision area information, the optimal cleaning path information and user setting information, the image processing unit and the path And a robot body including a control unit for controlling the cleaning operation according to the result of the calculation unit.

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According to another aspect of the present invention, a robot cleaner having a real-time cleaning detection function includes a photographing unit photographing a floor of a room, a wireless communication unit wirelessly transmitting the photographed image, and a control unit controlling the photographing unit and the wireless communication unit. A plurality of sensing units installed on the walls and the ceiling of the room; A photographing unit for photographing the floor of the room, an image processing unit for subdividing the room into sub-areas based on the photographed image, and calculating the presence and the degree of contamination and the presence of obstacles and foreign substances; A control unit which controls a communication unit, the photographing unit, an image processing unit, and a wireless communication unit, a main sensing unit installed on the ceiling of the room, a wireless communication unit wirelessly receiving the state of the room from the main sensing unit, and the calculation A path calculating unit for calculating an optimum cleaning path according to the cleaning mode set on the basis of the pollution level, a storage unit storing the subdivision area information, the optimum cleaning path information, and user setting information, and cleaning according to the result of the path calculating unit It characterized in that it comprises a control unit for controlling the performance.

Preferably, the control unit of the plurality of sensing units may control the photographing unit to periodically detect the subregions periodically or according to a set time.

Preferably, the robot body may further include a touch pad for displaying the detail area and receiving a cleaning area.

Preferably, the image processing unit may generate two-dimensional and three-dimensional information on a detailed area based on image information received from the plurality of sensing units, and calculate the presence of the obstacle and the foreign matter and the degree of contamination.

Preferably, the path calculation unit may select any one of the shortest moving path of the detailed area in which the contamination degree of the foreign matter is greater than or equal to a set value, the shortest moving path according to the pollution degree order, and the shortest moving path of the detailed area having an appropriate pollution degree or more corresponding to the set cleaning time. The optimal cleaning path can be calculated.

Preferably, the image processor determines whether the movement of the room is not detected for a predetermined time, and if the movement is not detected for a predetermined time, the controller of the robot main body controls the cleaning to be performed according to the calculated optimal cleaning path. can do.

 Preferably, the control unit of the robot main body determines whether the robot main body is driving according to the calculated optimal cleaning path, and if it is determined that the path is off, the path calculation unit determines the optimal cleaning path based on the current state. Can be recalculated.

The present invention may further include a remote control for wirelessly transmitting the cleaning area and the cleaning mode setting input by the user to the robot body.

Preferably, the remote controller may include a key input unit to which setting information is input by a user, a wireless communication unit for wirelessly transmitting the input information to the robot body, and a control unit for controlling the key input unit and the wireless communication unit. .

According to another aspect of the present invention, there is provided a control method of a robot cleaner having a real-time cleaning detection function, comprising: a subdividing step of receiving a state of a room detected by a plurality of sensing units, and subdividing the room into detailed areas; A determination step of determining the presence of obstacles and foreign substances for each of the sub-regions, and calculating a pollution degree of the foreign substances; Calculating an optimum cleaning path according to the cleaning mode set based on the contamination level of the foreign matter; And performing the cleaning by the robot main body according to the calculated optimal cleaning path.

Preferably, the determining step comprises the step of determining whether the presence of the obstacle and the foreign object by generating two-dimensional and three-dimensional information for the detailed area based on the image information received from the plurality of detection unit; It may include a pollution degree calculation step of calculating the pollution degree of the foreign material based on the two-dimensional and three-dimensional information.

Preferably, the determining may periodically detect the detail area according to continuous detection or a set time.

Preferably, the calculating step includes calculating an area in which the pollution degree of the foreign matter is equal to or greater than a set value, and calculating the shortest moving path or the shortest moving path according to the pollution degree order for the calculated area as the optimum cleaning path. A first path calculation step may be included.

Preferably, the calculating step includes a reference calculation step of calculating an appropriate pollution level corresponding to the set cleaning time, and a second path for calculating the shortest movement path for the detailed area having the contamination degree of the foreign matter equal to or more than the optimum pollution degree as the optimum cleaning path. The calculating step may include.

