KR102138724B1 - Cleaning robot and controlling method thereof - Google Patents

Abstract

The cleaning robot includes a traveling unit that moves the cleaning robot, an obstacle detecting unit that detects an obstacle, and a distance between the cleaning robot and the obstacle is less than a reference distance, and when the cleaning robot contacts the obstacle, the traveling speed of the cleaning robot. It may include a control unit for reducing the running speed of the cleaning robot to be less than the impact relaxation speed.

Description

CLEANING ROBOT AND CONTROLLING METHOD THEREOF}

The disclosed invention relates to a cleaning robot and a control method thereof, and to a cleaning robot and a control method for cleaning dust on the cleaning floor while automatically driving the cleaning floor.

The cleaning robot is a device that automatically cleans the cleaning space by inhaling foreign substances such as dust accumulated on the floor while driving the cleaning space without user intervention. That is, the cleaning robot travels through the cleaning space and cleans the cleaning space.

Conventional cleaning robots include a substantially circular body to facilitate direction change. Due to the substantially circular body as described above, the existing cleaning robot has not been able to efficiently clean a corner where the wall surface and the wall surface intersect or the edge of the cleaning floor where the wall surface and the cleaning floor cross.

To overcome this problem, some cleaning robots have also adopted a side brush that protrudes from the main body of the cleaning robot and sweeps the dust.

However, the cleaning robot employing the side brush has a fear of breakage of wires, hair, threads, and the like in the side brush while the side brush rotates.

One aspect of the disclosed invention to solve the above-described problem is to provide a cleaning robot that minimizes the impact of the cleaning robot upon collision with an obstacle.

Another aspect of the disclosed invention is to provide a cleaning robot capable of efficiently cleaning an edge of a cleaning floor where an obstacle and a cleaning floor intersect.

The cleaning robot according to an aspect of the disclosed invention includes a traveling unit for moving the cleaning robot, an obstacle detecting unit for detecting an obstacle, and a driving speed of the cleaning robot when a distance between the cleaning robot and the obstacle becomes less than a reference distance during driving. It may include a control unit for controlling the driving unit so that the cleaning robot contacts the obstacle by reducing.

According to an embodiment, the control unit may control the driving unit to reduce the driving speed from the first driving speed to the second driving speed.

According to an embodiment, the control unit may control the driving unit such that the driving speed is reduced in a plurality of steps.

According to an embodiment, the control unit may control the driving unit such that the driving speed is gradually reduced.

According to an embodiment, when the width of the obstacle is greater than or equal to a reference width, the control unit may control the driving unit to rotate the cleaning robot around a rotation center calculated according to a distance from the obstacle.

According to an embodiment, when the width of the obstacle is less than the reference width, the control unit may control the driving unit such that the cleaning robot travels in parallel with the outline of the obstacle.

According to an embodiment, when the degree of deviation of the outline of the obstacle from the straight line is smaller than a reference value, the control unit may control the driving unit such that the cleaning robot rotates around the rotation center calculated according to the distance from the obstacle. have.

According to an embodiment, if the degree of deviation of the outline of the obstacle from the straight line is greater than or equal to a reference value, the control unit may control the driving unit such that the cleaning robot travels in parallel with the outline of the obstacle.

According to an embodiment, the cleaning robot further includes a contact sensing unit that detects the contact between the cleaning robot and the obstacle, and when the contact between the cleaning robot and the obstacle is detected, the control unit controls the front outline and the obstacle of the cleaning robot. The movement of the cleaning robot can be controlled so that the outlines are aligned.

According to an embodiment, the contact between the cleaning robot and the obstacle may control the driving unit such that the cleaning robot rotates around the part in contact with the obstacle.

The cleaning robot according to another aspect of the disclosed invention includes a body including at least a part of a flat surface, a driving unit for moving the main body, a contact sensing unit for sensing contact between the main body and an obstacle, and contact between the main body and the obstacle When this is detected, a control unit for controlling the movement of the cleaning robot may be included so that the at least a part of the flat surface is aligned with the outline of the obstacle.

According to an embodiment, when the contact between the main body and the obstacle is sensed, the control unit may control the traveling unit to rotate and run around a portion contacting the obstacle.

According to an embodiment, when the at least part of the flat surface and the outline of the obstacle are aligned, the control unit may control the driving unit such that the cleaning robot repeats backward and forward.

According to an embodiment, the cleaning robot further includes an obstacle detection unit that detects the obstacle without contact with the obstacle, and when an outline alignment condition is satisfied, the control unit aligns the flat surface of the at least a part with the outline of the obstacle. It is possible to control the movement of the cleaning robot.

According to an embodiment, the control unit may control the driving unit such that the main body rotates around a rotation center calculated according to a distance from the obstacle.

According to an embodiment, when the width of the obstacle is greater than or equal to the reference width, the control unit may control the movement of the cleaning robot such that the at least a portion of the flat surface is aligned with the outline of the obstacle.

According to an embodiment, when the degree of deviation of the outline of the obstacle from the straight line is smaller than a reference value, the controller may control movement of the cleaning robot such that the outline of the obstacle is aligned with a flat surface of at least a part.

According to an embodiment, the cleaning robot further includes a cleaning part that sucks dust from the cleaning floor, and when the outline alignment condition is satisfied, the control unit may increase the suction power of the cleaning part.

According to an embodiment, the contact detection unit is provided at the front of the main body, a bumper that contacts the obstacle, a bumper switch that outputs a contact detection signal when the bumper contacts the obstacle, and the external force applied to the bumper from the obstacle by the bumper switch It may include an external force transmission member transmitting to.

According to an embodiment, the bumper may press the external force transmission member when it contacts the obstacle.

According to an embodiment, when the pressure is applied by the bumper, the external force transmission member may rotate around the rotation axis to press the bumper switch.

According to an embodiment, when pressed by the external force transmission member, the bumper switch may output the touch detection signal.

According to an embodiment, the bumper switch may be installed to be inclined 30 degrees to 60 degrees with respect to the front direction of the cleaning robot.

The cleaning robot according to another aspect of the disclosed invention includes a body including at least a part of a flat surface, a moving part for moving the body, an obstacle detecting part for detecting an obstacle, and when the obstacle is detected, the at least part is flat It may include a control unit for controlling the movement of the main body so that the surface contacts the obstacle.

According to an embodiment, when the obstacle is detected, the control unit may control the driving unit such that the cleaning robot rotates around the rotation center calculated based on the distance and direction of the obstacle.

According to an embodiment, the cleaning robot further includes a contact sensing unit configured to sense a contact between the main body and the obstacle, and when a contact between the obstacle and a part of the main body is detected, the main body centers on a part of the contacted main body. The driving unit may be controlled to rotate.

According to an embodiment, the contact detection unit is provided at the front of the cleaning robot, a bumper in contact with the obstacle, a bumper switch for outputting a contact detection signal when the bumper contacts the obstacle, the external force applied to the bumper from the obstacle It may include an external force transmission member for transmitting to the switch.

The control method of the cleaning robot according to one aspect of the disclosed invention drives the cleaning robot, and when the distance between the cleaning robot and the obstacle becomes less than or equal to a reference distance, the traveling speed of the cleaning robot is reduced to reduce the cleaning robot and the obstacle. And contacting the cleaning robot and moving the cleaning robot to align the front outline of the cleaning robot and the obstacle when the contact between the cleaning robot and the obstacle is sensed.

According to an embodiment, reducing the traveling speed of the cleaning robot may include reducing the traveling speed from a first traveling speed to a second traveling speed.

According to an embodiment, reducing the traveling speed of the cleaning robot may include reducing the traveling speed of the cleaning robot in a plurality of steps.

According to an embodiment, the control method of the cleaning robot may further include moving the cleaning robot in parallel with the outline when the outline of the cleaning robot and the outline of the obstacle are aligned.

According to an embodiment, the control method of the cleaning robot further comprises moving the cleaning robot such that the outline of the cleaning robot is aligned with the second outline of the obstacle after the outline of the cleaning robot is aligned with the first outline of the obstacle. It can contain.

According to an embodiment, the control method of the cleaning robot further includes returning the cleaning robot to the charging station when a return command is input from the user or when a low power of the battery is detected, while the cleaning robot is returned to the charging station, It is possible to deactivate alignment between the front outline of the cleaning robot and the outline of the obstacle.

According to one aspect of the disclosed invention, the cleaning robot can minimize impact when colliding with an obstacle by reducing the driving speed before colliding with the obstacle.

According to another aspect of the disclosed invention, the cleaning robot can efficiently clean the edge of the cleaning floor by aligning the front outline of the cleaning robot with the outline of the obstacle.

1 schematically shows a control configuration of a cleaning robot according to an embodiment.
2 briefly shows the operation of the cleaning robot according to an embodiment.
3 shows a control configuration of a cleaning robot according to an embodiment.
Figure 4 shows the appearance of the cleaning robot according to an embodiment.
5 shows a bottom surface of a cleaning robot according to an embodiment.
Figure 6 shows the interior of the main body of the cleaning robot according to an embodiment.
7 shows an example of an obstacle detection unit included in the cleaning robot according to an embodiment.
8 illustrates an example in which an obstacle detection unit included in the cleaning robot according to an embodiment transmits light.
9 illustrates an example in which the obstacle detection unit included in the cleaning robot according to an embodiment receives light reflected by the obstacle.
10 illustrates another example of an obstacle detection unit included in the cleaning robot according to an embodiment.
11 shows an example of a touch sensing unit included in a cleaning robot according to an embodiment.
12 illustrates a case in which all parts of the bumper included in the cleaning robot according to the embodiment contact the obstacle.
13 illustrates a case in which the left front side of the bumper included in the cleaning robot according to an embodiment contacts an obstacle.
14 shows a case in which the left side of the bumper included in the cleaning robot according to an embodiment contacts an obstacle.
15 shows an example of an outline alignment operation of the cleaning robot according to an embodiment.
16 shows that the cleaning robot performs an outline alignment operation as shown in FIG. 15.
17 shows another example of the outline alignment operation of the cleaning robot according to an embodiment.
18 shows that the cleaning robot performs an outline alignment operation as shown in FIG. 17.
19 shows another example of the outline alignment operation of the cleaning robot according to an embodiment.
20 shows that the cleaning robot calculates the turning radius according to that shown in FIG. 19.
21A and 21B show that the cleaning robot performs an outline alignment operation as illustrated in FIG. 19.
22 shows an example of a method for determining whether the cleaning robot according to an embodiment performs an outline alignment operation.
23 illustrates an example in which the cleaning robot performs an outline alignment operation as illustrated in FIG. 22.
24 illustrates an example in which the cleaning robot does not perform an outline alignment operation as shown in FIG. 22.
25 illustrates another example of a method of determining whether the cleaning robot according to an embodiment performs the outline alignment operation.
26 illustrates an example in which the cleaning robot performs an outline alignment operation as illustrated in FIG. 25.
27 and 28 show an example in which the cleaning robot does not perform an outline alignment operation as illustrated in FIG. 25.
29 illustrates an example of an operation of cleaning around an obstacle in which the cleaning robot according to an embodiment intensively cleans around the obstacle together with an outline alignment operation.
FIG. 30 shows the cleaning robot cleaning according to the method shown in FIG. 29.
31 shows an example of an automatic cleaning operation in which the cleaning robot according to an embodiment automatically cleans the cleaning space.
32 shows that the cleaning robot automatically cleans the cleaning space according to the automatic cleaning operation shown in FIG. 31.
33 shows an example of a cleaning run of the cleaning robot according to an embodiment.
34 and 35 show a path the cleaning robot has moved in accordance with the cleaning run shown in FIG. 33.
36 illustrates another example of cleaning driving of the cleaning robot according to the embodiment.
37 and 38 show a path the cleaning robot has moved along the cleaning run shown in FIG. 36.
39 shows another example of the cleaning run of the cleaning robot according to the embodiment.
40 and 41 show a path the cleaning robot has moved in accordance with the cleaning run shown in FIG. 39.
42 illustrates another example of an automatic cleaning operation in which the cleaning robot according to an embodiment automatically cleans the cleaning space.
43 shows that the cleaning robot automatically cleans the cleaning space according to the automatic cleaning operation illustrated in FIG. 42.
44 shows an example of a return operation in which the cleaning robot according to an embodiment returns to the charging station.
FIG. 45 shows the cleaning robot returning to the charging station according to the return operation shown in FIG. 44.

