KR100264832B1 - Robot cleaner control device using computer and its method - Google Patents

Abstract

The present invention relates to an apparatus and method for controlling a robot cleaner using a computer, comprising a computer and a robot cleaner each provided with a wireless transmitter and receiver, wherein the computer receives and analyzes data from the robot cleaner and analyzes data analysis results. The robot cleaner transmits various data to the computer during the cleaning operation, receives the data analysis result from the computer, and operates according to the data analysis result. By processing, the robot cleaner can be controlled more quickly and accurately.

Description

Robot cleaner control device using computer and its method

The present invention relates to an apparatus and method for controlling a robot cleaner using a computer. More particularly, the robot cleaner control using a computer for controlling the robot cleaner more quickly and accurately by processing image data using a personal computer through wireless communication. An apparatus and a method thereof are provided.

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

The robot cleaner determines the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area through the distance sensor, and selectively drives the left and right wheel motors of the robot cleaner according to the distance sensor. Clean it.

However, the above-described conventional robot cleaner does not have a function of grasping the shape of the cleaning area, and thus cleaning while driving the cleaning area according to the output of various sensors such as an obstacle detection sensor and a predetermined program regardless of the shape of the cleaning area. Because it performs, it takes a lot of time to clean the cleaning area, there was a problem that the cleaning is not made correctly.

Accordingly, a robot cleaner has been developed that uses a solid state imaging tube device camera (hereinafter referred to as a CCD camera) to clean the cleaning area more quickly and accurately.

However, the robot cleaner using the CCD camera as described above, since the amount of image data obtained from the CCD camera is very large, it takes a lot of time to process the image data, the cleaning time is increased and also the image data in the robot cleaner itself There was a problem that was difficult to deal with.

In addition, when the devices for analyzing and processing massive image data are installed in the robot cleaner, the structure of the robot cleaner is not only complicated, but also increases the manufacturing cost.

Accordingly, the present invention is to solve the above-mentioned conventional problems, the robot cleaner control apparatus using a computer that can control the robot cleaner more quickly and accurately by processing the image data using a computer through wireless communication and The purpose is to provide a method.

The robot cleaner control apparatus using a computer according to the present invention for achieving the above object is configured to include a computer and a robot cleaner, each provided with a wireless transmission and reception unit, the computer receives and analyzes data from the robot cleaner and data analysis A result is transmitted to the robot cleaner, wherein the robot cleaner is configured to transmit various data to the computer and to receive data analysis results from the computer and to operate according to the data analysis results.

In addition, the robot cleaner control method using a computer according to the present invention for achieving the above object, the image data transmission step of transmitting the image data photographed by the robot cleaner using a CCD camera to the computer, and the image data transmission The computer cleaner receives and analyzes the image data transmitted in the step, and transmits the image data analysis result to the robot cleaner, and the robot cleaner receives the image data analysis result transmitted in the image data analysis step. It characterized in that it comprises a robot cleaning operation step operating according to the data analysis results.

1 is a schematic diagram of a robot cleaner control apparatus using a computer according to the present invention;

2 is a schematic front view of a robot cleaner according to the present invention;

3 is a schematic rear view of the robot cleaner according to the present invention;

4 is a schematic block diagram of a robot cleaner control apparatus using a computer according to the present invention;

5 is a flow chart of a robot cleaner control method using a computer according to the present invention;

FIG. 6 is a sub flow chart of step S30 shown in FIG. 5;

FIG. 7 is a sub flow chart of step S40 shown in FIG. 5;

8 is a view for explaining a method for photographing the surrounding environment of the cleaning area in the robot cleaner according to the present invention;

9 is a view for explaining a method for measuring the distance from the computer to the surrounding environment according to the present invention.