Preferably, the cleaning step may perform cleaning according to the calculated optimal cleaning path if the movement of the room is not detected for a predetermined time or more.

Preferably, the cleaning step includes a path deviation detection step of detecting whether the robot main body is normally driven according to the calculated optimal cleaning path, and an optimal cleaning based on a current state when the robot main body deviates from the optimum cleaning path. It may include a retrieval step of retrieving a route.

The robot cleaner and its control method having a real-time cleaning detection function according to the present invention comprehensively determine the state of the area to be cleaned and determine the priority of the area to be cleaned before performing the cleaning to calculate the optimum cleaning path, thereby cleaning the cleaning. By doing this, there is an effect that the cleaning can be performed efficiently.

In addition, the present invention can detect the changes in the cleaning state of the cleaning area in real time to clean only the area in which the foreign matter suddenly occurred, quickly and simply, as well as the position of the area to be cleaned using a portable transmission device robot By first cleaning the portion that the user wants to clean by transmitting to the main body, it is possible to perform the cleaning more simply and effectively, thereby increasing the convenience of the user.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the configuration of a robot cleaner with a real-time cleaning detection function according to an embodiment of the present invention, Figure 2 shows an installation state of the robot cleaner with a real-time cleaning detection function according to an embodiment of the present invention. Drawing.

The robot cleaner 10 recognizes the cleaning area by wirelessly receiving the state of the room from the plurality of detection units 100 and the plurality of detection units 100 that detect the state of the room, and optimally according to the state of each area. The robot main body 200 performs the cleaning by calculating the cleaning path, and the remote control 300 sets the cleaning area by the user's input.

Real time detection of cleaning area

As illustrated in FIG. 2, the detector 100 is installed on a wall and a ceiling of the room, and captures an image for a cleaning area, a photographing unit 110, a photographing unit 110, and a wireless communication unit 140. Control unit 120 for controlling the operation of, and a wireless communication unit 130 for performing wireless communication with the robot main body 200.

The photographing unit 110 acquires an image by photographing the floor of the room, and may be, for example, a 3D scan camera. Here, the photographing unit 110 may capture a moving image and a still image of the cleaning area.

The controller 120 transmits the image photographed by the photographing unit 110 to the robot main body 200 through the wireless communication unit 130 as state information on the cleaning area.

In addition, the controller 120 controls the sensing operation of the photographing unit 110, and controls to detect the cleaning area continuously or to detect the cleaning area in accordance with a preset time by the user.

The wireless communication unit 130 wirelessly transmits the image captured by the photographing unit 110, that is, the status information to the robot main body 200.

Determination of foreign substance and calculation of pollution level and optimal cleaning path

The robot main body 200 may be cleaned according to the optimal cleaning path calculated by the wireless communication unit 210 for communicating with the detection unit 100, the sensor unit 220 for detecting an obstacle, and the path calculation unit 250. The control unit 230 for controlling the performance, the image processing unit 240 for subdividing the cleaning area to calculate the presence and contamination of foreign matter by sub-area, and the path for calculating the optimal cleaning path according to the processing result of the image processing unit 240. The calculator 250, the touch pad 260 for displaying the information on the cleaning area and the user setting are input, the setting information by the user, and the calculation information of the image processor 240 and the path calculator 250 are stored. The storage unit 270 is included.

The wireless communication unit 210 wirelessly receives a state of the room from the plurality of detection units 100.

The sensor unit 220 detects an obstacle on an optimum cleaning path when the robot main body 200 runs for cleaning.

The controller 230 controls cleaning according to the processing result of the image processor 240 and the path calculator 250. That is, when no movement is detected in the image processor 240 for a predetermined time, for example, when an object that obstructs cleaning such as a person or a pet does not move for a set time, the controller 230 calculates a path. The cleaning is automatically performed according to the optimum cleaning path calculated by 250.

In addition, when the user directly sets the cleaning area, that is, the controller 230 detects whether the cleaning area is input by the remote controller 300 or detects whether the cleaning area is input through the touch pad 260, Control to perform cleaning accordingly.