The configuration shown in the embodiments and drawings described in this specification is only a preferred example of the disclosed invention, and at the time of filing of the present application, there may be various modifications that can replace the embodiments and drawings of the present specification.

In addition, the same reference numbers or symbols provided in each drawing of the present specification denote parts or components that perform substantially the same function.

In addition, the terms used herein are used to describe the examples, and are not intended to limit and/or limit the disclosed invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, the terms "include" or "have" are intended to indicate that there are features, numbers, steps, operations, components, parts or combinations thereof described in the specification, and one or more other features. It does not preclude the existence or addition possibility of fields or numbers, steps, operations, components, parts or combinations thereof.

Further, terms including an ordinal number such as “first”, “second”, and the like used herein may be used to describe various components, but the components are not limited by the terms. It is used only for the purpose of distinguishing one component from other components. For example, the first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may be referred to as a first component. The term "and/or" includes a combination of a plurality of related described items or any one of a plurality of related described items.

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

1 schematically illustrates a control configuration of a cleaning robot according to an embodiment, and FIG. 2 briefly shows an operation of the cleaning robot according to an embodiment.

1 and 2, the cleaning robot 100 according to an embodiment includes a contact sensing unit 150 that detects an obstacle or contact with a wall surface, a driving unit 160 that moves the cleaning robot 100, and The control unit 110 may control the driving unit 160 according to the touch detection signal of the touch detection unit 150.

The touch detection unit 150 detects a contact or collision between the cleaning robot 100 and an obstacle or a wall surface that obstructs the cleaning robot 100 from running. In addition, when a collision with an obstacle or a wall is detected, the touch detection unit 150 provides a touch detection signal to the control unit 140.

For example, when the contact sensing unit 150 contacts the obstacle O and the cleaning robot 100 as illustrated in FIG. 2B, the contact sensing unit 150 contacts the obstacle O and the cleaning robot. The contact between the 100 is sensed, and the touch detection signal is transmitted to the control unit 110.

In addition, the touch detection unit 150 may output a different touch detection signal according to a portion where the obstacle O and the cleaning robot 100 are contacted.

The driving unit 160 moves the cleaning robot 100 according to the driving control signal of the control unit 110 using a wheel or a motor.

The control unit 110 controls the driving unit 160 according to the touch detection signal of the touch sensing unit 150.

For example, if the touch detection signal is not received, the control unit 110 may control the driving unit 160 such that the cleaning robot 100 moves along the driving path for cleaning the cleaning space, and the touch detection signal is received. When the control unit 110 can control the driving unit 160 so that the front of the cleaning robot 100 is in close contact with the obstacle (O).

Under the control of the control unit 110, the cleaning robot 100 can travel in various patterns.

Specifically, when the cleaning robot 100 does not come into contact with or close to the obstacle O, the cleaning robot 100 travels around the cleaning space to clean the cleaning space as shown in FIG. 2(a). Can.

At this time, as shown in (b) of FIG. 2, when the cleaning robot 100 approaches or contacts the obstacle O, the cleaning robot 100 may clean the cleaning robot 100 as shown in FIG. 2(c). ) Is moved so that the front part of the) is in close contact with the obstacle O.

In other words, the cleaning robot 100 aligns the outline of the obstacle O with the front outline of the cleaning robot 100.

As described above, when the cleaning robot 100 is in close contact with the obstacle O, the cleaning robot 100 can clean the dust located along the outline of the obstacle O. Since a considerable amount of dust in the cleaning space is located along the outline of the obstacle O, the cleaning robot 100 capable of cleaning the dust located along the outline of the obstacle O can improve the cleaning ability for the cleaning space. .

In the above, the operation in which the front outline of the cleaning robot 100 is aligned with the outline of the obstacle O is not limited to this, but is not limited thereto. Even if it can be aligned with the outline of the obstacle (O).

In the above, the configuration and operation of the cleaning robot 100 have been briefly described.

Hereinafter, a specific configuration and operation of the cleaning robot 100 will be described in detail.

3 shows a control configuration of the cleaning robot according to an embodiment, and FIG. 4 shows the appearance of the cleaning robot according to an embodiment. In addition, FIG. 5 shows the bottom surface of the cleaning robot according to one embodiment, and FIG. 6 shows the inside of the main body of the cleaning robot according to one embodiment.

The appearance of the cleaning robot 100 shown in FIG. 3 is only an example of the appearance of the cleaning robot 100, and the cleaning robot 100 may have various forms.

3 to 6, the cleaning robot 100 may be composed of a main body 101 and a sub-body 103. 3, the main body 101 may have a substantially semi-cylindrical shape, and the sub-body 103 may have a rectangular parallelepiped shape.

In addition, components inside and outside the main body 101 and the sub-body 103 are provided for realizing the function of the cleaning robot 100.

Specifically, the cleaning robot 100 displays the images around the user interface 120 and the cleaning robot 100 that interact with the user together with the touch detection unit 150, the driving unit 160, and the control unit 110 described above. Includes an image acquisition unit 130 to acquire, a non-contact obstacle detection unit 140 that detects an obstacle O in a non-contact manner, a cleaning unit 170 that cleans a cleaning space, and a storage unit 180 that stores programs and various data can do.

The user interface 120 may be provided on the upper surface of the main body 101 of the cleaning robot 100 as shown in FIG. 4, and the input button group 121 and the cleaning robot 100 receiving control commands from the user It may include a display 123 for displaying the operation information of.

The input button group 121 includes a power button 121a for turning on or off the cleaning robot 100, an operation/stop button 121b for operating or stopping the cleaning robot 100, and a cleaning robot 100. It may include a return button (121c) for returning to a charging station (not shown).

In addition, each button included in the input button group 121 includes a push switch and a membrane switch sensing a user's pressure, or a touch switch sensing a user's body contact. Can be employed.

The display 123 displays information of the cleaning robot 100 in response to a control command input by the user. For example, the display 123 displays an operating state of the cleaning robot 100, a power state, and a user selected The cleaning mode, whether to return to the charging station, and the like can be displayed.

In addition, the display 123 may employ a self-emissive light emitting diode (LED) and an organic light emitting diode (OLED) or a liquid crystal display having a separate source. Can.

Although not shown in the drawings, according to an embodiment, the user interface 120 may include a touch screen panel (TSP) that receives a control command from a user and displays operation information corresponding to the received control command. have.

Specifically, the touch screen panel is based on a display that displays motion information and control commands that can be input by the user, a touch panel that detects coordinates touched by a user's body part, and touch coordinates detected by the touch panel. It may include a touch screen controller to determine the restraint command input by the user.

The image acquisition unit 130 may include a camera module 131 that acquires an image above the cleaning robot 100.

The camera module 131 may be provided on the upper surface of the sub-body 103 included in the cleaning robot 100, and a lens that concentrates light emitted from above the cleaning robot 100, converts light into an electrical signal. It may include an image sensor.

In addition, the image sensor may employ a complementary metal oxide semiconductor (CMOS) sensor or a charge coupled device (CCD) sensor.

The camera module 131 converts the image above the cleaning robot 100 into an electrical signal that can be processed by the controller 110, and controls an electrical signal corresponding to the image above (hereinafter referred to as "upper image"). (110). The upper image provided by the image acquisition unit 130 may be used by the control unit 110 to detect the location of the cleaning robot 100.

The obstacle detecting unit 140 detects an obstacle O that prevents the movement of the cleaning robot 100 without contact.

Here, the obstacle O means all that protrudes from the bottom of the cleaning space and obstructs the movement of the cleaning robot 100, and not only furniture such as a table or a sofa, but also a wall partitioning the cleaning space corresponds to the obstacle.

The obstacle detecting unit 140 may include a light transmitting module 141 that transmits light toward the front of the cleaning robot 100, and a light receiving module 143 that receives light reflected from an obstacle O or the like. .

As described above, the cleaning robot 100 uses light such as infrared rays to detect the obstacle O, but is not limited thereto, and ultrasonic waves or radio waves may be used.

The specific configuration and operation of the obstacle detection unit 140 will be described in detail below.

The contact sensing unit 150 detects the presence or absence of the obstacle O through contact with the obstacle O.

The contact sensing unit 150 may include a bumper 151 in contact with the obstacle O and a bumper switch 153 that outputs a contact detection signal according to the contact between the obstacle O and the bumper 151. .

The specific configuration and operation of the touch sensing unit 150 will be described in detail below.

The driving unit 160 moves the cleaning robot 100, and may include a wheel driving motor 161, a driving wheel 163, and a caster wheel 155, as shown in FIG. 5.

The driving wheels 163 may be provided at both ends of the bottom surface of the main body 101, and the left driving wheels 163a and the cleaning robots provided on the left side of the cleaning robot 100 based on the front of the cleaning robot 100 ( 100) may include a right driving wheel 163b provided on the right side.

In addition, the driving wheel 163 receives the rotational force from the wheel driving motor 161 to move the cleaning robot 100.

The wheel driving motor 161 generates rotational force to rotate the driving wheel 163, and the left driving motor 161a rotating the left driving wheel 163a and the right driving motor 151b rotating the right driving wheel 163b. ).

Each of the left driving motor 161a and the right driving motor 161b may independently operate by receiving a driving control signal from the control unit 110.

The left driving wheel 163a and the right driving wheel 163b may rotate independently of each other by the left driving motor 161a and the right driving motor 161b which operate independently as described above.

In addition, since the left traveling wheel 163a and the right traveling wheel 163b can rotate independently, the cleaning robot 100 is capable of various driving such as forward traveling, backward traveling, rotating traveling and rotating in place.

For example, when both the left and right running wheels 163a and 163b rotate in the first direction, the cleaning robot 100 linearly runs forward (forward), and both the left and right running wheels 163a and 163b rotate in the second direction. When the main body 101 can travel linearly (reverse) to the rear.

In addition, the left and right traveling wheels 163a and 163b rotate in the same direction, but if they rotate at different speeds, the cleaning robot 100 rotates to the right or left. When the left and right driving wheels 163a and 163b rotate in different directions, the cleaning robot 100 may rotate clockwise or counterclockwise in place.

The caster wheel 165 is installed on the bottom surface of the main body 101 so that the rotation axis of the caster wheel 165 can rotate according to the moving direction of the cleaning robot 100. As described above, the caster wheel 165 in which the rotating shaft of the wheel rotates according to the moving direction of the cleaning robot 100 does not interfere with the driving of the cleaning robot 100, and the cleaning robot 100 may travel while maintaining a stable posture. Make it possible.

In addition, in addition, the driving unit 160 decelerates the rotational force of the wheel driving motor 161 and transmits it to the driving wheel 163 by a gear module (not shown), the rotational displacement of the wheel driving motor 161 or the driving wheel 163 And it may further include a rotation detection sensor (not shown) for detecting the rotation speed.

The cleaning unit 170 includes a drum brush 173 that scatters dust at the bottom of the cleaning area, a brush driving motor 171 that rotates the drum brush 173, a dust suction module 175 that sucks scattered dust, and suction It includes a dust box (177) for storing the dust.

The drum brush 163 is provided in the dust inlet 103a formed on the bottom surface of the sub-body 103 as shown in FIG. 5, and rotates around the rotating shaft provided horizontally with the cleaning floor of the sub-body 103 The dust on the floor is scattered inside the dust intake (103a).

The brush driving motor 171 is provided adjacent to the drum brush 173 to rotate the drum brush 173 according to the cleaning control signal from the control unit 110.

The dust suction module 175 is provided on the main body 101 as shown in FIG. 6, and sucks dust scattered by the rotation of the drum brush 173 into the dust box 177.

In addition, the dust suction module 175 may include a dust suction fan (not shown) that generates suction power for suctioning dust into the dust storage box 167 and a dust suction motor (not shown) that rotates the dust suction fan. .

The dust box 177 is provided on the main body 101 as shown in FIG. 6, and stores the dust sucked by the dust suction module 175.

The cleaning unit 170 may include a dust guide pipe that guides the dust sucked through the dust inlet 103a of the service body 103 to the dust box 177 provided in the main body 101.

The storage unit 180 may store control programs and control data for controlling the cleaning robot 100 and map information of the cleaning space acquired by the cleaning robot 100 while driving.

The storage unit 180 may operate as an auxiliary storage device that assists the memory 115 included in the control unit 110 to be described below, and the stored data is not destroyed even when the cleaning robot 100 is powered off. It may be composed of a volatile storage medium.