<Explanation of symbols for the main parts of the drawings>

100: driving robot 101: suction brush

102: suction pipe 103: auxiliary wheel

104: charging terminal 105: wide sensor

110: CCD camera 115: CCD camera driver

120: camera motor 125: camera motor drive unit

130: laser light transmitting device 135: laser light transmitting device driver

140: left wheel motor 141: left wheel

145: left wheel motor drive unit 150: left wheel encoder

155: right wheel motor 156: right wheel

160: right-wheel motor drive unit 165: right-wheel encoder

170: driving robot control unit 175: driving robot battery

180: antenna 185: first radio transceiver

200: Handy Cleaner 205: Control Panel

210: suction motor 215: suction motor drive unit

220: cleaner control unit 225: cleaner battery

300: connector 302: power connector

304: control signal connector 500: personal computer

510: antenna 515: second radio transceiver

520: data processing unit

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

1 is a schematic diagram of a robot cleaner control apparatus using a computer according to the present invention, the robot cleaner control apparatus using a computer according to the present invention, a robot cleaner and a personal computer consisting of a traveling robot 100 and a handy cleaner 200 ( 500 and the robot cleaner and the personal computer 500 are provided with antennas 180 and 510 and a wireless transmitter / receiver (not shown) to enable wireless communication.

2 is a schematic front view of the robot cleaner according to the present invention, and FIG. 3 is a schematic rear view of the robot cleaner according to the present invention.

As shown in FIG. 2 and FIG. 3, the robot cleaner according to the present invention includes a traveling robot 100 and a handy cleaner 200, and the handy cleaner 200 is coupled to the traveling robot 100. It is detachable, and the traveling robot 100 includes a suction brush 101 for suctioning foreign substances such as dust, an intake pipe 102, and an auxiliary wheel 103 for increasing driving stability of the traveling robot 100. The power supply terminal 104 for supplying power for charging to the battery (not shown) of the traveling robot 100 is provided.

The suction pipe 102 is configured to communicate the suction port (not shown) of the handy cleaner 200 with the suction brush 101 when the handy cleaner 200 is coupled to the traveling robot 100.

In addition, the front surface of the traveling robot 100 is provided with a wide sensor 105 consisting of a plurality of infrared transmitting element 106 and infrared receiving element 107 for detecting obstacles, The upper part is provided with a CCD camera 110, a laser light emitting element 130 and an antenna 180, the lower wheel motor for driving the left wheel 141 and the right wheel 156, respectively, in the lower part of the traveling robot 100 ( 140 and the right wheel motor 155, the left wheel encoder 150 and the right wheel encoder 165 for detecting the rotation state of the left wheel motor 140 and the right wheel motor 155 is provided.

The handy cleaner 200 includes a suction port (not shown) in communication with the suction pipe 102 of the traveling robot 100 when the handy cleaner 200 is coupled to the traveling robot 100, and a suction motor that generates suction power. (Not shown) and a dust collecting chamber (not shown) in which foreign matter such as dust sucked by the suction force generated by the suction motor is stored.

4 is a schematic block diagram of a robot cleaner control apparatus using a computer according to the present invention, the robot cleaner control apparatus using a computer according to the present invention includes a traveling robot 100, a handy cleaner 200, and When the handy cleaner 200 is coupled to the traveling robot 100, a connector part including a power connector 302 and a control signal connector 304 that electrically connect the traveling robot 100 and the handy cleaner 200. The robot cleaner including 300 and the personal computer 500 are comprised.

The traveling robot 100 includes a wide sensor 105, a CCD camera 110, a CCD camera driver 115, a camera motor 120, a camera motor driver 125, a laser light emitting device 130, and a laser. Light transmitting element driving unit 135, left wheel motor 140, left wheel motor driving unit 145, left wheel encoder 150, right wheel motor 155, right wheel motor driving unit 160, right wheel encoder 165, traveling robot control unit ( 170), the traveling robot battery 175, the antenna 180, and the first wireless transmission and reception unit 185 is configured.

The wide sensor 105 detects an obstacle located in front of the traveling robot 100 and inputs it to the traveling robot control unit 170. The plurality of infrared transmitting devices 106 arranged horizontally and the plurality of infrared rays are provided. The infrared ray transmitted from the transmitting element 106 is composed of an infrared ray receiving element 107 for receiving infrared rays reflected by obstacles.

The CCD camera driver 115 drives the CCD camera 110 under the control of the traveling robot controller 170 so that the CCD camera 110 photographs the surrounding environment of the cleaning area so that the traveling robot controller 170 The camera motor driver 125 drives the camera motor 120 under the control of the driving robot controller 170 to control the CCD camera 110 and the laser light emitting device 130 at a predetermined angle. It is supposed to rotate.

In this case, the camera motor 120 is implemented as a stepping motor so that the driving robot controller 170 easily rotates the CCD camera 110 and the laser light emitting device 130 at a desired angle.

