KR20190119231A - Driving control device improved position correcting function and robot cleaner using the same - Google Patents

Abstract

According to the present invention, disclosed are a driving control device with an improved position correction function and a robot cleaner using the same. The driving control device and the robot cleaner using the same of the present invention detect a current driving position information by confirming a consistency of a landmark photographed in a cleaning space, and accurately corrects the driving position information by reflecting a position error caused by driving straight and rotational driving, thereby having an effect of correcting the position error which is gradually changed by the environment of use.

Description

Driving control device with improved position correction function and robot cleaner using the device {DRIVING CONTROL DEVICE IMPROVED POSITION CORRECTING FUNCTION AND ROBOT CLEANER USING THE SAME}

The present invention relates to a driving control apparatus capable of accurately correcting position information by reflecting uncertainty error information and collision acceleration information in driving position information, and a robot cleaner using the same.

The robot cleaner is an automatic cleaner using a charged battery as a power source to perform cleaning while moving a driving path on the floor according to an input program.

The robot cleaner is designed to perform a cleaning operation while driving a predetermined path according to a built-in program, unlike a conventional cleaning method in which a user performs a cleaning while dragging the cleaner directly. As such, in order to enable the robot cleaner to perform the cleaning operation while automatically driving the predetermined path, various types of sensors are applied to the robot cleaner to detect a driving distance and an obstacle.

In addition, while cleaning along a preset path, if there is an obstacle such as furniture or a wall in the cleaning path or a low land lower than a flat surface such as a stairway, normal driving becomes difficult. In order to detect this, various sensors such as an ultrasonic radiation sensor, an image sensor, and an ultrasonic depth sensor are applied.

In addition to simply detecting obstacles, the sensors of the robot cleaner are used to check the driving route and the position of the robot cleaner. That is, the robot cleaner uses sensors to correct the position by itself when the position recognized by the robot cleaner is separated from the path by colliding with the surrounding objects or sliding while driving.

Korean Laid-Open Patent Publication No. 10-2006-0062607 (June 12, 2006) discloses an optical sensor provided in a robot cleaner main body to recognize a bumper's movement, impact, distortion, and moving distance to recognize the distance and position between obstacles again. Disclosed is a technique to allow. In addition, Korean Unexamined Patent Publication No. 10-2010-0100520 (Sept. 15, 2010) discloses a technique of photographing a divided region of the entire cleaning target to create a map of the entire target region and correcting the position based on the map. .

1 is a view showing a position correction method of the robot cleaner according to the prior art.

Specifically, FIG. 1 is a view provided to explain the position correction technique disclosed in Korean Patent Laid-Open Publication No. 10-2010-0100520 (2010.09.15, published). As shown in FIG. 1, in the related art, the robot cleaner 10 gradually creates a map by matching the feature points Ec of the images photographed in the divided regions of the entire cleaning target. After matching all common feature points Ec of all divided regions, the map of the entire target region was finally completed, and the position information was corrected using the completed map.

However, the robot cleaner 10 according to the related art creates a map and detects a driving position based only on distance information between the feature points Ec photographed in the cleaning space. Therefore, it is difficult to detect a gradually varying position error when the position itself gradually varies due to slip or external force depending on the floor material. And gradually variable error has a problem that can not be corrected by itself.

In addition, the conventional robot cleaner 10 has a difficulty in correcting the position by finding the original feature points again when the position is continuously changed by a floor member such as a carpet, a pet, or the like, or when it is largely changed at one time. As such, if the position of the robot cleaner 10 itself is not reflected and the position is corrected using only the surrounding feature points Ec, the robot cleaner 10 cannot easily cope with the sudden feature point variation.

In addition, the conventional robot cleaner 10 has a problem in that matching accuracy between a feature and a driving route is deteriorated when an obstacle is repeatedly arranged at a specific location at irregular or irregular time intervals. That is, when obstacle detection is frequently caused by anomalously changed surrounding conditions, there is a problem that path management to be avoided increases, making path management difficult, and cleaning efficiency is also lowered.

SUMMARY OF THE INVENTION An object of the present invention is to provide a driving controller and a robot cleaner using the same, which accurately corrects driving position information during cleaning by reflecting distance information between characteristic points photographed in a cleaning space and a position change error thereof in real time. .

In addition, the present invention allows to correct its position by accurately reflecting the position change and the external impact amount according to the slip or external force. Accordingly, an object of the present invention is to provide a traveling control device and a robot cleaner using the same that can quickly cope with changes in the external environment.