The storage unit 180 may include a semiconductor device drive 181 for storing data in a semiconductor device, a magnetic disk drive 183 for storing data in a magnetic disk, and the like.

The control unit 110 controls the operation of the cleaning robot 100 in general.

Specifically, the control unit 110 includes an input/output interface 117 for mediating data entry and exit between the various configuration devices included in the cleaning robot 100 and the control unit 110, a memory 115 for storing programs and data, and images. The main processor 111, the input/output interface 117, the memory 115, the graphics processor 113, and the graphics processor 113 performing processing and performing an operation according to programs and data stored in the memory 113 and It may include a system bus 119 that is a passage of data transmission and reception between the main processor 111.

The input/output interface 117 receives the image received from the image acquisition unit 130, the obstacle detection result detected by the obstacle detection unit 140, the touch detection result detected by the touch detection unit 150, and the like. It transmits to the main processor 111, the graphics processor 113, the memory 115 through (119).

In addition, the input/output interface 117 may transmit various control signals output from the main processor 111 to the driving unit 160 or the cleaning unit 170.

The memory 115 retrieves and stores a control program and control data for controlling the operation of the cleaning robot 100 from the storage unit 180, or the image and obstacle detection unit 140 acquired by the image acquisition unit 130 The obstacle detection result sensed by the touch sensor may temporarily store the touch detection result detected by the touch detection unit 150.

The memory 115 may include volatile memory such as S RAM and D wrap. However, the present invention is not limited thereto, and in some cases, the memory 115 may include a nonvolatile memory such as a flash memory or an erasable programmable read only memory (EPROM).

The graphic processor 113 converts the image acquired by the image acquisition unit 130 into a format that can be stored in the memory 115 or the storage unit 180, or the resolution or size of the image acquired by the image acquisition unit 130 Can be changed.

In addition, when the obstacle detection unit 150 includes an image sensor, the graphic processor 113 may convert the image acquired by the obstacle detection unit 150 into a format that the main processor 111 can process.

The main processor 111 processes the detection results of the image acquisition unit 130, the obstacle detection unit 140, and the contact detection unit 150 according to programs and data stored in the memory 115, or the driving unit 160 and Performs a calculation operation to control the cleaning unit 170.

For example, the main processor 111 calculates the location of the cleaning robot 100 based on the image acquired by the image acquisition unit 130 or the direction of the obstacle based on the image acquired by the obstacle detection unit 150 , Distance and size can be calculated.

In addition, the main processor 111 may perform an operation to determine whether to avoid the obstacle O or to contact the obstacle O according to the direction, distance, and size of the obstacle O. If it is determined to avoid the obstacle O, the main processor 111 calculates a driving path for avoiding the obstacle O, and if it is determined to contact the obstacle O, the main processor 111 displays the obstacle O And a driving path for aligning the cleaning robot 100 may be calculated.

In addition, the main processor 111 may generate driving control data to be provided to the driving unit 160 so that the cleaning robot 100 moves along the calculated driving route.

The control unit 110 may control the driving unit 160 such that the cleaning robot 100 runs on the cleaning floor, and may control the cleaning unit 170 such that the cleaning robot 100 cleans the cleaning floor while driving.

In addition, the control unit 110 detects the location and size of the obstacle O based on the obstacle detection signal of the obstacle detection unit 140 or the contact detection signal of the contact detection unit 150, and the obstacle (O) It is possible to determine whether or not the contact.

In addition, the control unit 110, the driving unit 160 to align the front outline of the cleaning robot 100 and the outline of the obstacle O to clean the edge of the cleaning space where the obstacle O or the wall surface and the cleaning space intersect. ) Can be controlled.

The operation of the cleaning robot 100 to be described below can be interpreted as an operation by the control operation of the control unit 110.

Hereinafter, the obstacle detecting unit 140 briefly described above will be described in detail.

7 illustrates an example of an obstacle detection unit included in a cleaning robot according to an embodiment, and FIG. 8 illustrates an example of an obstacle detection unit included in a cleaning robot according to an embodiment transmitting light. In addition, FIG. 9 illustrates an example in which the obstacle detection unit included in the cleaning robot according to an embodiment receives light reflected by the obstacle.

As described above, the obstacle detection unit 140 includes a light transmitting module 141 and a light receiving module 143.

The light transmitting module 141 may include a light source 141a that transmits light and a wide-angle lens 141b that diffuses the transmitted light in a direction parallel to the cleaning floor, as shown in FIG. 7.

The light source 141a may employ a light emitting diode (LED) or a laser (Light Amplification by Simulated Emission of Radiation: LASER) diode that emits light in various directions.

The wide-angle lens 141b may be formed of a material capable of transmitting light, and diffuse light emitted from the light source 141a in a direction parallel to the cleaning floor by using refraction or total reflection.

The light transmitted from the light transmission module 141 due to the wide-angle lens 141b may be diffused in a fan shape toward the front of the cleaning robot 100 as shown in FIG. 8.

In addition, the obstacle detecting unit 140 may include a plurality of light transmitting modules 141 as shown in FIGS. 7 and 8 so that the portion of the light transmitted by the light transmitting module 141 does not reach the minimum. Can.

The light receiving module 143 may include a reflection mirror 143a for focusing light reflected from the obstacle O, and an image sensor 143b for receiving light reflected by the reflection mirror 143a.

The reflection mirror 143a may be provided on the image sensor 143a as illustrated in FIGS. 7 and 9, and may have a conical shape with the vertex facing the image sensor 143a. The reflection mirror 143a like Io reflects light reflected from the obstacle O toward the image sensor 143b.

The image sensor 143b may be provided under the reflection mirror 143a, and receive light reflected by the reflection mirror 143a. Specifically, the image sensor 143a may acquire a two-dimensional image formed on the reflection mirror 143a by the light reflected by the obstacle O. That is, the image sensor 143a may be configured as a two-dimensional image sensor in which optical sensors are arranged in two dimensions.

At this time, it is preferable that the image sensor 143b employs an image sensor 143b capable of receiving light having the same wavelength as the light emitted by the light source 143a of the light transmission module 141. For example, when the light source 141a transmits light in the infrared region, it is preferable that the image sensor 143b also employs an image sensor 143b capable of acquiring an image in the infrared region.

In addition, the image sensor 143b may employ a complementary metal oxide semiconductor (CMOS) sensor or a charge coupled device (CCD) sensor.

The light receiving module 143 may have a different number from the light transmitting module 141. As described above, the light transmitting module 141 diffuses in various directions transmitted by the light source 141a by using the wide-angle lens 141b, and the light receiving module 143 uses the reflective mirror 143a to adjust the light in various directions. Since the light is concentrated to the image sensor 143a, the obstacle detection unit 140 may include a different number of light transmitting modules 141 and a light receiving module 143.

When the obstacle detecting unit 140 briefly explains the principle of sensing the obstacle O, the light transmitting module 141 transmits light toward the front of the cleaning robot 100 as shown in FIG. 9.

When the obstacle O is not located in front of the cleaning robot 100, the light emitted from the light transmitting module 141 is advanced toward the front of the cleaning robot 100, so that the light receiving module 143 is an obstacle ( It will not receive the light reflected from O).

When an obstacle O is located in front of the cleaning robot 100, light will be reflected from the obstacle O. At this time, the light reflected from the obstacle O is reflected in various directions as illustrated in FIG. 9, and this is referred to as “diffuse reflection”.

As such, some of the reflected light reflected from the obstacle O may be directed to the light receiving module 143 of the cleaning robot 100.

The reflected light directed to the light receiving module 143 is reflected by the reflection mirror 143a, the progress path is directed toward the image sensor 143b, and the image sensor 143b receives the reflected light reflected from the reflection mirror 143a. do.

At this time, since the reflected light is reflected at various positions of the obstacle O, the image sensor 143b can acquire the reflected light image, and the obstacle detecting unit 140 is based on the reflected light image, such as the distance and direction of the obstacle O Can be calculated.

Specifically, an incident angle at which light reflected from the obstacle O enters the reflection mirror 143a varies according to the light transmission module 143 and the obstacle O. Further, light incident on the reflection mirror 143a at different incidence angles is received at different positions of the image sensor 143b. As a result, the position where the image sensor 143b receives the reflected light varies depending on the distance between the light transmission module 143 and the obstacle O. That is, the reflected light image obtained by the image sensor 143b varies according to the distance between the light transmission module 143 and the obstacle O.

For example, the light reflected from the obstacle O located at a distance from the cleaning robot 100 has a large incident angle incident on the reflection mirror 143a, and the reflected light at a position distant from the vertex of the reflection mirror 143a. An image will be created. In addition, the incident angle at which the light reflected from the obstacle O located at a close distance from the cleaning robot 100 is incident on the reflection mirror 143a is small, and the reflected light image is located at a position close to the vertex of the reflection mirror 143a. Will be created.

The position incident on the reflection mirror 143a into which light reflected from the obstacle O is incident varies depending on the direction of the obstacle O. In addition, reflected light reflected at different positions of the reflection mirror 143a is received at different positions of the image sensor 143b. As a result, the position where the image sensor 143b receives the reflected light varies depending on the direction of the obstacle O. That is, the reflected light image obtained by the image sensor 143b varies according to the direction of the obstacle O based on the cleaning robot 100.

In this way, the cleaning robot 100 may calculate the direction and distance of the obstacle O according to the reflected light image received by the image sensor 143b.

In the above, the light transmission module 141 including the light source 141a and the wide-angle lens 141b and the light receiving module 143 including the reflection mirror 143a and the image sensor 143b have been described, but the light transmission module The 141 and the light receiving module 143 are not limited thereto.

For example, the obstacle detecting unit 140 detects the distance from the obstacle O to the intensity of the light reflected from the obstacle O, or the obstacle detecting unit 140 receives the light transmitted from the obstacle detecting unit 140. The distance to the obstacle O can be calculated based on the time until it is reflected and returned to the obstacle O.

10 illustrates another example of an obstacle detection unit included in the cleaning robot according to an embodiment.

10, the light transmitting module 141 includes a light source 141c that transmits light toward the front of the cleaning robot 100, and the light receiving module 143c is reflected from the obstacle O It may include an optical sensor (143c) for receiving light.

As illustrated in FIG. 10, the light source 141c may transmit light having a substantially linear shape toward the front of the cleaning robot 100, and the light sensor 143c is provided in correspondence with the light source 141c to provide an obstacle (O ) Can receive the reflected light.

The cleaning robot 100 may calculate the distance from the cleaning robot 100 to the obstacle O using the intensity of the received light or the reflection time of the received light.

In addition, in order to detect obstacles O located in various directions in front of the cleaning robot 100, the obstacle detecting unit 140 receives a plurality of light transmitting modules 141 and a plurality of light as shown in FIG. It may include a module 143.

Hereinafter, the touch sensing unit 150 briefly described above will be described in detail.

11 shows an example of a touch sensing unit included in a cleaning robot according to an embodiment.

The touch sensing unit 150 includes the above-described bumpers 151 and bumper switches 153a, 153b: 153, external force transmission members 155a, 155b: 155, bumper restoring members 157a, 157b: 157, and slip ( slip) prevention members 159a, 159b: 159.

The bumper 151 is provided on the front portion of the sub-body 103 as shown in FIG. 11, and is movably installed on the sub-body 103.

The bumper 151 moves the external force F by external force F by moving to the rear, left, and right by the external force F, and the external force transmission members 155a, 155b: 155 and the bumper switches 153a, 153b : 153).

In addition, the bumper 151 transmits the external force F applied from the left side to the left external force transmission member 155a and the external projection F applied from the right side to the right external force transmission member 155b. The right projection 151d is formed.

The bumper 151 may transmit not only the external force F applied from the front due to the left protrusion 151c and the right protrusion 151d, but also the external force F applied from the left or right side to the external force transmitting member 155.

The bumper switches 153a, 153b: 153 may include a left bumper switch 153a provided on the left side of the sub body 103 and a right bumper switch 153b provided on the right side of the sub body 103.

The left bumper switch 153a outputs a left contact detection signal when the obstacle O and the left portion of the bumper 151 contact. Specifically, the left bumper switch 153a is turned on or off according to the external force F generated when the obstacle O and the left portion of the bumper 151 contact.

The right bumper switch 153b outputs a right contact detection signal when the obstacle O and the right portion of the bumper 151 contact. Specifically, the left bumper switch 153a is turned on or off according to the external force F generated when the obstacle O and the left portion of the bumper 151 contact.