In addition, the controller 230 determines whether the robot main body 200 is traveling according to the calculated optimal cleaning path, and if it is determined that the path is off or the vehicle is disturbed by the obstacle, the path calculation unit 250 is optimal. By requesting the correction of the cleaning path, it is controlled to drive according to the optimal cleaning path.

The image processor 240 subdivides the room into sub-areas based on the image of the indoor state received by the sensor 100, and divides the plurality of images of the area to be cleaned into dozens of sub-areas to the extent that it is easy to clean. Obtain information of the area.

In addition, the image processor 240 determines whether obstacles and foreign substances exist based on the acquired image. That is, the image processor 240 compares the image information received from the plurality of sensing units 100 with previous information, for example, two-dimensional and three-dimensional information about a detailed area, for example, brightness, saturation, center of gravity, outline, Appearance shape, size, height, area, volume are calculated, and it is determined whether the object detected in each detail area is an obstacle or a foreign object to be cleaned.

In addition, the image processor 240 calculates the pollution degree for the foreign matter when it is determined that the foreign matter exists, and quantifies the pollution degree for the foreign matter according to the set step by using the calculated two-dimensional and three-dimensional information, and the controller 230. The result is stored in the storage unit 270.

In addition, when the robot main body 200 performs the cleaning, the image processor 240 determines whether there is motion in the room based on the image received from the sensor 100, and outputs the result to the controller 230. .

The path calculation unit 250 calculates an optimal cleaning path according to a cleaning mode set in advance based on the pollution degree calculated by the image processor 240. When the cleaning mode is the optimum path mode, the detail area whose contamination level is greater than or equal to a predetermined value is set. Bay is extracted and the shortest movement path for the extracted area is calculated.

In addition, when the cleaning mode is the pollution degree order mode, the route calculation unit 250 calculates the shortest movement path for arranging the calculated pollution degree to move from the region of high pollution degree to the region of low pollution degree.

In addition, when the cleaning mode is the time setting mode, the route calculation unit 250 sets the cleaning time, for example, 5 minutes cleaning, 10 minutes cleaning, 20 minutes cleaning, 30 minutes cleaning, 45 minutes cleaning, 1 hour cleaning, and the like. According to the set steps, the shortest movement path for the detailed area corresponding to the appropriate pollution degree or more is calculated.

In this case, when the rapid cleaning mode, that is, the cleaning is to be completed within a short time, the detail region having the appropriate pollution degree higher than the set value of the automatic cleaning mode is extracted and the shortest moving path is calculated. However, if complete cleaning is desired, the shortest moving path is calculated by extracting the detailed area that is higher than the proper pollution level set lower than the setting value of the automatic cleaning mode.

In addition, the path calculator 250 calculates the shortest movement path for the set cleaning area when the user directly receives the information on which the cleaning area is selected from the touch pad 260 or the remote controller 300 through the control unit 230.

In addition, when the path calculation unit 250 receives a request for the correction of the path deviation of the robot main body 200 from the control unit 230, the path calculation unit 250 recalculates the optimal cleaning path based on the current indoor condition.

The touch pad 260 displays the subdivided area subdivided by the image processor 240. In addition, when the user wants to set a specific cleaning area desired by the user, a user selection for the displayed detail area is input.

The storage unit 270 provides the user with the area information 272 for the subdivided detailed area of the room, the path information 274 calculated by the path calculation unit 250 according to the cleaning mode, the cleaning mode and the cleaning standard pollution degree. The setting information 276 set by this is stored.

When the user wants to directly set the cleaning area, the remote controller 300 receives information about the cleaning area, and wirelessly transmits the setting information input through the key input unit 330 to the robot main body 200. The wireless communication unit 310, a control unit 320 for controlling the wireless communication unit 310 and the key input unit 330, and a key input unit 330 to which the user's settings, such as cleaning area and cleaning mode is input.

The robot cleaner 10 having the sensing function according to the embodiment of the present invention configured as described above receives the state information of the room from the sensing unit 100 in which the robot main body 200 is installed on the ceiling or the wall, and uses the same. It is subdivided into the size of the cleaning area and the detail area to be cleaned, and the pollution level of each detail area is detected in real time or periodically by user set time. At this time, the robot main body 200 comprehensively determines the state of the area to be cleaned before cleaning based on the pollution degree and obstacle information of the detailed area and the cleaning setting of the user.