In addition, the present invention matches and monitors the current driving position with the position information where anomalous operation such as collision or slippage occurs. Accordingly, an object of the present invention is to provide a driving controller and a robot cleaner using the same, which can easily cope with an anomalous situation by changing a traveling speed and a cleaning method at a position where an anomalous operation occurs.

The driving control apparatus and the robot cleaner using the same of the present invention detect the current driving position information by checking the consistency of the landmarks photographed in the cleaning space, and accurately reflect the driving position information by reflecting the position error due to the straight running and the rotating driving. Correct it.

 In addition, uncertainty position error information that may occur as the robot cleaner moves is detected based on the rotation driving motion and the straight driving motion. Accordingly, the driving position information may be corrected by reflecting the uncertainty position information detected based on the motion in the driving position information. In addition, it is possible to correct collision acceleration information due to collision or slip in real time, and reflect the detected collision acceleration information to the driving position information to correct the driving position information.

Also, based on the degree and position of the correction of the driving position information, anomalous motion occurrence position generated during cleaning is checked and stored in real time. By checking the driving position information corrected in real time, when the cleaner is adjacent to the anomalous motion occurrence position, the driving speed and the cleaning method are changed.

The driving control apparatus and the robot cleaner using the same of the present invention may correct the driving position information of the robot cleaner by reflecting the error according to the straight and rotational driving in real time, thereby correcting the position error gradually changed by the use environment.

In addition, the driving control apparatus of the present invention and the robot cleaner using the same may quickly return to the original position even with a large external force or sudden impact by correcting the driving position information by reflecting the uncertainty position information and the collision acceleration information detected on the basis of motion.

In addition, the driving control apparatus of the present invention and the robot cleaner using the same may monitor in real time by matching the position information in which the anomalous operation such as a collision, slip, and the like currently running position. Thus, by changing the running speed and the cleaning method at the position where the anomalous operation occurs, the user's satisfaction and reliability can be improved by easily coping with the anomalous situation.

1 is a view showing a position correction method of the robot cleaner according to the prior art.
2 is a view showing in detail a robot cleaner equipped with a driving control apparatus according to an embodiment of the present invention.
3 is a block diagram showing in detail the driving control apparatus of the present invention.
4 is a block diagram illustrating in detail the position corrector of FIG. 3.
5 is a view for explaining a driving position detection method of the current position detection unit shown in FIG.
FIG. 6 is a diagram for describing a method of correcting position information in the speed detection correcting unit and the collision acceleration applying unit illustrated in FIG. 4.

The above objects, features, and advantages will be described in detail with reference to the accompanying drawings, whereby those skilled in the art to which the present invention pertains may easily implement the technical idea of the present invention. In describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

Hereinafter, the driving control apparatus and the robot cleaner using the improved position correction function according to an embodiment of the present invention will be described in detail.

2 is a view showing in detail a robot cleaner equipped with a driving control apparatus according to an embodiment of the present invention.

Referring to FIG. 2, the robot cleaner RC is disposed so as to correspond to a case 140 and an outer surface of the case 140 forming an appearance, and includes a distance detecting module 120 including at least one transmitter and a receiver. In this case, the case 140 may be formed in a circular disk shape having a predetermined height.

In addition, the robot cleaner RC is connected to the display unit 160 displaying an operation state, the interface unit 150 to which a control command from a user is input, the display unit 160 and the interface unit 150, and the robot cleaner RC. It includes a travel control device for controlling the travel path of the.

The distance detection module 120 includes a sensor for detecting a distance from the robot cleaner RC to a wall or an obstacle in the room. In the present invention, an example in which at least one ultrasonic sensor is configured in the distance detection module 120 will be described.

The ultrasonic sensor of the distance detection module 120 detects distance information for each of the plurality of split points by transmitting and receiving an infrared or ultrasonic signal to a plurality of split points preset in the sensing space. That is, the distance detection module 120 may calculate the distance information of the cleaning space that is detected by transmitting and receiving the ultrasonic signal.

At least one direction of the case 140 is provided with a bumper 130 that buffers an impact during an external collision. The bumper 130 is configured with a shock sensor for generating a collision acceleration signal corresponding to the external shock. The impact sensor generates collision acceleration information by digitally processing a collision acceleration signal according to an external impact amount, and transmits the collision acceleration information to the driving controller.