The left and right bumper switches 153a and 153b may be installed obliquely as shown in FIG. 11 to sense the external force F applied from the left or right side.

Specifically, the left and right bumper switches 153a and 153b may be installed such that the difference between the direction in which the switch is pressed and the front direction of the cleaning robot 100 is the first reference angle α. Here, the first reference angle α may be 10 to 60 degrees, and is preferably 45 degrees.

The external force transmission members 155a, 155b: 155 are rotatably installed around the external force transmission rotation shafts 103e, 103f, and rotate the bumper switch 153 by rotating by the external force F transmitted by the bumper 151. Pressurize.

The external force transmission member 155 may include a left external force transmission member 155a and a right external force transmission member 155b corresponding to the left and right bumper switches 153a and 153b. The left external force transmission member 155a presses the left bumper switch 153a by an external force applied from the front left or left side of the cleaning robot 100, and the right external force transmission member 155b is the front right side of the cleaning robot 100. Alternatively, the right bumper switch 153b is pressed by an external force applied from the right side.

The slip prevention members 159a, 159b: 159 prevent slipping of the bumper 151 by an external force F applied obliquely from the front of the cleaning robot 100.

For example, when an external force F is applied from the front 45-degree left side of the cleaning robot 100, external force is applied to the right external force transmitting member 155b as well as the left external force transmitting member 155a by the sliding of the bumper 151. (F) can be delivered. As a result, both the left bumper switch 153a and the right bumper switch 153b transmit a contact detection signal to the control unit 110, and the control unit 110 has both the obstacle O and the front side of the cleaning robot 100. It can be mistaken for contact.

A slip prevention member 159 is provided to prevent the bumper 151 from slipping.

The slip prevention member 159 may include a left slip prevention member 159a provided on the left side of the sub body 103 and a right slip prevention member 159b provided on the right side of the sub body 103.

In addition, each of the left and right slip-preventing members 159a and 159b is fixed to the bumper 151 and fixed to the bumper fixing plates 151a and 151b and the sub-body 103, which restrict the movement of the bumper 151, and the bumper 151. It includes bumper fixing projections (103a, 103b) to limit the movement of.

Each of the bumper fixing plates 151a and 151b is provided with a bumper fixing hole into which the bumper fixing protrusions 103a and 103b are inserted. By providing the diameter of the bumper fixing holes larger than the diameter of the bumper fixing protrusions 103a and 103b, the bumper 151 can be moved within a limited range.

In addition, a slip prevention protrusion is formed on the inner circumferential surface of the bumper fixing hole to prevent the bumper 151 from slipping, and a slip prevention groove formed corresponding to the slip prevention protrusion is formed on the outer circumferential surface of the bumper fixing protrusions 103a and 103b.

Slip of the bumper 151 is prevented by the slip prevention protrusion and the slip prevention groove. Specifically, when an external force F is applied from the front of the cleaning robot 100, the slip prevention protrusion is inserted into the slip device groove to prevent the bumper 151 from slipping.

The bumper restoring members 157a, 157b: 157 restore the bumper 151 whose position is moved by external force to its original position.

The bumper restoring member 157 may be formed of an elastic body such as a spring, and the left bumper restoring member 157a provided on the left side of the sub body 103 and the right bumper restoring member provided on the right side of the sub body 103 ( 157b).

One side of the bumper restoring member 157 is engaged with the elastic body fixing protrusion 103c formed on the sub-body 103, and the other side is combined with the bumper fixing plates 151a and 151b formed on the bumper 151.

When an external force F is applied to the bumper 151 from the front of the cleaning robot 100, the bumper 151 and the bumper fixing plates 151a and 151b move rearward, and the bumper restoring member 157 expands. Thereafter, when the external force F is removed, the bumper restoring member 157 contracts by the elastic force, and the bumper 151 and the bumper fixing plates 151a and 151b return to their original positions.

The configuration of the touch sensing unit 150 has been described above.

Hereinafter, the operation of the touch sensing unit 150 will be described.

FIG. 12 shows a case in which all parts of the bumper included in the cleaning robot according to the embodiment contact the obstacle, and FIG. 13 shows a case where the left front of the bumper included in the cleaning robot according to the embodiment contacts the obstacle 14 illustrates a case where the left side of the bumper included in the cleaning robot according to an embodiment contacts an obstacle.

When the cleaning robot 100 contacts the obstacle O, an external force F is applied to the bumper 151. In addition, the bumper 151 moves toward the rear from the front of the cleaning robot 100 by the external force F. At this time, the movement of the bumper 151 is limited by the bumper fixing hole and the bumper fixing protrusions 103a and 103b.

The bumper 151 presses the external force transmission member 153 while moving rearward, and the external force transmission member 155 pressed by the bumper 151 rotates about the external transmission transmission shafts 103e and 103f. In addition, the external force transmission member 155 presses the bumper switch 153 while rotating, and the bumper switch 153 pressed by the external force transmission member 155 outputs a contact detection signal.

The control unit 110 may detect the contact between the cleaning robot 100 and the obstacle O through the touch detection signal output from the bumper switch 153.

For example, when the front of the cleaning robot 100 contacts the obstacle O, an equal external force F is applied to the left and right sides of the bumper 151 as shown in FIG. 12.

As a result, the bumper 151 moves left and right evenly toward the rear, and the bumper 151 moving toward the rear presses both the left external force transmitting member 155a and the right external force transmitting member 155b. The left external force transmission member 155a and the right external force transmission member 155b pressed by the bumper 151 press the left bumper switch 153a and the right bumper switch 153b, respectively, and the left bumper switch 153a and the right side The bumper switch 153b outputs a left touch detection signal and a right touch detection signal, respectively.

The control unit 110 that simultaneously receives the left touch detection signal and the right touch detection signal may recognize that both sides of the cleaning robot 100 are in contact with the obstacle O.

As another example, when the front left side of the cleaning robot 100 contacts the obstacle O, an external force F is applied from the left side of the bumper 151 toward the center of the cleaning robot 100 as shown in FIG. 13. .

As a result, the left side of the bumper 151 moves toward the rear, and the right side of the bumper 151 maintains its position. That is, the bumper 151 is inclined to the left. In addition, the bumper 151 is moved backward by the slip prevention member 159 but does not slide to the right.

The bumper 151 whose left side moves toward the rear presses all of the left external force transmission member 155a. The left external force transmission member 155a pressed by the bumper 151 presses the left bumper switch 153a, and the left bumper switch 153a outputs a left contact detection signal.

The control unit 110 receiving the left touch detection signal may detect that the left side of the cleaning robot 100 has contacted the obstacle O.

In addition, since the control unit 110 can determine the location of the obstacle O through the obstacle detection unit 140, the control unit 110 is positioned at the front left side of the cleaning robot 100 from the location of the obstacle O. O) can be recognized.

As another example, when the left side of the cleaning robot 100 contacts the obstacle O, an external force F is applied in parallel with the bumper 151 from the left side of the bumper 151 as shown in FIG. 14.

As a result, the bumper 151 moves to the right as a whole, and the left protrusion 151c formed inside the bumper 151 presses the left external force transmission member 155a while the bumper 151 moves to the right. The left external force transmission member 155a pressed by the left protrusion 151c of the bumper 151 presses the left bumper switch 153a, and the left bumper switch 153a outputs a left contact detection signal.

The control unit 110 receiving the left touch detection signal may recognize that the left side of the cleaning robot 100 has contacted the obstacle O.

In addition, since the control unit 110 may determine the location of the obstacle O through the obstacle detection unit 140, the control unit 110 may control the obstacle on the left side of the cleaning robot 100 from the location of the obstacle O. O) can be recognized.

The configuration of the cleaning robot 100 according to an embodiment has been described above.

Hereinafter, the operation of the cleaning robot 100 according to an embodiment will be described.

The cleaning robot 100 according to an embodiment may clean dust in the cleaning space while driving the cleaning space. In particular, the cleaning robot 100 may perform an outline alignment operation in order to effectively clean the portion (the outer portion of the cleaning floor) where the outline of the obstacle O and the cleaning floor intersect.

15 shows an example of an outline alignment operation of the cleaning robot according to an embodiment, and FIG. 16 shows that the cleaning robot performs an outline alignment operation as illustrated in FIG. 15.

An example of the outline alignment operation 1000 of the cleaning robot 100 will be described with reference to FIGS. 15 and 16.

The cleaning robot 100 determines whether to contact the obstacle O (1010).

The cleaning robot 100 may detect contact with the obstacle O through various methods.

For example, the cleaning robot 100 may detect the contact with the obstacle O using the touch detection unit 150.

When the cleaning robot 100 and the obstacle O contact, the bumper 151 is pressed by the obstacle O, and the bumper switch 153 transmits a touch detection signal to the control unit 110. The control unit 110 may predict a portion where the obstacle O and the cleaning robot 100 contact based on the contact detection signal.

Specifically, when a touch detection signal is received from the left bumper switch 153a, the control unit 110 determines that the front left side of the cleaning robot 100 has contacted the obstacle O, and detects the contact from the right bumper switch 153b. When the signal is received, the control unit 110 may determine that the front right side of the cleaning robot 100 is in contact with the obstacle O.

In addition, when a touch detection signal is received from both the left bumper switch 153a and the right bumper switch 153b, the control unit 110 may determine that all of the front of the cleaning robot 100 has contacted the obstacle O.

As another example, the cleaning robot 100 may detect contact with the obstacle O based on the rotation of the driving wheel 163.

As described above, the traveling wheel 163 includes a left traveling wheel 163a and a right traveling wheel 163b, and the left traveling wheel 163a and the right traveling wheel 163b can rotate independently. In addition, a rotation detection sensor that detects rotation of each of the driving wheels 163a and 163b is provided at each of the driving wheels 163a and 163b.

The controller 110 may determine whether the obstacle O is in contact with and the direction in which the obstacle O is contacted based on the rotation of the left and right traveling wheels 163a and 163b. In other words, if the rotation of the driving wheel 163 is not detected or the rotational speed of the driving wheel 163 is significantly slower than the rotational speed commanded by the control unit 110, the control unit 110 corresponds to the cleaning robot 110 In part, it can be determined that there is contact with the obstacle O.

Specifically, if the rotation of the left driving wheel 163a is not detected, the control unit 110 determines that the front left side of the cleaning robot 100 contacts the obstacle O, and the rotation of the right traveling wheel 163b is detected If not, the control unit 110 may determine that the front right side of the cleaning robot 100 contacts the obstacle O.

In addition, if rotation of both the left traveling wheel 163a and the right traveling wheel 163b is not sensed, the controller 110 may determine that all of the front of the cleaning robot 100 has contacted the obstacle O.

When contact with the obstacle O is detected (YES in 1010), the cleaning robot 100 rotates about the portion in contact with the obstacle O (1020).

As described above, based on the contact detection signal of the touch detection unit 150 or the rotation of the driving wheel 163, the cleaning robot 100 is obstructed (O) together with whether the cleaning robot 100 is in contact with the obstacle (O). ) Can determine the location of the cleaning robot 100 in contact.

When it is determined that the part in contact with the obstacle O, the cleaning robot 100 rotates around the determined part.

For example, when it is determined that the front right side of the cleaning robot 100 is in contact with the obstacle O, as shown in FIG. 16A, the cleaning robot 100 determines the front right side of the cleaning robot 100. Rotate around.

Specifically, when the touch detection signal is transmitted from the right bumper switch 153b of the touch detection unit 150, the control unit 110 stops the right traveling wheel 163b and stops the left traveling wheel 163a to rotate. ) Can be controlled.

Alternatively, when the rotation of the right traveling wheel 163b is not detected or the rotation speed of the right traveling wheel 163b is significantly slower than that of the left traveling wheel 163a, the controller 110 stops the right traveling wheel 163b The left driving wheel 163a may control the driving unit 160 to rotate.

As another example, when it is determined that the front left side of the cleaning robot 100 contacts the obstacle O, as shown in FIG. 16B, the cleaning robot 100 centers the front left side of the cleaning robot 100. Rotates.

Specifically, when the touch detection signal is transmitted from the left bumper switch 153a of the touch detection unit 150, the control unit 110 stops the left traveling wheel 163a and rotates the right traveling wheel 163b so as to rotate. ) Can be controlled.