The robot main body 200 calculates the optimum movement path based on the priority of the area to be cleaned by setting and performs the cleaning accordingly, and detects the change of the cleaning state for the area to be cleaned in real time and cleans the foreign substance suddenly. Only areas are urgently cleaned.

In addition, the cleaning area setting is received by the user through the remote controller 300 and the touch pad 260, the shortest movement path corresponding to the cleaning area is calculated, and the cleaning is performed accordingly.

Figure 3 is a block diagram showing the configuration of a robot cleaner having a real-time cleaning detection function according to another embodiment of the present invention.

In the present embodiment, since the configuration except for the image processing unit is the same as that of Embodiment 1, the description thereof is omitted here.

The robot cleaner 20 according to another embodiment of the present invention does not include an image processor in the robot body 500, and further includes a main sensor 400 having an image processor 422. That is, the main sensing unit 400, together with the plurality of sensing units 100, together with the photographing unit 410, the control unit 420, and the wireless communication unit 430, detail the room based on the captured image. The image processing unit 422 is divided into regions and calculates the presence and contamination of obstacles and foreign substances.

Here, the robot main body 500 does not communicate with the plurality of sensing units 100, but communicates with the main sensing unit 400 to receive location information to be cleaned together with pollution degree information.

Hereinafter, a method of controlling a robot cleaner having a cleaning detection function according to an embodiment of the present invention will be described with reference to FIGS. 4 to 10.

4 is a flowchart illustrating a control method of a robot cleaner having a real time cleaning detection function according to an exemplary embodiment of the present invention.

The present invention provides a subdividing step (step S301) in which the robot body 200 subdivides the cleaning area according to the state of the room received by the plurality of sensing units 100, and determines the presence of obstacles and foreign substances for each subregion and debris. Determination step (step S302) of calculating the pollution degree of the step, calculation step (step S303) of calculating the optimum cleaning path according to the cleaning mode set based on the pollution degree of the foreign matter, and the robot main body according to the calculated optimum cleaning path ( 200 includes a performing step (step S304) of performing cleaning.

Zone segmentation

First, a specific method of subdividing the cleaning area will be described. FIG. 5 is a flowchart illustrating a cleaning area segmentation method of FIG. 4.

The state information of the area to be cleaned is collected from the plurality of sensing units 100 installed on the ceiling and the wall (step S401). Here, the detection unit 100 captures a video and a still image of the cleaning target area.

The image processing unit 240 of the robot main body 200 subdivides the entire detected area based on the captured image information into dozens of detailed areas of easy cleaning (step S402).

The image processor 240 stores the detailed region information of the entire area in the storage unit 270 by the controller 230 (step S403).

Foreign object detection and pollution calculation

6 is a flowchart illustrating a sensing and determining method of FIG. 4.

First, the cleaning area is detected according to the setting (step S501).

Here, the sensing unit 100 may continuously detect the detailed area or periodically according to a set time.

The image processor 240 compares the image information photographed by the detector 100 with previous image information to determine whether there is change information for each subregion (step S502), and if the change information exists, the corresponding change information is displayed. It is determined whether it is due to foreign matter (step S503).

That is, the image processor 240 may use two-dimensional and three-dimensional information about a specific area, for example, brightness, saturation, center of gravity, outline, and appearance by using image information received from the plurality of sensors 100. , Size, height, area, volume are generated, and if it is determined that the foreign matter by determining whether it is an obstacle or foreign matter, the degree of contamination of the foreign matter is calculated based on the generated two-dimensional and three-dimensional information (step S504).

The pollution degree calculated at this time is calculated by quantifying the degree of contamination of the foreign matter according to a set step.

The state information and the pollution degree calculated as described above are stored in the storage unit 270 (step S505).

On the other hand, in step S502, if there is no change information in the corresponding area, it is determined whether there is change information for other subregions, and if it is determined in step S503 that the change information is not foreign matter, for example, If the information is an obstacle, the process returns to step S502 to determine other subregions.