In addition, the laser light emitting device driver 135 drives the laser light emitting device 130 under the control of the traveling robot controller 170 to generate a laser light in a surrounding environment of the cleaning area photographed by the CCD camera 110. It is intended to form a point.

At this time, the laser light emitting device 130 is fixed to rotate integrally with the CCD camera 110 and at a predetermined angle toward the front surface to form a laser light point in the surrounding environment photographed by the CCD camera 110. It is fixed as.

The left wheel motor driver 145 and the right wheel motor driver 160 drive the left wheel motor 140 and the right wheel motor 155 to drive the travel robot 100 under the control of the travel robot controller 170. The left wheel encoder 150 and the right wheel encoder 165 detect rotational conditions of the left wheel motor 140 and the right wheel motor 155 and input the same to the driving robot controller 170.

The traveling robot controller 170 may operate the cleaner controller 220 of the handy cleaner 200 through the control signal connector 304 of the connector 300 while the handy cleaner 200 is coupled to the traveling robot 100. The cleaning start signal is input from the cleaning robot to control the entire operation. When the cleaning start signal is input from the cleaner controller 220, the laser light emitting device driver 135 is controlled to control the laser light emitting device. The 130 transmits laser light toward the surrounding environment, and controls the CCD camera driver 115 and the camera motor driver 125 to rotate the CCD camera 110 and the laser light emitting device 130 at a predetermined angle. While photographing the surrounding environment of the cleaning area, and inputs the image data photographed by the CCD camera 110 to the first wireless transmitting and receiving unit 185, the image data analysis result from the first wireless transmitting and receiving unit 185 Take input It controls the entire operation of the robot line (100).

In addition, when the traveling robot control unit 170 drives the traveling robot 100, the left wheel motor driving unit 145 according to signals input from the wide sensor 105, the left wheel encoder 150, and the right wheel encoder 165. ) And the right wheel motor driver 160 to control the traveling robot 100 to accurately travel along the driving path.

The mobile robot battery 175 receives and charges power from an external charging device through the charging power terminal 104 and supplies power necessary for driving the mobile robot 100, and at the same time, the handy cleaner 200. ) Is coupled to the traveling robot 100 to supply power to the handy cleaner 200 through the power connector 302 of the connector 300.

In addition, the first wireless transmission and reception unit 185 receives the image data photographed by the CCD camera 110 from the traveling robot control unit 170 and transmits to the personal computer 500 through the antenna 180, The image data analysis result transmitted from the personal computer 500 is received through the antenna 180 and input to the driving robot controller 170.

Meanwhile, as shown in FIG. 4, the handy cleaner 200 includes an operation unit 205, a suction motor 210, a suction motor driver 215, a cleaner controller 220, and a cleaner battery 225. Consists of.

The operation unit 205 is configured to input a cleaning start signal for operating the handy cleaner 200 to the cleaner control unit 220 according to a user's operation, and the cleaner control unit 220 starts cleaning from the operation unit 205. When the signal is input, while controlling the suction motor driver 215 to drive the suction motor 210 and at the same time through the control signal connector 304 of the connector 300 to the cleaning robot control unit 170 to start the cleaning signal On the other hand, when the cleaning completion signal is input from the driving robot control unit 170 to control the suction motor driving unit 215 to stop the suction motor 210.

The suction motor driver 215 drives the suction motor 210 under the control of the cleaner controller 220 to generate suction power, and the cleaner battery 225 is a power connector 302 of the connector 300. Through the power supply from the driving robot battery 175 of the traveling robot 100 is to be charged.

Meanwhile, as illustrated in FIG. 4, the personal computer 500 includes an antenna 510, a second wireless transmitter / receiver 515, and a data processor 520.

The second wireless transmitter / receiver 515 receives the image data transmitted from the first wireless transmitter / receiver 185 through the antenna 510, inputs the data to the data processor 520, and inputs the data from the data processor 520. The image data analysis result is transmitted to the first wireless transmission / reception unit 185 through the antenna 510.

The data processor 520 receives the image data from the second wireless transmitter / receiver 515, analyzes the image data, and inputs the image data analysis result to the second wireless transmitter / receiver 515. The image data is received from the wireless transmitter / receiver 515 and the distance to the surrounding environment is measured according to the height of the laser light point formed in the image, and the shape of the cleaning area is recognized from the plurality of distance information thus measured. A driving route of 100 is determined, and the driving route is input to the second wireless transmitting and receiving unit 515.