In addition, the robot cleaner RC is provided with an image detection module 110 in the upper front portion so as to capture an image of the cleaning target region or the driving region. The image detection module 110 is installed to capture images of the front and the upper side where the robot cleaner moves. The image detection module 110 may be fixedly installed forward and upward, and may be installed to move in left, right, and up and down directions.

The image detection module 110 calculates depth value information of the sensing space using at least one depth sensor. The image detection module 110 may digitally process the depth value information of the sensing space detected by the at least one depth sensor and transmit the digital signal to the driving controller. Here, the depth sensor detects distance information between the depth sensor and the sensing space according to the resolution of the depth sensor itself, and an image sensor or a 3D camera may be used.

For example, a CCD image sensor, a CMOS image sensor, and a 3D camera convert an image formed by light reflected from an imaging object through a lens to the imaging device and converts the image into an electrical signal according to the intensity of light, and outputs it as an analog electric signal. Done. Thus, the image detection module 110 may digitally process the depth value information of the sensing space detected by the at least one depth sensor and sequentially transmit the digital signal to the driving control apparatus.

The spaces sensed by the image detection module 110 may be three-dimensional spaces on a screen having a preset resolution. That is, as a space for detecting distance information from the depth sensor according to the resolution of the depth sensor, the sensing space may be set by the resolution and the detectable range of the depth sensor. In this example, the sensing space may be configured in the form of a rectangular parallelepiped corresponding to the rectangular screen.

3 is a block diagram showing in detail the driving control apparatus of the present invention.

As described above, the travel control device is embedded in the robot cleaner RC in association with the display unit 160 and the interface unit 150. The driving control device controls the driving path and the speed in real time according to the preset driving path and the position information detected in real time, and controls the overall cleaning option according to the user setting.

The driving control device corrects its own location information in real time and resets the map of the cleaning space according to the corrected location information when the vehicle moves away from the preset driving path or suddenly changes position due to an external impact or slippery flooring. Then, based on the reset map information and the location information, a smooth cleaning operation is performed.

To this end, the driving control apparatus of the present invention includes a landmark detector 102, a position correction unit 170, and a driving control module 180.

The landmark detection unit 102 processes the depth value information from the image detection module 110 to generate a depth map of the sensing space, splits the depth map, and extracts at least one landmark for each divided area.

In detail, the landmark detector 102 filters depth value information input through the image detection module 110, samples every frame, and converts the AD to generate a depth map for each frame of the sensing space. The depth map of the sensing space may be generated by signal processing depth value information of the sensing space input through the distance detection module 120. Thus, the landmark detector 102 maps the depth map for each frame generated using the image detection module 110 and the depth map for each frame generated using the distance detection module 120 to the same resolution. The data may be divided and transmitted to the position corrector 170. That is, the landmark detector 102 may process and arrange the depth value information of the sensing space in every frame unit according to a preset resolution, and generate the depth map of the sensing space by matching the distance information of the plurality of divided points. have.

The landmark detector 102 compares depth value information of adjacent positions with each other according to a preset resolution, and sets an object or an edge at a position where a difference in depth value is greater than a preset reference as a landmark. In detail, when the depth value information of the sensing space is arranged according to a preset resolution, the landmark detector 102 compares the depth value information of the positions adjacent to each other and compares the depth value difference with a preset reference. In addition, the objects of the locations where the detected difference in depth value is greater than or equal to a predetermined reference may be set as a landmark. In this case, the difference in depth value is large in an object, an edge, or a window frame that protrudes from the wall, and an object, an edge, or a window frame that protrudes from the wall may be set as a landmark.

The position correction unit 170 generates driving position information in real time using distance information with at least one landmark, and corrects driving position information by using rotation and driving error information, uncertainty position error information, and collision acceleration information. .

Specifically, the position correction unit 170 detects the driving position information of the robot cleaner RC by checking the consistency of the landmark photographed in the sensing space, and accurately travels by reflecting the position error due to the straight running and the rotating driving. Correct the position information. To this end, the position correction unit 170 detects the uncertainty position error information that may be generated as the robot cleaner moves based on the rotation driving motion and the straight driving motion. The driving position information is corrected by reflecting the uncertainty position information detected based on the motion to the driving position information. In addition, the position correction unit 170 detects collision acceleration information according to a collision or slip in real time, and corrects the driving position information by reflecting the detected collision acceleration information in the driving position information. The driving position information correction structure and method of the position correction unit 170 will be described in more detail with reference to the accompanying drawings.