Alternatively, when the rotation of the left traveling wheel 163a is not sensed or the rotation speed of the left traveling wheel 163a is significantly slower than that of the right traveling wheel 163b, the controller 110 stops the left traveling wheel 163a The right driving wheel 163b may control the driving unit 160 to rotate.

In summary, when one side of the front contacts the obstacle O, the cleaning robot 100 stops the driving wheels 163a or 163b located on the same side as the contacted position, and the driving wheels located on the opposite side to the contacted position (163b or 163a) rotates.

Thereafter, the cleaning robot 100 determines whether both sides of the cleaning robot 100 are in contact with the obstacle O (1030).

The cleaning robot 100 may determine whether both sides of the cleaning robot 100 are in contact with the obstacle O through the touch detection signal of the touch sensing unit 150 or the rotation of the driving wheel 163.

For example, when a touch detection signal is received from both the left bumper switch 153a and the right bumper switch 153b of the touch detection unit 150, the control unit 110 may prevent both sides of the front side of the cleaning robot 100 from obstacles ( O). In other words, the controller 110 may determine that the outline of the obstacle O and the front outline of the cleaning robot 100 are aligned.

As another example, when both the left driving wheel 163a and the right driving wheel 163b are not detected to rotate or the rotational speed is remarkably slow compared to the rotation command, the control unit 110 includes both front and rear sides of the cleaning robot 100. It can be determined that the contact with the obstacle (O).

If both front sides of the cleaning robot 100 are not in contact with the obstacle O (No in 1030), the cleaning robot 100 continues the rotational movement centering around the portion contacted with the obstacle O.

When both sides of the cleaning robot 100 are in contact with the obstacle O (YES in 1030), the cleaning robot 100 ends the outline alignment operation with the obstacle O.

Since the front portion (bumper) of the cleaning robot 100 has a substantially flat shape, when both front sides of the cleaning robot 100 contact the obstacle O, the front portion (bumper) of the cleaning robot 100 becomes an obstacle ( O).

In addition, in order to improve the cleaning efficiency of the edge of the cleaning floor where the outline of the obstacle O and the cleaning floor intersect, the cleaning robot 100 aligns the front outline of the cleaning robot 100 and the outline of the obstacle O. The edges of the cleaning floor can be cleaned without driving for a predetermined edge cleaning time.

As such, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, the dust located at the boundary between the obstacle O and the cleaning floor through the dust inlet 103a provided on the bottom surface of the sub-body 103. Can effectively clean.

17 shows another example of the outline alignment operation of the cleaning robot according to an embodiment, and FIG. 18 shows that the cleaning robot performs the outline alignment operation as illustrated in FIG. 17.

17 and 18, another example of the outline alignment operation 1100 of the cleaning robot 100 will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 determines whether the cleaning robot 100 contacts the obstacle O (1110).

As described in step 1010 illustrated in FIG. 15, the cleaning robot 100 may detect the contact with the obstacle O using the contact detection signal of the contact detection unit 150 or the rotation of the driving wheel 163. have.

When the contact with the obstacle O is detected (YES in 1110), the cleaning robot 100 rotates around the part in contact with the obstacle O (1120).

As described in step 1020 illustrated in FIG. 15, the cleaning robot 100 cleans the robot in contact with the obstacle O based on the contact detection signal of the touch detection unit 150 or the rotation of the driving wheel 163. 100), and rotates around the part in contact with the obstacle O so that the outline of the obstacle O and the front outline of the cleaning robot 100 are aligned.

For example, as illustrated in FIG. 18A, when the front right side of the cleaning robot 100 contacts the obstacle O, the cleaning robot 100 rotates clockwise around the front right side.

Thereafter, the cleaning robot 100 determines whether both sides of the cleaning robot 100 are in contact with the obstacle O (1130).

As described in step 1030 illustrated in FIG. 15, the cleaning robot 100 is an obstacle on both sides of the front of the cleaning robot 100 based on the contact detection signal of the touch detection unit 150 or the rotation of the driving wheel 163. It can be judged whether or not it is in contact with (O).

If both front sides of the cleaning robot 100 are not in contact with the obstacle O (No in 1130), the cleaning robot 100 continues the rotational movement centering around the portion contacted with the obstacle O.

When both sides of the cleaning robot 100 are in contact with the obstacle O (YES in 1130), the cleaning robot 100 repeats reversing and advancing a predetermined number of times (1140).

A large amount of dust is likely to accumulate on the boundary line where the outline of the obstacle O meets the cleaning floor. In addition, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, the dust located at the boundary between the obstacle O and the cleaning floor through the dust inlet 103a provided on the bottom surface of the sub-body 103. Can effectively clean.

Therefore, in order to more efficiently clean the dust located at the boundary line where the outline of the obstacle O meets the cleaning floor, the cleaning robot 100 after the outline of the obstacle O and the front outline of the cleaning robot 100 are aligned. Repeats backward and forward.

For example, after both of the front sides of the cleaning robot 100 are in contact with the obstacle O, the cleaning robot 100 reverses a predetermined reverse distance as shown in FIG. 18(b) or for a predetermined time. You can reverse.

Thereafter, the cleaning robot 100 may move toward the obstacle O such that the outline of the obstacle O and the front outline of the cleaning robot 100 are aligned as illustrated in FIG. 18C.

The cleaning robot 100 may repeat such a reverse and advance operation a predetermined number of times.

As described above, if the forward outline of the cleaning robot 100 and the outline of the obstacle O are aligned, and then the reverse and the forward are repeated, the obstacle O and the cleaning are cleaned through the dust inlet 103a provided on the bottom surface of the sub-body 103. Dust located at the boundary of the floor can be cleaned more effectively.

19 shows another example of the outline alignment operation of the cleaning robot according to an embodiment. In addition, FIG. 20 shows that the cleaning robot calculates a turning radius according to that shown in FIG. 19, and FIGS. 21A and 21B show that the cleaning robot performs an outline alignment operation as shown in FIG. 19.

19 to 21B, another example of the outline alignment operation 1200 of the cleaning robot 100 will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (1210 ).

The cleaning robot 100 may detect an obstacle O in front of the cleaning robot 100 using the obstacle detecting unit 140.

As described above, the obstacle detection unit 140 transmits light, such as infrared light, toward the front of the cleaning robot 100 and detects the presence or absence of the obstacle O through the presence or absence of reflected light reflected from the obstacle O. have. In addition, the control unit 110 of the cleaning robot 100 may calculate the distance to the obstacle O according to the image of the reflected light obtained through the image sensor 143b.

When an obstacle O is detected in the front of the cleaning robot 100 (YES in 1210), the cleaning robot 100 determines the distance d between the cleaning robot 100 and the obstacle O and the cleaning robot 100. The angle Θ formed by the traveling direction and the outline of the obstacle O is detected (1220).

Specifically, the control unit 110 of the cleaning robot 100 may calculate the distance d to the obstacle O located in the front O of the cleaning robot 100 using the obstacle detection unit 140. have.

As described above, the controller 110 determines the distance d of the distance to the obstacle O based on the reflected light image formed on the image sensor 143b of the obstacle detector 140 by the light reflected from the obstacle O. You can calculate the distance.

In addition, the control unit 110 of the cleaning robot 100 may calculate the angle Θ between the forward direction of the cleaning robot 100 and the outline of the obstacle O using the obstacle detection unit 140.

For example, as illustrated in (a) of FIG. 20, the control unit 110 divides the front of the cleaning robot 100 into a plurality of areas R1, R2, ... R10, and detects an obstacle 140 ), it is possible to detect the distance from the obstacle O to the cleaning robot 100 in the plurality of regions R1, R2, ... R10.

Then, the control unit 110, as shown in Figure 20 (b), the direction and the obstacle (O) of the cleaning robot 100 based on the distance from the obstacle (O) of the plurality of areas to the cleaning robot 100 ) Can calculate the angle Θ between the outlines.

Thereafter, the cleaning robot 100 calculates the radius of the rotational travel and the center of the rotational travel for aligning the front outline of the cleaning robot 100 and the exterior line of the obstacle O (1230).

The control unit 110 includes a distance d between the cleaning robot 100 and the obstacle O and an angle Θ between the forward direction of the cleaning robot 100 and the outline of the obstacle O and the bumper 151 stored in advance. ) And the driving wheel 163 based on the distance h between the cleaning robot 100 may calculate the rotational travel radius R and the rotational travel center C for aligning with the outline of the obstacle O. .

Here, when the cleaning robot 100 rotates around the rotational driving center C, both front sides of the cleaning robot 100 come into contact with the obstacle O and the outline of the obstacle O of the cleaning robot 100 and Can be aligned.

Thereafter, the cleaning robot 100 rotates around the calculated rotational travel center C (1240).

Specifically, the control unit 110 controls the driving unit 160 to reduce the moving speed of the cleaning robot 100, and the cleaning robot 100 rotates the center of rotation calculated in step 1230 as shown in FIG. 21A. The driving unit 160 is controlled to rotate around (C).

The driving unit 160 may change the positions of the left driving wheel 163a and the right traveling wheel 163b according to the rotation driving radius R of the rotating driving.

For example, as shown in FIG. 21A, when the rotational driving center C is located on the right side of the cleaning robot 100, the traveling unit 160 sets the rotational speed of the left traveling wheel 163a to the right traveling wheel ( 163b). In addition, when the rotation travel radius C is long, the difference between the rotation speed of the left travel wheel 163a and the rotation speed of the right travel wheel 163b is made small, and when the rotation travel radius C is short, the left travel wheel 163a The difference between the rotational speed of and the rotational speed of the right traveling wheel 163b can be increased.

During rotation driving, the cleaning robot 100 determines whether the distance from the obstacle O is smaller than the reference distance (1242).

As described above, the cleaning robot 100 may detect the obstacle O in front of the cleaning robot 100 using the obstacle detecting unit 140 and calculate the distance to the obstacle O.

The cleaning robot 100 may compare the distance between the cleaning robot 100 and the obstacle O with a predetermined reference distance, and determine whether the distance between the cleaning robot 100 and the obstacle O is less than the reference distance. .

At this time, the reference distance may vary depending on the running speed of the cleaning robot 100, and may be determined as a distance necessary to sufficiently decelerate the running speed of the cleaning robot 100. For example, the reference distance may be set to approximately 10 cm to 12 cm according to the running speed of the cleaning robot 100.

If the distance between the cleaning robot 100 and the obstacle O is less than a predetermined reference distance (No in 1242), the cleaning robot 100 continues to rotate.

If the distance between the cleaning robot 100 and the obstacle O is less than a predetermined reference distance (YES in 1242), the cleaning robot 100 decelerates and rotates (1244).

The cleaning robot 100 may reduce the running speed of the cleaning robot 100 as shown in FIG. 21B to minimize the impact of the cleaning robot 100 due to contact between the cleaning robot 100 and the obstacle O. Can.

For example, when the cleaning robot 100 is traveling for cleaning and is traveling at a first traveling speed, when the distance between the cleaning robot 100 and the obstacle O is less than a reference distance, the cleaning robot 100 is The traveling speed of the cleaning robot 100 may be set to be a second traveling speed smaller than the first traveling speed.

The control unit 110 of the cleaning robot 100 may control the driving unit 160 to reduce the rotation speed of the wheel driving motor 161.

While the cleaning robot 100 decelerates, the running speed of the cleaning robot 100 may have various profiles.

For example, when the distance between the cleaning robot 100 and the obstacle O is less than a predetermined reference distance, the cleaning robot 100 immediately decelerates the running speed of the cleaning robot 100 to the second, and the cleaning robot ( It is possible to maintain the impact relaxation rate until the front of the 100) contacts the obstacle O.

As another example, when the distance between the cleaning robot 100 and the obstacle O is less than a predetermined reference distance, the cleaning robot 100 may gradually reduce the traveling speed of the cleaning robot 100. In other words, when the distance between the cleaning robot 100 and the obstacle O becomes the first reference distance, the traveling speed of the cleaning robot 100 is reduced to the second traveling speed, and the cleaning robot 100 and the obstacle O When the distance between them becomes the second reference distance, the traveling speed of the cleaning robot 100 is reduced to a third driving speed, and when the distance between the cleaning robot 100 and the obstacle O becomes the third reference distance, cleaning is performed. The driving speed of the robot 100 may be reduced to a fourth driving speed by reduction.

As another example, when the distance between the cleaning robot 100 and the obstacle O is less than a predetermined reference distance, the cleaning robot 100 may clean the cleaning robot 100 until the cleaning robot 100 contacts the obstacle O. ) Can continuously decrease the driving speed. In other words, the traveling speed of the cleaning robot 100 may be linearly reduced according to the distance between the cleaning robot 100 and the obstacle O.