Next, it is determined whether the determination of all the regions is completed (step S506). When the determination of all the regions is completed, the cleaning region is repeatedly detected according to the setting in the same manner as in step S501.

If the determination of step S606 does not complete the determination of all the regions, the process returns to step S502 to determine the other subregions.

Optimal cleaning path output

7 is a flowchart illustrating a method of calculating an optimal cleaning path of FIG. 4, and FIG. 8 is a view for explaining an example of the method of calculating an optimal cleaning path of FIG. 7.

The route calculation unit 250 reads and confirms the pollution degree for each subregion stored in the storage unit 270 (step S601).

It is determined whether the current cleaning mode is the automatic cleaning mode (step S602), and in the case of the automatic cleaning mode, the route calculation unit 250 calculates an area where the contamination degree of the foreign matter is equal to or higher than the set value (step S603).

Next, the path calculation unit 250 calculates an optimal cleaning path for the calculated area (step S604). Here, as shown in FIG. 7, when the setting mode is the optimum path mode, the shortest movement path is calculated for the area (pollution degree 5 or more) calculated based on the position of the robot main body 200, and the pollution degree order mode is used. In this case, the shortest movement path for moving from the high pollution area to the low area is calculated.

When the determination in step S602 and the current cleaning mode is not the automatic cleaning mode, that is, as a user mode by the user's setting, for example, when the cleaning time is set from the remote control 300 or the touch pad 260. The route calculating unit 250 checks the set cleaning time and calculates an appropriate pollution degree corresponding to the set cleaning time (step S605).

For example, depending on the cleaning time, the corresponding pollution level is calculated according to the set level of 5 minutes cleaning, 10 minutes cleaning, 20 minutes cleaning, 30 minutes cleaning, 45 minutes cleaning, 1 hour cleaning and the like.

Here, the rapid cleaning mode, that is, when the cleaning is to be completed within a short time, the appropriate pollution degree is calculated higher than the setting value of the automatic cleaning mode, and the complete cleaning mode, that is, it takes a long time, but when the complete cleaning is desired, the automatic cleaning mode. Calculate the appropriate contamination level below the set value of.

Next, the path calculation unit 250 calculates the shortest movement path for the detailed area in which the contamination degree of the foreign matter is more than the appropriate pollution degree (step S606).

Cleaning

9 is a flowchart illustrating an example of a cleaning performing method of FIG. 4.

First, the control unit 230 of the robot main body 200 checks the set cleaning mode (step S801).

It is determined whether the current cleaning mode is the automatic cleaning mode (step S802), and in the automatic cleaning mode, the controller 230 determines whether the motion of the room is detected by the image processor 240 (step S803). If it is determined that no motion is detected, it is determined whether the set time has elapsed (step S804).

As a result of the determination in step S803 and step S804, if the motion is detected or the predetermined time has not elapsed, the process returns to step S803 to continuously detect the motion.

As a result of the determination in step S804, when it is determined that the set time has elapsed, for example, when the movement of an object that obstructs cleaning such as a person or a pet is not detected for a predetermined time, cleaning is performed according to the calculated optimal cleaning path. (Step S805).

As a result of the determination in step S802, if the current mode is not the automatic cleaning mode, it is determined whether there is a user setting (step S806), and if there is no user setting, it is continuously detected whether there is a user setting.

As a result of the determination in step S806, when there is a user setting, that is, when the cleaning area is set by the user through the remote controller 300 or the touch pad 260, the shortest moving path is calculated for the cleaning area according to the user setting. The optimal cleaning path is recalculated (step S807).

Next, the flow advances to step S805 to perform cleaning in accordance with the optimal cleaning path recalculated according to the user's designation.

On the other hand, while the cleaning is performed by the optimum cleaning path as described above will be described how to perform the cleaning when the robot main body 200 is out of the optimum cleaning path or obstructed by obstacles.

10 is a flowchart illustrating another example of the cleaning method of FIG. 4.

First, the robot main body 200 performs cleaning according to the optimum cleaning path calculated by the path calculating unit 250 according to the cleaning mode or the user setting (step S901).