The driving control module 180 changes the driving path of the robot cleaner and controls the cleaning option and driving speed by using the depth map of the sensing space reset according to the driving position information corrected by the position corrector 170. At this time, the driving control module 180 checks and stores in real time an anomalous motion occurrence position generated during cleaning based on the degree and position of the driving position information correction. In addition, by checking the driving position information corrected in real time, when the cleaner is adjacent to the anomalous motion occurrence position, the driving speed and the cleaning method may be changed.

4 is a block diagram illustrating in detail the position corrector of FIG. 3.

The position correcting unit 170 illustrated in FIG. 4 includes a landmark matching unit 171, a current position detecting unit 172, a speed detecting correcting unit 173, and a collision acceleration applying unit 174.

In detail, the landmark matching unit 171 registers landmarks of each divided area and calculates driving position information in real time according to distance information of the matched plurality of landmarks. In detail, the landmark matching unit 171 matches and matches landmarks of each divided area, and the current position detection unit 172 may determine the location of each landmark in the sensing space according to the depth value information between the current position and each landmark. The driving position information can be detected.

The current position detector 172 corrects the position information in the stationary state by reflecting the position information and the error information in the stationary state to the driving position information detected in real time.

5 is a view for explaining a driving position detection method of the current position detection unit shown in FIG.

시점에서의 로봇 청소기 위치 정보

는 하기의 수학식 1을 통해 보정한다. Referring to FIG. 5, the current position detector 172 reflects the driving position information detected in real time using the position information of the stationary state and the error information. here,

Robot cleaner location information at the time

Is corrected through Equation 1 below.

[Equation 1]

는 불확실성 오차를 포함하는 회전 속도이고,

는 불확실성 오차를 포함하는 직진 속도이다. Vs applied to Equation 1 is the speed of the robot cleaner, vt is the rotation speed of the robot cleaner. And

Is the rotational speed, including the uncertainty error,

Is the speed straight forward including the uncertainty error.

, 및 불확실성 오차를 포함하는 직진 속도

는 하기의 수학식 2와 같이 정의된다. Rotational speed with uncertainty error

Straightness including, and uncertainty errors

Is defined as in Equation 2 below.

[Equation 2]

는 회전 속도 오차

를 포함하고,

는

를 포함한다. here,

Rotation speed error

Including,

Is

It includes.

는 평균이 0이고 분산이 k인 속도의 오차이고, α₁는 회전속도 불확실성에 대한 회전 속도 가중치이다. 그리고 α₂는 회전속도 불확실성에 대한 직진 속도 가중치이고, α₃는 직진속도 불확실성에 대한 회전 속도 가중치이다. 또한, α₄는 직진속도 불확실성에 대한 직진 속도 가중치이다. Also,

Is the error of velocity with mean 0 and variance k, and α ₁ is the rotational speed weight for rotational uncertainty. And α ₂ is the linear speed weight for the rotational speed uncertainty, and α ₃ is the rotational speed weight for the linear speed uncertainty. Α ₄ is also a straight velocity weight for straight velocity uncertainty.

FIG. 6 is a diagram for describing a method of correcting position information in the speed detection correcting unit and the collision acceleration applying unit illustrated in FIG. 4.

Referring to FIG. 6, the speed detection correcting unit 173 corrects the position information in the moving state by reflecting the rotation and driving error information and the uncertainty position error information in the detected driving position information in real time.

,

)와 불확실성 위치 오차 정보(

,

)를 상기의 수학식 2를 이용해 실시간으로 검출된 주행 위치정보에 반영할 수 있다. In detail, the speed detection correcting unit 173 includes rotation and driving error information (

,

) And uncertainty location error information (

,

) May be reflected in driving position information detected in real time using Equation 2 above.

In FIG. 6, VB represents a position correction state in a static range in a static state. In addition, the VS arrow indicates a change in position according to the collision and a conversion width of driving position information according to the change.

The collision acceleration application unit 174 corrects the position information in the collision and slip situation by reflecting the collision acceleration information from the bumper to the position information corrected by the speed detection correcting unit 173.

,

)를 반영한 불확실성 위치 오차 정보(

,

)검출 수학식 2에 충돌 가속도 정보를 추가로 반영하여, 하기의 수학식 3에 제시된 바와 같이, 충돌 가속도 정보에 따라 주행 위치정보를 추가 보정한다. Specifically, the collision acceleration application unit 174 is a rotation and driving error information (

,

) Uncertainty location error information (

,

) The collision acceleration information is further reflected in the detection equation 2, and as shown in Equation 3 below, the driving position information is further corrected according to the collision acceleration information.