The operation and effects of the robot cleaner control apparatus and method using the computer according to the present invention configured as described above are described in detail.

When the handy cleaner 200 is coupled to the traveling robot 100, power lines of the traveling robot 100 and the handy cleaner 200 are connected to each other through the power connector 302 of the connector unit 300, and the connector unit ( Signal lines of the traveling robot 100 and the handy cleaner 200 are connected to each other through the control signal connector 304 of 300.

When the handy cleaner 200 is coupled to the traveling robot 100 as described above, power is supplied from the traveling robot battery 175 of the traveling robot 100 to the handy cleaner 200 through the power connector 302. As the cleaner battery 225 of the handy cleaner 200 is connected to the power connector 302, it is charged with power from the driving robot battery 175.

As the cleaner battery 225 is charged as described above, even if the handy cleaner 200 is separated from the traveling robot 100, the handy cleaner 200 may operate independently by the power charged in the cleaner battery 225. .

That is, when the handy cleaner 200 is separated from the traveling robot 100, when the user operates the operation unit 205 and inputs a cleaning start signal to the cleaner controller 220, the cleaner controller 220 may operate the suction motor ( The suction motor driver 215 is controlled to drive 210, and accordingly, the suction motor driver 215 supplies the power of the cleaner battery 225 to the suction motor 210, thereby driving the suction motor 210 to be handy. The cleaner 200 is operated.

Meanwhile, when the handy cleaner 200 is coupled to the traveling robot 100, when the user operates the operation unit 205 and inputs a cleaning start signal to the cleaner control unit 220, the handy cleaner 200 and the traveling robot 100. ) Operates, which will be described below with reference to FIGS. 5 to 7.

5 is a flowchart of a method for controlling a robot cleaner using a computer according to the present invention, FIG. 6 is a sub flow chart of step S30 shown in FIG. 5, and FIG. 7 is a sub flow chart of step S40 shown in FIG. 5. As shown in Figs. 5 to 7, S denotes a step.

As shown in FIG. 5, in step S10, the cleaner control unit 220 determines whether a cleaning start signal is input from the operation unit 205, and in step S10, a cleaning start signal is received from the operation unit 205. When it is determined that the cleaner controller 220 has been input, in step S20, the cleaner controller 220 controls the suction motor driver 215 to drive the suction motor 210 and at the same time the control signal connector of the connector 300. Input the cleaning start signal to the driving robot control unit 170 through the 304.

Therefore, the suction motor driver 215 generates suction power by driving the suction motor 210 by supplying power to the suction motor 210 under the control of the cleaner controller 220.

At this time, the suction port (not shown) of the handy cleaner 200 is in communication with the suction brush 101 through the suction pipe 102 of the traveling robot 100, the suction force generated as the suction motor 210 is driven. The foreign matter such as dust close to the suction brush 101 is sucked into the dust collecting chamber (not shown) of the handy cleaner 200 through the suction port of the suction brush 101, the suction pipe 102, and the handy cleaner 200. Will be.

Subsequently, in step S30, the driving robot controller 170 receives the cleaning start signal from the cleaner controller 220 through the control signal connector 304 of the connector 300, and then photographs the image using the CCD camera 110. The image data is transmitted to the personal computer 500, and then step S40 is performed.

That is, as shown in FIG. 6, in step S31, the driving robot control unit 170 controls the laser light transmitting element driver 135 to transmit the laser light, and the laser light transmitting element driver 135 is Under the control of the driving robot controller 170, the laser light emitting device 130 is driven to transmit the laser light toward the surrounding environment of the cleaning area.

Subsequently, in step S32, the driving robot controller 170 controls the CCD camera driver 115 to photograph the surrounding environment of the cleaning area, and the CCD camera driver 115 controls the driving robot controller 170. Accordingly, the CCD camera 110 is driven, and accordingly, the CCD camera 110 photographs the surrounding environment including the laser light point formed by the laser light emitted by the laser light emitting device 130 in step S31. Input to the driving robot controller 170.

Subsequently, in step S33, the driving robot controller 170 controls the camera motor driver 125 to rotate the CCD camera 110 and the laser light emitting device 130 at a predetermined angle, and the camera motor driver The 125 rotates the CCD camera 110 and the laser light emitting device 130 at a predetermined angle by driving the camera motor 120 under the control of the driving robot controller 170.