The controller 230 detects whether the robot main body 200 is driving normally according to the calculated optimal cleaning path (step S902), and if it is determined that the driving is normal, continuously detects the driving state.

As a result of the determination in step S902, when it is determined that the robot main body 200 does not travel according to the optimum cleaning path, for example, the robot main body 200 deviates from the calculated optimal cleaning path or is normal due to an obstacle on the optimum cleaning path. If the vehicle is not running, the route calculating unit 250 recalculates the optimum cleaning route based on the current state (step S903).

For example, the optimum cleaning path may be changed to move to the next position on the previously calculated optimal cleaning path, or the optimal cleaning path bypassing the obstacle may be recalculated and the cleaning may be performed again.

The controller 230 determines whether the robot main body 200 has finished cleaning (step S904). If not, the controller 230 proceeds to step S902 and continuously detects the driving state according to the optimum cleaning path, and ends the cleaning. When it is determined, the robot body 200 is controlled to move to the original position or the set position, and the cleaning operation is finished.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and it is common in the art that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be apparent to those skilled in the art.

1 is a block diagram showing the configuration of a robot cleaner having a real-time cleaning detection function according to an embodiment of the present invention,

2 is a view showing an installation state of a robot cleaner having a real-time cleaning detection function according to an embodiment of the present invention,

Figure 3 is a block diagram showing the configuration of a robot cleaner with a real-time cleaning detection function according to another embodiment of the present invention,

4 is a flowchart illustrating a control method of a robot cleaner having a real-time cleaning detection function according to an embodiment of the present invention.

5 is a flowchart illustrating a cleaning area segmentation method of FIG. 4;

6 is a flowchart illustrating a detection and determination method of FIG. 4.

7 is a flowchart illustrating a method of calculating an optimal cleaning path of FIG. 4.

FIG. 8 is a view for explaining an example of a method for calculating an optimal cleaning path of FIG. 7.

9 is a flow chart showing an example of the cleaning method of Figure 4,

10 is a flowchart illustrating another example of the cleaning method of FIG. 4.

Explanation of symbols on the main parts of the drawings

10: robot cleaner 100: detector

110: photographing unit 200: the robot body

240: image processing unit 250: path computing unit

260: touch pad 300: remote control

Claims (19)