[Equation 3]

는 회전 방향 충돌 가속도 크기(＞0) 대비 충돌 시간이 지속된 시간으로서, 회전 방향의 충돌 속도 변화량이다. 그리고

는 직진 방향 충돌 가속도 크기(＞0) 대비 충돌 시간이 지속된 시간으로서, 직진 방향의 충돌 속도 변화량이다. here,

Is the time duration of the collision time compared to the rotational acceleration acceleration magnitude (> 0), and is the amount of change in the collision speed in the rotation direction. And

Is the time duration of the collision time compared to the magnitude of the straight collision acceleration (> 0), and is the amount of change in the collision velocity in the straight direction.

The map / position correction unit 175 resets the depth map with respect to the current position according to the driving position information corrected by the speed detection correction unit 173 or the collision acceleration application unit 174, and transmits it to the driving control module 180.

In addition, the map / position correction unit 175 sets the position where the position information is corrected according to the collision acceleration information in the collision acceleration application unit 174 as a position where the anomalous operation occurs, and transmits it to the driving control module 180.

Thus, the driving control module 180 is the driving position information corrected by the speed detection correction unit 173 or the collision acceleration application unit 174 and the position information (CC) where the anomaly operation set by the map / position correction unit 175 has occurred. Can be monitored in real time. In addition, the driving mode of the robot cleaner may be controlled such that the traveling speed and the cleaning method are changed at the position where the anomalous operation occurs.

As described above, the driving control apparatus and the robot cleaner RC using the same may correct the driving position information of the robot cleaner in real time by reflecting an error resulting from the straight and the rotation driving. Accordingly, the positional error that is gradually changed by the influence of the surrounding environment in which the robot cleaner RC is being used may be corrected in real time.

In addition, the driving control apparatus of the present invention and the robot cleaner using the same may quickly return to the original position even with a large external force or sudden impact by correcting the driving position information by reflecting the uncertainty position information and the collision acceleration information detected on the basis of motion. In addition, the driving control apparatus and the robot cleaner using the same of the present invention can monitor in real time by matching the position (CC) information in which anomalous operation such as collision, slip, and the like currently running position. Thus, by changing the running speed and the cleaning method at the position (CC) where the anomalous operation has occurred, it is possible to easily cope with the anomalous situation, thereby improving user satisfaction and reliability.

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

102: landmark detection unit
110: image detection module
120: distance detection module
140: case
150: interface unit
160: display unit
170: position correction unit
180: driving control module
RC: Robot Cleaner

Claims (15)

A landmark detector for signal processing depth value information from an image detection module to generate a depth map of a sensing space, and extracting at least one landmark for each divided region by dividing the depth map;
A position correction unit generating driving position information in real time using distance information with at least one landmark and correcting driving position information using rotation and driving error information, uncertainty position error information, and collision acceleration information; And
And a driving control module configured to change a driving path of the robot cleaner and control a cleaning option and a driving speed by using the depth map of the sensing space reset according to the corrected driving position information.
Travel control.
The method of claim 1,
The landmark detection unit
Signal processing and arrangement of the depth value information of the sensing space in every frame unit according to a preset resolution,
Generating a depth map of the sensing space by matching the distance information for each of the plurality of split points;
Travel control.
The method of claim 2,
The landmark detection unit
Compare depth value information of adjacent positions with each other according to a preset resolution, and set an object or corner at a position where a difference in depth value is larger than a preset reference as a landmark,
Travel control.
The method of claim 3, wherein
The position correction unit
A landmark matching unit that matches the landmarks of each of the divided regions and calculates driving position information in real time according to distance information with the matched plurality of landmarks;
A current position detection unit correcting the position information in the stationary state by reflecting the position information and the error information in the stationary state to the driving position information detected in real time;
A speed detection correcting unit correcting the positional information in the moving state by reflecting the rotational and driving error information and the uncertainty position error information in the driving position information detected in real time; And
And a collision acceleration application unit configured to correct the position information in the collision and slip situation by reflecting the collision acceleration information from the bumper to the position information corrected by the speed detection correcting unit.
Travel control.
The method of claim 4, wherein
The position correction unit
Resets the depth map relative to the current position according to the driving position information corrected by the speed detection correcting unit or the collision acceleration applying unit, and transmits the depth map to the driving control module;
The collision acceleration applying unit further includes a map / position correction unit for setting the position where the position information is corrected according to the collision acceleration information as the position where the anomalous motion occurs and transmitting it to the driving control module.
Travel control.
The method of claim 5,
The driving control module
Monitors by matching in real time the driving position information corrected by the speed detection correcting unit or the collision acceleration applying unit and the position information in which the anomaly motion set in the map / position correcting unit occurs,
Controlling the driving mode of the robot cleaner so that the traveling speed and the cleaning method is changed at the location where the anomaly operation occurs,
Travel control.
The method of claim 4, wherein
The current position detector
By using the position information of the stop state, and the error information is reflected in the driving position information detected in real time,