At this time, the laser light emitting device 130 is fixed to rotate integrally with the CCD camera 110, the camera motor 120 is implemented as a stepping motor, the driving robot control unit 170 desired angle The CCD camera 110 and the laser light emitting device 130 can be rotated accurately.

Subsequently, in step S34, the driving robot controller 170 determines whether the CCD camera 110 and the laser light emitting device 130 have rotated 360 degrees or more, that is, whether the camera motor 120 has rotated 360 degrees or more. If it does not rotate 360 degrees by repeating the step (S31) and if the camera motor 120 is rotated more than 360 degrees to perform the step (S35).

That is, as shown in FIG. 8, the traveling robot controller 170 controls the CCD camera driver 115, the camera motor driver 125, and the laser light emitting device driver 135, respectively, to provide the CCD camera 110 and While photographing the surrounding environment of the cleaning area while rotating the laser light emitting device 130 at a predetermined angle 360 degrees, the CCD camera 110 inputs the image data of the photographed surrounding environment to the driving robot controller 170. .

At this time, since the laser light emitting device 130 rotates integrally with the CCD camera 110 and is fixed at a predetermined angle toward the front surface to form a laser light point in the surrounding environment photographed by the CCD camera 110. In the image of the surrounding environment photographed by the CCD camera 110, the radar light point always exists.

Subsequently, in step S35, the driving robot controller 170 inputs the image data photographed by the CCD camera 100 to the first wireless transmission / reception unit 185, and the first wireless transmission / reception unit 185 The image data input from the driving robot controller 170 is transmitted to the personal computer 500 through the antenna 180.

Meanwhile, in step S40, the personal computer 500 receives and analyzes image data from the traveling robot 100, transmits the image data analysis result to the traveling robot 100, and then performs step S50. .

That is, as shown in FIG. 7, in step S41, the second wireless transmitter / receiver 515 receives image data from the traveling robot 100 through the antenna 510 and inputs it to the data processor 520. Subsequently, in step S42, the data processor 520 receives the image data from the second wireless transmitter / receiver 515 and measures the distance to the obstacle.

That is, since the height of the laser light point formed by the laser light transmitted by the laser light transmitting element 130 varies depending on the distance to the surrounding environment in which the laser light point is formed, the laser light point is formed using this principle. It is to measure the distance to the environment.

At this time, since the height of the laser light point in the image taken by the CCD camera 110 is proportional to the height of the laser light point formed in the actual environment, the laser formed in the actual environment according to the height of the laser light point in the image The height of the light point and the distance information according to the data are stored and stored, and the distance to the surrounding environment is selected by selecting the distance information corresponding to the height of the laser light point in the image photographed by the CCD camera 110. To measure.

For example, as shown in FIG. 9, when the laser light point in the image is formed at point A, the distance to the surrounding environment in which the laser light point is formed is selected as 3M, and the laser light point in the image is at B point. When it is formed, the distance to the surrounding environment in which the laser light point is formed is selected as 4M. When the laser light point in the image is formed at C point, the distance to the surrounding environment in which the laser light point is formed is selected as 5M.

Subsequently, in step S43, the shape of the cleaning area is recognized by using the plurality of distance information measured by the data processing unit 520, and in step S44, the data processing unit 520 recognizes in step S43. Determine the driving route suitable for the type of cleaning area that has been set up.

Subsequently, in step S45, the data processing unit 520 inputs the driving route data to the second wireless transmitting and receiving unit 515, and the second wireless transmitting and receiving unit 520 receives the driving route data from the data processing unit 520. It receives the input and transmits to the traveling robot 100 through the antenna 510.

Meanwhile, in step S50, the first wireless transmission / reception unit 185 receives the driving route data transmitted from the personal computer 500 through the antenna 180, inputs the driving route to the driving robot controller 170, and the driving robot. The controller 170 controls the left wheel motor driver 145 and the right wheel motor driver 160 according to the driving route data input from the first wireless transmission / reception unit 185 to drive the traveling robot 100 along the driving route. Clean it while doing it.

Subsequently, in step S60, the driving robot controller 170 determines whether the cleaning is completed, and if the cleaning is not completed, repeats the step S50, and if it is determined that the cleaning is completed, the step S70 is performed. Perform.