A photographing unit for photographing the floor of the room, a wireless communication unit for wirelessly transmitting the photographed image, a control unit for controlling the photographing unit and the wireless communication unit, and a plurality of sensing units installed in the wall and ceiling of the room; ; A wireless communication unit for wirelessly receiving the indoor state from the plurality of sensing units, an image processing unit for subdividing the indoor area into sub-regions based on the received indoor state image, and calculating the presence and contamination of obstacles and foreign substances; A path calculating unit configured to calculate an optimal cleaning path according to the cleaning mode set based on the calculated pollution degree, a storage unit storing the subdivision area information, the optimal cleaning path information and user setting information, the image processing unit and the path Robot cleaner comprising a real-time cleaning detection function comprising a; the main body including a control unit for controlling the cleaning operation in accordance with the result of the calculation unit. delete delete A photographing unit for photographing the floor of the room, a wireless communication unit for wirelessly transmitting the photographed image, a control unit for controlling the photographing unit and the wireless communication unit, and a plurality of sensing units installed in the wall and ceiling of the room; ; A photographing unit for photographing the floor of the room, an image processing unit for subdividing the room into sub-areas based on the photographed image, and calculating the presence and the degree of contamination and the presence of obstacles and foreign substances; A main sensing unit including a communication unit, a control unit controlling the photographing unit, the image processing unit, and the wireless communication unit, and installed on the ceiling of the room; A wireless communication unit for wirelessly receiving the indoor state from the main sensing unit and the plurality of sensing units, a path calculating unit calculating an optimal cleaning path according to the cleaning mode set based on the calculated pollution degree, and the subdivision area information A robot body including a storage unit for storing the optimum cleaning path information and user setting information, and a control unit for controlling the cleaning operation according to a result of the path calculating unit, and performing cleaning according to the calculated optimal cleaning path; Robot cleaner with a real-time cleaning detection function comprising. The method according to claim 1 or 4, The control unit of the plurality of detection unit is a robot cleaner with a real-time cleaning detection function, characterized in that for controlling the photographing unit to detect the sub-region periodically or in accordance with a set time. The method according to claim 1 or 4, The robot main body includes a touch pad for displaying the detailed area and receiving a cleaning area, wherein the robot cleaner has a real-time cleaning detection function. The method according to claim 1 or 4, The image processing unit generates two-dimensional and three-dimensional information on a detailed area based on the image information received from the plurality of sensing units, and calculates the presence of the obstacle and the foreign substance and the degree of contamination. Robot cleaner equipped with. The method according to claim 1 or 4, The path calculating unit may be any one of the shortest moving path of the detailed area whose pollution degree is greater than or equal to a set value, the shortest moving path according to the pollution degree order, and the shortest moving path of the detailed area having an appropriate pollution degree or more corresponding to the set cleaning time. Robot cleaner with a real-time cleaning detection function, characterized in that calculated by. The method according to claim 1 or 4, The image processor determines whether the movement of the room is not detected for a predetermined time, and if the movement is not detected for a predetermined time, the controller of the robot main body controls to perform cleaning according to the calculated optimal cleaning path. Robot cleaner with real-time cleaning detection function. The method according to claim 1 or 4, The controller of the robot main body determines whether the robot main body is running according to the calculated optimal cleaning path, and when determining that the robot is out of the path, recalculating the optimal cleaning path based on the current state. Robot cleaner with real-time cleaning detection, characterized in that. The method according to claim 1 or 4, And a remote control for wirelessly transmitting the cleaning area and the cleaning mode setting input by the user to the robot main body. The method of claim 11, The remote control includes a key input unit to which setting information is input by a user, a wireless communication unit for wirelessly transmitting the input information to the robot body, and a control unit for controlling the key input unit and the wireless communication unit. Robot cleaner equipped. A subdividing step of subdividing the room into sub-areas by receiving a state of the room detected by a plurality of sensing units by the robot main body; A determination step of determining the presence of obstacles and foreign substances for each of the sub-regions, and calculating a pollution degree of the foreign substances; Calculating an optimum cleaning path according to the cleaning mode set based on the contamination level of the foreign matter; And a step of performing the cleaning by the robot main body according to the calculated optimal cleaning path. The method of claim 13, The determining step may include determining the existence of the obstacle and the foreign object by generating two-dimensional and three-dimensional information on a detailed area based on the image information received from the plurality of sensing units, and the two-dimensional and And a pollution degree calculating step of calculating a pollution degree of the foreign matter on the basis of three-dimensional information. The method of claim 13, The determining step is a control method of a robot cleaner having a real-time cleaning detection function, characterized in that for detecting the sub-region periodically or in accordance with a predetermined time. The method of claim 13, The calculating step may include an area calculation step of calculating an area in which the contamination degree of the foreign matter is greater than or equal to a set value, and a first path calculation of calculating the shortest moving path or the shortest moving path according to the pollution degree order for the calculated area as an optimum cleaning path. Control method of a robot cleaner with a real-time cleaning detection function comprising the step. The method of claim 13, The calculating step may include a reference calculation step of calculating a proper pollution level corresponding to a set cleaning time, and a second path calculation step of calculating a shortest moving path for a detailed region in which the contamination degree of the foreign matter is greater than or equal to the optimal pollution degree. Control method of a robot cleaner having a real-time cleaning detection function comprising a. The method of claim 13, The cleaning step is a control method of a robot cleaner with a real-time cleaning detection function, characterized in that the cleaning is performed according to the calculated optimal cleaning path if the movement of the room is not detected for a predetermined time or more. The method of claim 13, The cleaning step includes a path deviation detection step of detecting whether the robot main body is normally driven according to the calculated optimum cleaning path, and an optimal cleaning path based on a current state when the robot main body deviates from the optimum cleaning path. Shipping method for controlling the robot cleaner with a real-time cleaning detection function comprising the step of reloading.

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