Robot cleaner location information at the time

Is corrected through Equation 1 below,
[Equation 1]

Where vs is the straight velocity of the robot cleaner, vt is the rotational speed of the robot cleaner,

Is the rotational speed, including the uncertainty error

Is the straight velocity that includes the uncertainty error,
Travel control.
The method of claim 7, wherein
The speed detection correction unit
The rotation and driving error information and the uncertainty position error information is reflected in the driving position information detected in real time using Equation 2 below.
[Equation 2]

Where rotational speed includes uncertainty error

Rotation speed error

Speed, including an uncertainty error

Is

Including;

Is the error of velocity with mean zero and variance k,
α ₁ is the rotational speed weight for rotational uncertainty,
α ₂ is the straight velocity weight for the rotational speed uncertainty,
α ₃ is the rotational speed weight for linear velocity uncertainty,
α ₄ is the straight velocity weight for straight velocity uncertainty,
Travel control.
A case forming an appearance;
A distance detection module composed of at least one transmitter and receiver;
An image detection module for capturing an image of the detection area including the cleaning area;
An interface unit to which a control command from a user is input;
A driving control device connected to the interface unit to control a driving route;
The driving control device
Receiving depth value information from the image detection module and processing the signal to generate a depth map of the sensing space, and generating and correcting driving position information in real time, thereby changing the driving route, controlling cleaning options and driving speed,
robotic vacuum.
The method of claim 9,
The driving control device
A landmark detector configured to process depth value information from the image detection module to generate a depth map of a sensing space, and divide the depth map to extract at least one landmark for each divided region;
A position correction unit generating driving position information in real time using distance information with the at least one landmark and correcting driving position information using rotation and driving error information, uncertainty position error information, and collision acceleration information; And
And a driving control module configured to change a driving path of the robot cleaner and control a cleaning option and a driving speed by using the depth map of the sensing space reset according to the corrected driving position information.
robotic vacuum.
The method of claim 10,
The landmark detection unit
Signal processing and arrangement of the depth value information of the sensing space in every frame unit according to a preset resolution,
Generating a depth map of the sensing space by matching the distance information for each of the plurality of split points;
robotic vacuum.
The method of claim 11,
The landmark detection unit
Compare depth value information of adjacent positions with each other according to a preset resolution, and set an object or corner at a position where a difference in depth value is larger than a preset reference as a landmark,
robotic vacuum.
The method of claim 12,
The position correction unit
A landmark matching unit that matches the landmarks of each of the divided regions and calculates driving position information in real time according to distance information with the matched plurality of landmarks;
A current position detection unit correcting the position information in the stationary state by reflecting the position information and the error information in the stationary state to the driving position information detected in real time;
A speed detection correction unit correcting the positional information in the moving state by reflecting the rotational and driving error information and the uncertainty position error information in the detected driving position information in real time; And
It includes a collision acceleration application unit for correcting the position information in the collision and slip situation by reflecting the collision acceleration information from the bumper to the position information corrected by the speed detection correction unit,
robotic vacuum.
The method of claim 13,
The position correction unit
Resets the depth map relative to the current position according to the driving position information corrected by the speed detection correcting unit or the collision acceleration applying unit, and transmits the depth map to the driving control module;
The collision acceleration applying unit further includes a map / position correction unit for setting the position where the position information is corrected according to the collision acceleration information as the position where the anomalous motion occurs and transmitting it to the driving control module.
robotic vacuum.
The method of claim 14,
The driving control module
Monitors by matching in real time the driving position information corrected by the speed detection correcting unit or the collision acceleration applying unit and the position information in which the anomaly motion set in the map / position correcting unit occurs,
Controlling the driving mode of the robot cleaner so that the traveling speed and the cleaning method is changed at the location where the anomaly operation occurs,
robotic vacuum.

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