Thus, by reducing the running speed of the cleaning robot 100, the impact of the cleaning robot 100 is minimized when the cleaning robot 100 and the obstacle O are in contact.

Thereafter, the cleaning robot 100 determines whether the cleaning robot 100 contacts the obstacle O (1250).

As described in step 1010 illustrated in FIG. 15, the cleaning robot 100 may detect the contact with the obstacle O using the contact detection signal of the contact detection unit 150 or the rotation of the driving wheel 163. have.

If contact with the obstacle O is not detected (NO in 1250), the cleaning robot 100 continues to rotate around the rotational driving center C.

When the contact with the obstacle O is detected (YES in 1250), the cleaning robot 100 rotates around the part in contact with the obstacle O (1260).

As described in step 1020 illustrated in FIG. 15, the cleaning robot 100 cleans the robot in contact with the obstacle O based on the contact detection signal of the touch detection unit 150 or the rotation of the driving wheel 163. 100), and rotates around the part in contact with the obstacle O so that the outline of the obstacle O and the front outline of the cleaning robot 100 are aligned.

Thereafter, the cleaning robot 100 determines whether both sides of the cleaning robot 100 are in contact with the obstacle O (1270).

As described in step 1030 illustrated in FIG. 15, the cleaning robot 100 is an obstacle on both sides of the front of the cleaning robot 100 based on the contact detection signal of the touch detection unit 150 or the rotation of the driving wheel 163. It can be judged whether or not it is in contact with (O).

If both front sides of the cleaning robot 100 are not in contact with the obstacle O (No in 1270), the cleaning robot 100 continues the rotational driving around the part contacting the obstacle O with the rotation center.

When both sides of the cleaning robot 100 are in contact with the obstacle O (YES in 1270), the cleaning robot 100 ends the outline alignment operation 1200.

As described above, when the cleaning robot 100 detects the obstacle O before contacting the obstacle O, and then contacts the obstacle O, the outline of the obstacle O and the cleaning robot (before contacting the obstacle O) The preparation operation for aligning the front outline of 100) may be performed, and the execution time of the outline alignment operation may be reduced due to the preparation operation.

In addition, when the cleaning robot 100 detects the obstacle O before contacting the obstacle O and then decreases and contacts the obstacle O, the impact of the cleaning robot 100 due to contact with the obstacle O is reduced. This is reduced.

When the obstacle O is detected, the outline alignment operation is not always performed. For example, if the width of the obstacle O is less than a predetermined reference width or the outline of the obstacle O is uneven, the cleaning efficiency is reduced, and thus the outline alignment operation may not be performed.

22 shows an example of a method for determining whether the cleaning robot according to an embodiment performs an outline alignment operation. In addition, FIG. 23 shows an example in which the cleaning robot performs an outline alignment operation as illustrated in FIG. 22, and FIG. 24 shows an example in which the cleaning robot does not perform an outline alignment operation as illustrated in FIG. 22. City.

An example of the alignment determination operation 1300 for determining whether to perform the outline alignment operation of the cleaning robot 100 will be described with reference to FIGS. 22 to 24. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (1310 ).

As previously described in step 1210 of FIG. 19, the cleaning robot 100 may detect an obstacle O in front of the cleaning robot 100 using the obstacle detecting unit 140.

Specifically, the obstacle detecting unit 140 may transmit light such as infrared rays toward the front of the cleaning robot 100 and detect the presence or absence of the obstacle O through the presence or absence of reflected light reflected from the obstacle O. . In addition, the obstacle detecting unit 140 may calculate the distance to the obstacle O according to the position where the reflected light image is generated on the image sensor 143b.

When an obstacle O is detected in front of the cleaning robot 100 (YES in 1310), the cleaning robot 100 determines whether the width of the obstacle O is greater than or equal to the reference width w (1320).

The cleaning robot 100 may determine whether the width of the obstacle O is greater than or equal to a reference width using the obstacle detection unit 140.

For example, the control unit 110 may divide the front of the cleaning robot 100 into a plurality of areas, and detect the number of areas where the obstacle O is detected.

Specifically, the control unit 110 may divide the front of the cleaning robot 100 into 10 regions R1, R2, ... R10, as shown in FIG. 23. At this time, it can be set such that the sum of the widths of the six regions among the ten regions R1, R2, ... R10 becomes the reference width w.

Thereafter, the controller 110 determines whether an obstacle O is detected in each of the 10 regions R1, R2, ... R10, and if there are 6 or more regions in which the obstacle O is detected, the controller 110 It may be determined that the width of the obstacle O is greater than or equal to the reference width w. In addition, when the detected zero area of the obstacle O is less than 6, the controller 110 may determine that the width of the obstacle O is less than the reference width w.

As another example, the cleaning robot 100 acquires the reflected light image reflected from the obstacle O with the image sensor 143b of the obstacle detector 140 and calculates the width of the obstacle O based on the reflected light image, It can also be compared with the reference width w.

If the width of the obstacle O is greater than or equal to the reference width w (Yes in 1320), the cleaning robot 100 performs an outline alignment operation (1330).

For example, as shown in (a) of FIG. 23, an obstacle O is detected in six or more areas of the 10 divided areas R1, R2, ... R10 in front of the cleaning robot 100. When the cleaning robot 100 may perform an outline alignment operation to align the outline of the obstacle O with the front outline of the cleaning robot 100, as shown in FIG. 23(b).

Specifically, the cleaning robot 100 may perform the outline alignment operations 1000, 1100, and 1200 illustrated in FIGS. 15, 17, or 19.

If the width of the obstacle O is less than the reference width w (NO in 1320), the cleaning robot 100 performs an obstacle avoidance operation (1340).

For example, as shown in (a) of FIG. 24, of the obstacles O in the area of less than 6 of the 10 areas (R1, R2, ... R10) divided in front of the cleaning robot 100. When detected, the cleaning robot 100 may perform an obstacle outline tracking operation traveling along the outline of the obstacle O as shown in FIG. 24(b).

As another example, as shown in (a) of FIG. 24, the detection of obstacles O in less than 6 areas among 10 areas (R1, R2, ... R10) divided in front of the cleaning robot 100 When it does, the cleaning robot 100 may immediately change the direction and perform an outline bouncing operation driving toward an arbitrary direction.

Thus, if the width of the obstacle (O) is less than the reference width (w), the obstacle (O) is likely to correspond to the legs of the furniture, such as the legs of the furniture such as the outline of the obstacle (O) and the boundary between the floor There is a low possibility that dust will accumulate.

In addition, if the width of the obstacle O is significantly smaller than the width of the cleaning robot 100, the cleaning efficiency is not significantly increased by the outline alignment operation.

For this reason, when the width of the obstacle O is less than the reference width w, the cleaning robot 100 may improve the cleaning efficiency by quickly avoiding the obstacle without performing an outline alignment operation.

25 illustrates another example of a method of determining whether the cleaning robot according to an embodiment performs the outline alignment operation. In addition, FIG. 26 shows an example in which the cleaning robot performs an outline alignment operation as illustrated in FIG. 25, and FIGS. 27 and 28 do not perform an outline alignment operation by the cleaning robot as illustrated in FIG. 25. An example is shown.

25 to 28, another example of the alignment determination operation 1400 for determining whether the outline alignment operation of the cleaning robot 100 is performed will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (1410).

As previously described in step 1210 of FIG. 19, the cleaning robot 100 may detect an obstacle O in front of the cleaning robot 100 using the obstacle detecting unit 140.

Specifically, the obstacle detecting unit 140 may transmit light such as infrared rays toward the front of the cleaning robot 100 and detect the presence or absence of the obstacle O through the presence or absence of reflected light reflected from the obstacle O. . In addition, the obstacle detecting unit 140 may calculate the distance to the obstacle O according to the position where the reflected light image is generated on the image sensor 143b.

When an obstacle O is detected in front of the cleaning robot 100 (YES in 1410), the outline of the obstacle O of the cleaning robot 100 is detected (1420).

The cleaning robot 100 may detect the outline of the obstacle O using the obstacle detecting unit 140.

For example, as shown in FIGS. 26(a), 27(a), and 28(a), the control unit 110 moves the front of the cleaning robot 100 into a plurality of areas R1, R2, ... R10), and the obstacle detecting unit 140 may be used to detect the distance between the obstacle O and the cleaning robot 100 in a plurality of regions R1, R2, ... R10. .

In addition, the control unit 110, the obstacle detected in the plurality of areas (R1, R2, ... R10) as shown in Figure 26 (b), Figure 27 (b) and Figure 28 (b) ( The outline L1 of the obstacle O may be detected based on the distance between the O) and the cleaning robot 100.

Thereafter, the cleaning robot 100 determines whether the outline of the obstacle O is flat (1430).

Specifically, the control unit 110 calculates the straightness of the outline of the obstacle O to determine whether the outline of the obstacle O is flat, and the straightness of the outline of the obstacle O is within a predetermined range. Can be judged. Here, the straightness refers to the degree that the outline of the cross-section deviates from the straight line when the object is cut, and the straightness is greater when the object has much deviated from the straight line.

In other words, the control unit 110 may determine whether the outline of the obstacle O is flat according to the degree to which the outline L1 of the obstacle O deviates from the straight line L2.

For example, the control unit 110 is detected in a plurality of areas (R1, R2, ... R10) as shown in Figure 26 (b), Figure 27 (b) and Figure 28 (b) The approximate straight line L2 may be calculated based on the distance between the obstacle O and the cleaning robot 100. Specifically, the controller 110 may calculate an approximate straight line L2 using a linear approximation method.

In addition, the control unit 110 may calculate the error between the distance between the obstacle O and the cleaning robot 100 and the approximate straight line L, and calculate the average value of the calculated error.

The control unit 110 may determine whether the straightness tolerance of the outline of the obstacle O is less than the reference straightness tolerance by comparing the average value of the calculated error with the reference error. In other words, if the average value of the error is less than the reference error, the controller 110 may determine that the outline of the obstacle O is flat.

If the outline of the obstacle O is flat (YES in 1430), the cleaning robot 100 performs an outline alignment operation (1440).

For example, in the case of an obstacle O having a flat outline as shown in FIG. 26(a), the outline L1 detected by the cleaning robot 100 is a straight line as shown in FIG. 26(b). It retains its shape and almost coincides with the approximate straight line L2.

As described above, when the outline L1 of the obstacle 100 detected by the cleaning robot 100 and the approximate straight line L2 are almost identical, the outline L1 of the obstacle O is judged to be flat, so the cleaning robot 100 As shown in (a) of FIG. 26, an outline alignment operation is performed to align the outline of the obstacle O with the front outline of the cleaning robot 100.

Specifically, the cleaning robot 100 may perform the outline alignment operations 1000, 1100, and 1200 illustrated in FIGS. 15, 17, or 19.

If the outline of the obstacle O is not flat (NO in 1430), the cleaning robot 100 performs an obstacle avoidance operation (1450).

For example, as shown in (a) of FIG. 27, in the case of an obstacle O having a round outline, the outline L1 of the obstacle O detected by the cleaning robot 100 is shown in FIG. 27(b). As shown, the English letter "U" has a shape, and the outline L1 of the obstacle O detected by the cleaning robot 100 deviates greatly from the approximate straight line L2.

As described above, if the cleaning robot 100 greatly deviates from the outline L1 of the obstacle 100 and the approximate straight line L2, the outline L1 of the obstacle O is determined to be not flat, and thus the cleaning robot 100 ), as shown in FIG. 27(c), performs an obstacle outline tracking operation that runs along the outline of the obstacle O.

As another example, when the cleaning robot 100 faces the edge of the obstacle O as shown in (a) of FIG. 28, the outline L1 of the obstacle O detected by the cleaning robot 100 is illustrated in FIG. 28. As shown in (b) of the English letter "V" will have the form, the outline (L1) of the obstacle (O) detected by the cleaning robot 100 is greatly deviated from the approximate straight line (L2).

In addition, when the outline L1 of the obstacle O detected by the cleaning robot 100 deviates significantly from the approximate straight line L2, the outline L1 of the obstacle O is determined to be not flat, and thus the cleaning robot 100 As shown in (c) of FIG. 28, an obstacle tracking operation is performed along the outline of the obstacle O.