Subsequently, in step S70, the traveling robot controller 170 stops the operation of the traveling robot 100, and at the same time, the cleaning completion signal is supplied to the cleaning control unit 220 through the control signal connector 304 of the connector 300. ), Thereby controlling the suction motor driver 215 so that the cleaner controller 220 stops the suction motor 210, and the suction motor driver 215 controls the cleaner controller 220. As a result, the power applied to the suction motor 210 is cut off to stop the suction motor 210.

As described above, according to the present invention, a computer receives and analyzes data from a robot cleaner and transmits a data analysis result to the robot cleaner, wherein the robot cleaner transmits various data to the computer and performs data from the computer. Receiving an analysis result and operating according to the data analysis result, by processing the image data using a computer through a wireless communication, there is an effect that can control the robot cleaner more quickly and accurately.

Claims (7)

It is configured to include a computer and a robot cleaner, each provided with a wireless transmitter and receiver, The computer receives and analyzes data from the robot cleaner and transmits the data analysis result to the robot cleaner, The robot cleaner is a robot cleaner control device using a computer, characterized in that to transmit a variety of data to the computer during the cleaning and to receive a data analysis result from the computer to operate according to the data analysis result. The method of claim 1, The robot cleaner comprises: a CCD camera driver for driving the CCD camera to photograph the surrounding environment of the cleaning area; A laser light transmitting element driver for driving a laser light emitting element to form a laser light point in a surrounding environment of a cleaning area photographed by the CCD camera; A camera motor driving unit for driving the camera motor to rotate the CCD camera and the laser light transmitting device; A first wireless transmitting and receiving unit for transmitting the image data photographed by the CCD camera to the computer and receiving a data analysis result from the computer; The CCD camera driver, the laser light emitting device driver, and the camera motor driver are controlled respectively to photograph the surrounding environment of the cleaning area while rotating the CCD camera and the laser light emitting device at a predetermined angle, and the image data captured by the CCD camera. And a control unit configured to control the operation of the robot cleaner by receiving a data analysis result from the first wireless transmitting and receiving unit while inputting the first wireless transmitting and receiving unit. The method of claim 2, The computer may further include: a second wireless transmission receiver for receiving image data transmitted from the first wireless transmission receiver, and transmitting an image data analysis result to the first wireless transmission receiver; And a data processor configured to receive image data from the second wireless transmitter and receiver and analyze the image data, and to input the image data analysis result to the second wireless transmitter and receiver. The method of claim 3, wherein The data processing unit receives the image data from the second wireless transmission and reception unit, measures the distance to the surrounding environment according to the height of the laser light point formed in the image, and recognizes the shape of the cleaning area from the measured distance information. And a driving path of the robot cleaner and inputting the driving path to the second wireless transmitting and receiving unit. An image data transmission step of transmitting the image data captured by the robot cleaner using a CCD camera to a computer; An image data analyzing step of receiving and analyzing the image data transmitted in the image data transmitting step, and transmitting the image data analysis result to the robot cleaner; And a robot cleaner driving step of receiving the image data analysis result transmitted in the image data analysis step and operating according to the image data analysis result. The method of claim 5, The image data transmitting step includes a laser light transmitting step of driving a laser light emitting device to send the laser light toward the surrounding environment of the cleaning area; A photographing step of photographing a surrounding environment including a laser light point formed by the laser light transmitted in the laser light transmitting step by using a CCD camera; A rotating step of rotating the CCD camera and the laser light emitting device at a predetermined angle; A rotation angle judging step of repeating the laser light emitting step if it is determined that the CCD camera and the laser light emitting device have rotated 360 degrees or more, and have not rotated 360 degrees or more; And a transmitting step of transmitting image data photographed by the CCD camera when the CCD camera and the laser light emitting device are rotated by 360 degrees or more in the rotation angle determining step. The method of claim 5, The image data analyzing step includes: a receiving step of receiving image data transmitted in the image data transmitting step; A distance measuring step of measuring a distance from the image data received in the receiving step to the surrounding environment; A cleaning area type recognition step of recognizing the shape of the cleaning area from the distance information measured in the distance measuring step; A driving path determining step of determining a driving path of the robot cleaner according to the type of the cleaning area recognized in the cleaning area type recognition step; And a transmitting step of transmitting a driving route determined in the driving route determining step.