In this way, when the outline of the obstacle O is not flat, the outline of the bumper 151 and the obstacle O provided in front of the cleaning robot 100 do not match, so even if the cleaning robot 100 performs the outline alignment operation. It is difficult to clean the dust adjacent to the obstacle O.

For this reason, when the outline of the obstacle O is not flat, the cleaning robot 100 may improve the cleaning efficiency by quickly avoiding the obstacle without performing an outline alignment operation.

FIG. 29 shows an example of an operation of cleaning around an obstacle in which the cleaning robot according to an embodiment intensively cleans around an obstacle together with an outline alignment operation, and FIG. 30 shows that the cleaning robot cleans according to the method shown in FIG. City.

Referring to FIGS. 29 and 30, the cleaning operation around the obstacle 1500 in which the cleaning robot intensively cleans around the obstacle along with the outline alignment operation will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (1510).

As previously described in step 1210 of FIG. 19, the cleaning robot 100 may detect an obstacle O in front of the cleaning robot 100 using the obstacle detecting unit 140.

Specifically, the obstacle detecting unit 140 may transmit light such as infrared rays toward the front of the cleaning robot 100 and detect the presence or absence of the obstacle O through the presence or absence of reflected light reflected from the obstacle O. . In addition, the obstacle detecting unit 140 may calculate the distance to the obstacle O according to the position where the reflected light image is generated on the image sensor 143b.

When an obstacle O is detected in front of the cleaning robot 100 (YES in 1510), the cleaning robot 100 determines whether an outline alignment condition is satisfied (1520).

The outline alignment condition is a condition for performing the outline alignment operation described with reference to FIGS. 22 and 25. That is, the alignment condition of the outline may include whether the width of the obstacle O is the reference width w or whether the outline of the obstacle O is flat.

Specifically, when the width of the obstacle O is greater than or equal to the reference width w and the outline of the obstacle O is flat, the cleaning robot 100 determines that the outline alignment condition is satisfied, and the width of the obstacle O is standard. If it is less than the width w or the outline of the obstacle O is not flat, the cleaning robot 100 determines that the condition for aligning the outline is not satisfied.

If the outline alignment condition is not satisfied (NO in 1520), as described above, the cleaning robot 100 performs an obstacle avoidance operation (1560).

This is to improve cleaning efficiency by omitting unnecessary outline alignment operations when cleaning efficiency does not increase due to outline alignment.

If the outline alignment condition is satisfied (YES in 1520), the cleaning robot 100 increases the rotational speed of the drum brush 173 and increases the suction power of the dust suction module 175 (1530).

Specifically, the control unit 110 of the cleaning robot 100 increases the rotation speed of the brush driving motor 171 rotating the drum brush 173, and a dust suction motor (not shown) driving the dust suction module 175 ) To control the cleaning unit 170 to increase the rotation speed.

When the rotational speed of the drum brush 173 is increased, the amount of dust scattered by the drum brush 173 to the dust intake 103a increases, and when the suction power of the dust suction module 175 increases, a large amount of dust is collected. It is sucked into the container 177.

In the case of cleaning the cleaning floor, the cleaning robot 100 rotates the drum brush 173 at an appropriate rotational speed, as shown in FIG. 30A to improve energy efficiency, and the dust suction module 175 Maintain an appropriate level of suction power.

In the case of cleaning the boundary between the obstacle O and the cleaning floor, the cleaning robot 100 increases the rotational speed of the drum brush 173 to clean a large amount of dust, as shown in FIG. 30B. , Increases the suction power of the dust suction module 175.

As a result, the cleaning robot 100 can improve the cleaning efficiency for the boundary between the obstacle O and the cleaning floor.

Thereafter, the cleaning robot 100 performs an outline alignment operation (1540).

Specifically, the cleaning robot 100 may perform the outline alignment operations 1000, 1100, and 1200 illustrated in FIGS. 15, 17, or 19.

When the outline alignment operation ends, the cleaning robot 100 returns the rotational speed of the drum brush 173 and the suction force of the dust suction module 175 to the original state (1550).

As described above, since a larger amount of dust is located at the boundary between the obstacle O and the cleaning floor, the cleaning robot 100 increases the cleaning power when cleaning the boundary between the obstacle O and the cleaning floor. Efficiency can be improved.

31 shows an example of an automatic cleaning operation in which the cleaning robot according to an embodiment automatically cleans the cleaning space, and FIG. 32 automatically cleans the cleaning space according to the automatic cleaning operation shown in FIG. It shows what to do.

The automatic cleaning operation 2000 in which the cleaning robot 100 automatically cleans the cleaning space will be described with reference to FIGS. 31 and 32. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 performs cleaning zone setting driving for setting the cleaning zone (2010).

The cleaning robot 100 checks the size and shape of the cleaning space while moving along the wall or the obstacle O as shown in FIG. 32(a), and cleans one or more according to the size and shape of the cleaning space. Can be divided into zones.

Thereafter, the cleaning robot 100 performs a cleaning run to clean the cleaning space (2020).

The cleaning robot 100 may clean the cleaning space while moving along the preset cleaning driving path as shown in FIG. 32B, or may clean the cleaning space while moving in a random direction for a predetermined time.

FIG. 33 shows an example of the cleaning operation of the cleaning robot according to an embodiment, and FIGS. 34 and 35 illustrate a path that the cleaning robot moves according to the cleaning operation shown in FIG. 33.

33 to 35, an example of the cleaning travel 2100 including the outline alignment operation will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 performs linear driving (2110).

The control unit 110 of the cleaning robot 100 may control the driving unit 140 such that the cleaning robot 100 travels in a straight line at a constant speed, as shown in FIG. 34A. Specifically, the control unit 110 may control the traveling unit 160 to rotate the left traveling wheel 163a and the right traveling wheel 163b in the same direction and the same rotational speed.

Thereafter, the cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (2120).

The obstacle detecting unit 140 may transmit light such as infrared rays toward the front of the cleaning robot 100 and detect the presence or absence of the obstacle O through the presence or absence of reflected light reflected from the obstacle O. In addition, the obstacle detecting unit 140 may calculate the distance to the obstacle O according to the position where the reflected light image is generated on the image sensor 143b.

If an obstacle O is not detected in front of the cleaning robot 100 (No of 2120), the cleaning robot 100 continues to travel in a straight line.

When an obstacle O is detected in front of the cleaning robot 100 (YES in 2120), the cleaning robot 100 performs an outline alignment operation (2130).

Although not shown in the drawing, the cleaning robot 100 may determine whether the outline alignment condition is satisfied before performing the outline alignment operation. Specifically, the cleaning robot 100 may determine whether the width of the obstacle O is the reference width w or whether the outline of the obstacle O is flat.

In addition, when the outline alignment morning is satisfied, the cleaning robot 100 performs an outline alignment operation. However, for ease of understanding, it is assumed that the outline alignment conditions are satisfied below, and the cleaning robot 100 performs an outline alignment operation.

When the outline alignment operation is completed, the cleaning robot 100 reverses the first distance d1 (2140).

Specifically, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, the cleaning robot 100 reverses the first distance d1 as shown in FIG. 34B.

At this time, the first distance (d1) is the maximum length (h`) from the center of the cleaning robot 100 to the outline of the cleaning robot 100 and the front bumper of the cleaning robot 100 from the center of the cleaning robot 100 ( It is preferably a value greater than the difference between the lengths (h) up to 151). This is for the cleaning robot 100 to rotate in place without colliding with the obstacle O.

For example, the maximum length from the center of the cleaning robot 100 to the outline of the cleaning robot 100 is referred to as “h`”, and the front bumper 151 of the cleaning robot 100 from the center of the cleaning robot 100 When the length up to is "h", the first distance d1 may be set to "h`-h".

As another example, when the length from the center of the cleaning robot 100 to the front bumper 151 of the cleaning robot 100 is “h”, the first distance d1 is “(√2-1)ㅧh” Can be set to

Thereafter, the cleaning robot 100 rotates approximately 90 degrees in place in the first rotational direction (clockwise or counterclockwise) (2150).

The control unit 110 of the cleaning robot 100 may control the driving unit 160 such that the cleaning robot 100 rotates approximately 90 degrees in place. Specifically, the control unit 110 controls the traveling unit 160 to rotate the left traveling wheel 163a and the right traveling wheel 163b in the same rotational speed and opposite directions.

Thereafter, the cleaning robot 100 travels following the obstacle outline by a second distance d2 (2160). That is, the cleaning robot 100 runs along the outline of the obstacle along the second distance d2.

As a result of the outline alignment operation performed previously, the direction of the cleaning robot 100 and the outline of the obstacle O are perpendicular to each other. Therefore, when the cleaning robot 100 rotates in place at approximately 90 degrees after a slight reversal, as shown in FIG. 34(c), the traveling direction of the cleaning robot 100 is parallel to the outline of the obstacle O.

As such, immediately after the outline alignment operation, the cleaning robot 100 may be directed in a direction parallel to the outline of the obstacle O, and the cleaning robot 100 may immediately perform an obstacle outline tracking operation after the outline alignment operation. In other words, the cleaning robot 100 may travel in parallel with the outline of the obstacle O without an initial stabilization operation for traveling in parallel with the outline of the obstacle O when the obstacle outline is driven.

Further, the second distance d2 is preferably approximately the length of the drum brush 163 of the cleaning robot 100 or the width of the cleaning robot 100. When the second distance d2 is approximately determined as the length of the drum brush 163 of the cleaning robot 100 or the width of the cleaning robot 100, the area cleaned by the cleaning robot 100 by the previous linear driving and the next linear driving At this time, the area to be cleaned by the cleaning robot 100 may overlap.

Thereafter, the cleaning robot 100 rotates approximately 90 degrees in place in the first rotational direction (clockwise or counterclockwise) (2170).

The control unit 110 of the cleaning robot 100 may control the driving unit 160 such that the cleaning robot 100 rotates approximately 90 degrees in place in the first direction.

Here, the first rotation direction is the same rotation direction as the first rotation direction rotated in step 2150.

Since the cleaning robot 100 rotates 90 degrees after the obstruction contour following driving that runs parallel to the outline of the obstacle O, the cleaning robot 100 rotates in the opposite direction to the obstacle O as shown in FIG. 34(d). Will be facing.

Thereafter, the cleaning robot 100 may perform linear driving in step 2110.

If such a cleaning run 2100 is repeated, the cleaning robot 100 may perform a cleaning run having a zigzag pattern as shown in FIG. 35.

As described above, the cleaning robot 100 may perform cleaning on the boundary between the obstacle O and the cleaning floor by performing an outline alignment operation while the cleaning robot 100 has a zigzag pattern.

In addition, in the zigzag pattern, the outline following driving may be performed without an initial stabilization operation such that the driving direction is parallel to the outline of the obstacle O when driving along the outline following the obstacle O.

36 shows another example of the cleaning operation of the cleaning robot according to an embodiment, and FIGS. 37 and 38 show a path the cleaning robot moves according to the cleaning operation shown in FIG. 36.

36 to 38, another example of the cleaning travel 2200 including the outline alignment operation will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 performs a straight run (2210).

The control unit 110 of the cleaning robot 100 may control the driving unit 140 such that the cleaning robot 100 travels linearly at a constant speed.

Thereafter, the cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (2220).

The obstacle detecting unit 140 may transmit light such as infrared rays toward the front of the cleaning robot 100 and detect the presence or absence of the obstacle O through the presence or absence of reflected light reflected from the obstacle O. In addition, the obstacle detecting unit 140 may calculate the distance to the obstacle O according to the position where the reflected light image is generated on the image sensor 143b.

If an obstacle O is not detected in front of the cleaning robot 100 (No of 2220), the cleaning robot 100 continues to travel in a straight line.

When an obstacle O is detected in front of the cleaning robot 100 (YES in 2220), the cleaning robot 100 performs an outline alignment operation (2230).

As described above, the cleaning robot 100 may perform an outline alignment operation when the outline alignment condition is satisfied.

When the outline alignment operation is completed, the cleaning robot 100 reverses the third distance d3 (2240).

Specifically, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, the cleaning robot 100 reverses the third distance d3 as shown in Fig. 37A.

In addition, the third distance d3 is preferably set to a distance within a distance that the obstacle detecting unit 140 can detect the obstacle O. This is for the cleaning robot 100 to perform the outline alignment operation later.

Thereafter, the cleaning robot 100 rotates in place in the first rotational direction (clockwise or counterclockwise) (2250).

The control unit 110 of the cleaning robot 100 may control the driving unit 160 such that the cleaning robot 100 rotates in place.

In addition, it is preferable that the angle at which the cleaning robot 100 rotates in place is smaller than 90 degrees as illustrated in FIG. 37( b ). That is, it is preferable that the front of the cleaning robot 100 still faces the obstacle O even after rotating in place. This is for the cleaning robot 100 to perform the outline alignment operation later.

Thereafter, the cleaning robot 100 performs an outline alignment operation (2260).

As described above, the cleaning robot 100 may perform an outline alignment operation when the outline alignment condition is satisfied.

The cleaning robot 100 may perform an outline alignment operation at a position adjacent to the location where the outline alignment operation of step 2240 is performed, as shown in FIG. 37(c). In addition, the distance between the location where the outline alignment operation was performed in step 2240 and the location where the outline alignment operation was performed in the current stage is preferably approximately the width of the drum brush 173 or the width of the cleaning robot 100.

When the outline alignment operation is completed, the cleaning robot 100 reverses the fourth distance d4 (2740).

Specifically, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, the cleaning robot 100 reverses the fourth distance d4 as shown in FIG. 37(d).

The fourth distance (d4) is the maximum length (h`) from the center of the cleaning robot 100 to the outline of the cleaning robot 100 and the front bumper 151 of the cleaning robot 100 from the center of the cleaning robot 100 It is preferably a value larger than the difference between the lengths h to. This is for the cleaning robot 100 to rotate in place without colliding with the obstacle O.

Thereafter, the cleaning robot 100 rotates approximately 180 degrees in place in an arbitrary direction (2280).

The control unit 110 of the cleaning robot 100 may control the driving unit 160 such that the cleaning robot 100 rotates approximately 180 degrees in place as shown in FIG. 37D.

The cleaning robot 100 rotates 180 degrees after the alignment operation in which the outline of the obstacle O is in contact with the front outline of the cleaning robot 100, and thus the cleaning robot 100 is obstructed as shown in FIG. 37(d). It is directed in the opposite direction to (O).

Thereafter, the cleaning robot 100 may perform a straight line driving in step 2210.

When such a cleaning run 2100 is repeated, the cleaning robot 100 may perform a cleaning run having a zigzag pattern as shown in FIG. 38.

As described above, the cleaning robot 100 may perform cleaning on the boundary between the obstacle O and the cleaning floor by performing an outline alignment operation while the cleaning robot 100 has a zigzag pattern.

Particularly, when the obstacle O is found, the cleaning robot 100 may clean the boundary between the obstacle O and the cleaning floor by performing the outline alignment operation twice in a parallel position.

39 shows another example of the cleaning run of the cleaning robot according to an embodiment, and FIGS. 40 and 41 show a path the cleaning robot moves according to the cleaning run shown in FIG. 39.

39 to 41, another example of the cleaning run 2300 including the outline alignment operation will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 performs a straight run (2310).

The control unit 110 of the cleaning robot 100 may control the driving unit 140 such that the cleaning robot 100 travels linearly at a constant speed.

Thereafter, the cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (2320 ).

The obstacle detecting unit 140 may transmit light such as infrared rays toward the front of the cleaning robot 100 and detect the presence or absence of the obstacle O through the presence or absence of reflected light reflected from the obstacle O. In addition, the obstacle detecting unit 140 may calculate the distance to the obstacle O according to the position where the reflected light image is generated on the image sensor 143b.

If an obstacle O is not detected in front of the cleaning robot 100 (No in 2320), the cleaning robot 100 continues linear driving.

When an obstacle O is detected in front of the cleaning robot 100 (YES in 2320), the cleaning robot 100 performs an outline alignment operation (2330).

When the outline alignment condition is satisfied, the cleaning robot 100 may perform an outline alignment operation as illustrated in FIG. 40(a).

When the outline alignment operation is completed, the cleaning robot 100 reverses the fifth distance d3 (2240).

Specifically, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, the cleaning robot 100 reverses the fifth distance d5 as shown in FIG. 40B.

At this time, the fifth distance (d5) is the maximum length (h`) from the center of the cleaning robot 100 to the outline of the cleaning robot 100 and the front bumper of the cleaning robot 100 from the center of the cleaning robot 100 ( It is preferably a value greater than the difference between the lengths (h) up to 151). This is for the cleaning robot 100 to rotate in place without colliding with the obstacle O.

Thereafter, the cleaning robot 100 rotates an arbitrary angle in place in an arbitrary direction (2350).

The control unit 110 of the cleaning robot 100 may control the driving unit 160 such that the cleaning robot 100 rotates in place, as shown in FIG. 40(c). Specifically, the control unit 110 controls the traveling unit 160 to rotate the left traveling wheel 163a and the right traveling wheel 163b in the same rotational speed and opposite directions.

As the cleaning robot 100 rotates an arbitrary angle in an arbitrary direction, the cleaning robot 100 may then travel in a straight line in an arbitrary direction.

Thereafter, the cleaning robot 100 may perform a straight line driving of step 2310 as shown in FIG. 40(d).

When the cleaning run 2300 is repeated, the cleaning robot 100 may perform a clean run having an arbitrary pattern as shown in FIG. 41.

The cleaning robot 100 performs a cleaning run having a predetermined pattern for a predetermined time, and cleans the cleaning space during the cleaning run.

42 illustrates another example of an automatic cleaning operation in which the cleaning robot according to an embodiment automatically cleans the cleaning space, and FIG. 43 automatically cleans the cleaning space according to the automatic cleaning operation shown in FIG. Shows cleaning.

Referring to FIGS. 42 and 43, an automatic cleaning operation 3000 in which the cleaning robot 100 automatically cleans the cleaning space will be described. However, the same operation as that of the cleaning robot 100 described above will be briefly described.

The cleaning robot 100 performs a cleaning zone setting operation for setting a cleaning zone (3010).

The cleaning robot 100 may check the size and shape of the cleaning space while moving along the wall surface or the obstacle O, and may be divided into one or more cleaning areas according to the size and shape of the cleaning space.

Thereafter, the cleaning robot 100 performs a first cleaning run for cleaning the cleaning space (3020), and performs a second cleaning run (3030).

The cleaning robot 100 may perform the second cleaning run as illustrated in FIG. 43B after performing the first cleaning run as illustrated in FIG. 43A.

43A and 43B, the first cleaning run and the second cleaning run are cleaning runs having a zigzag pattern having directions perpendicular to each other.

For example, the first cleaning run is a cleaning run in the x-axis direction with the x-axis as the main axis, and when the cleaning run in the x-axis direction is finished, shift in the y-axis direction to perform the cleaning run in the x-axis direction again.

On the other hand, in the second cleaning run, the y-axis cleaning run is performed with the y-axis as the main axis, and when the y-axis direction cleaning run ends, the x-axis direction shifts to perform the cleaning run in the y-axis direction again.

By performing the first cleaning run and the second cleaning run perpendicular to each other in this way, the cleaning robot 100 can clean the cleaning space completely, and can effectively clean most of the boundary between the obstacle O and the cleaning floor.

44 shows an example of a return operation in which the cleaning robot returns to the charging station according to an embodiment, and FIG. 45 shows the cleaning robot returning to the charging station according to the return operation shown in FIG. 44.

44 and 45, a return operation 4000 in which the cleaning robot 100 returns to the charging station CS will be described.

The cleaning robot 100 determines whether a return command is input from the user or low power is detected (4010).

The user may input a return command to the charging station CS to the cleaning robot 100 through the return button included in the user interface 120.

In addition, the cleaning robot 100 detects the output voltage of a battery (not shown) that supplies power to various components included in the cleaning robot 100, and determines that the output voltage of the battery is lower than a predetermined reference voltage. can do.

When a return command is input or low power is detected (YES in 4010), the cleaning robot 100 deactivates the outline alignment operation (4020).

During the cleaning driving, the cleaning robot 100 may increase the cleaning efficiency by performing an outline alignment operation when an obstacle O is detected.

On the other hand, when the cleaning robot 100 performs the outline alignment operation during the return driving to return to the charging station CS, not only additional power consumption is generated, but also the return to the charging station CS is delayed.

For this reason, the cleaning robot 100 deactivates the outline alignment operation during return driving.

Thereafter, the cleaning robot 100 returns to the charging station CS (4030).

The cleaning robot 100 does not perform an outline alignment operation even when an obstacle O is detected while returning to the charging station CS, and the charging station CS along the outline of the obstacle O as shown in FIG. 45. To return to.

As described above, the cleaning robot 100 may return to the charging station CS more quickly by deactivating the outline energizing operation during the return operation.

In the above, one embodiment of the disclosed invention has been illustrated and described, but the disclosed invention is not limited to the specific embodiments described above, and has ordinary knowledge in the technical field to which the disclosed invention belongs without departing from the gist of the claims. Of course, various modifications are possible, and such modifications are not individually understood from the disclosed invention.

100: cleaning robot 110: control unit
120: user interface 130: image acquisition unit
140: obstacle detection unit 141: light transmission module
141a: light source 141b: wide-angle lens
143: light receiving module 143a: reflective mirror
143b: image sensor 150: touch detection unit
151: bumper 153: bumper switch
155: external force transmission member 157: bumper restoration member
159: slip prevention member 160: travel portion
170: cleaning unit 180: storage unit

Claims (33)

A main body having a front outline;
A driving unit that moves the main body;
A contact detector; And
It includes a control unit,
When the contact between the wall and the main body is detected based on the output of the sensing unit, the control unit controls the driving unit to perform a first outline alignment of aligning the front outline of the main body with the wall;
When the first outline alignment is completed, the control unit may perform the second outline alignment to align the front outline of the main body with the wall at the location of the first outline alignment and the adjacent location along the wall. Control;
When the alignment of the second outline is completed, the control unit cleans the robot to control the driving unit such that the main body faces the opposite direction away from the wall. According to claim 1,
When the contact between the wall and the main body is sensed, the control unit controls the cleaning robot to rotate the cleaning robot around a contact portion of the cleaning robot contacting the wall. According to claim 2,
When the front outline of the main body is aligned with the wall, the control unit controls the cleaning unit so that the cleaning robot moves forward and backward at a predetermined number of times. According to claim 2,
A cleaning robot further comprising an obstacle detecting unit that senses the wall without contacting the wall. According to claim 4,
The control unit is a cleaning robot that controls the driving unit to rotate the main body around a rotation center calculated according to a distance from the wall. According to claim 4,
When the width of the wall is greater than or equal to the reference width, the control unit controls the movement of the cleaning robot such that the front outline of the main body is aligned with the wall. According to claim 4,
If the width of the wall is narrower than the reference width, the control unit controls the cleaning robot to move the cleaning robot in parallel with the wall. According to claim 4,
Further comprising a cleaning unit for sucking the dust present on the floor,
When the condition for aligning the outline is satisfied, the control unit increases the suction power of the cleaning unit. According to claim 1,
The sensing unit
A bumper provided in front of the main body and in contact with the wall;
A bumper switch that outputs a touch detection signal when the bumper contacts the wall; And
A cleaning robot including an external force transmitting member that transmits an external force acting as the bumper from the wall to the bumper switch. The method of claim 9,
When the bumper contacts the wall, the bumper presses the external force transmission member,
When the external force transmission member is pressed by the bumper, the external force transmission member rotates about a rotation center to press the bumper switch,
When the bumper switch is pressed by the external force transmission member, the bumper switch outputs the touch detection signal. Running the cleaning robot;
If the distance between the cleaning robot and the wall is less than or equal to a reference distance, reduce the running speed of the cleaning robot so that the cleaning robot contacts the wall;
Moving the cleaning robot to perform a first outline alignment that aligns the front outline of the cleaning robot with the wall when the contact of the cleaning robot with the wall is sensed;
When the alignment of the first outline is completed, move the cleaning robot to perform a second outline alignment of aligning the front outline of the cleaning robot with the wall at a position of the first outline alignment and an adjacent position along the wall;
And controlling the cleaning robot to move the cleaning robot to face the opposite direction away from the wall when the second outline alignment is completed. The method of claim 11,
Decreasing the running speed of the cleaning robot, the control method of the cleaning robot comprising reducing the running speed of the cleaning robot from the first running speed to the second running speed. The method of claim 11,
Reducing the running speed of the cleaning robot, the control method of the cleaning robot includes gradually reducing the running speed of the cleaning robot. delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete

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