KR101362373B1 - Robot cleaner and control method of the same of - Google Patents

Abstract

The present invention relates to a robot cleaner and a method of controlling the same, and an object of the present invention is to provide a robot cleaner and a method of controlling the same by reflecting the obstacle detected by the obstacle sensor to a local map. To this end, the robot cleaner according to the present invention includes an obstacle sensor for detecting an obstacle; A memory in which a local map consisting of a plurality of cells is stored; And a controller configured to calculate the obstacle position using the obstacle sensor and to reflect the calculated obstacle position on the local map.

Obstacle Sensor, Robot Cleaner, Local Map

Description

[0001] Robot cleaner and control method thereof [0002]

The present invention relates to a robot cleaner, and more particularly, to a robot cleaner for controlling and reflecting an obstacle detected by an obstacle sensor on a local map and a control method thereof.

In general, the vacuum cleaner uses the vacuum pressure of the vacuum pump installed inside the main body to inhale the air including the foreign matter on the floor, and then to filter the foreign matter from the inside of the main body and to discharge the filtered air to the outside of the main body. To clean the floor.

Such a cleaner is inconvenient to clean the floor while the user carries it directly, and recently, a robot cleaner has been introduced that performs cleaning while driving the cleaning area by using a battery as a power source.

However, the robot cleaner has a problem that the robot cleaner is separated from the driving path or damaged outside of the robot cleaner due to frequent collisions with obstacles while driving the automatically set driving path.

In order to solve such a problem, Korean Patent Laid-Open Publication No. 2006-0095657 discloses a robot cleaner to avoid obstacles by providing an infrared sensor or an ultrasonic sensor around a main body of the robot cleaner.

On the other hand, the infrared sensor can be used to determine whether there is an obstacle within a certain distance to determine the possibility of collision with the obstacle to slow down or stop, or to be attached to the side of the robot cleaner to drive the wall following It is sensitive to the impact of the obstacle and has the disadvantage of low reliability of detection.

The ultrasonic sensor is used to detect the distance between the obstacle zone and the obstacle in a wide area, but has a disadvantage in that the position of the obstacle cannot be detected within the detection area.

In order to compensate for the shortcomings of the above-mentioned ultrasonic sensor and infrared sensor, the obstacle distance which is insensitive to external illumination and uses the triangulation method to detect the distance between the robot cleaner and the obstacle, the existence of the obstacle, and the position of the obstacle and the light emitting part and the receiving part It may be suggested that a Position Sensitive Detector is used.

However, the robot cleaner using the above-mentioned obstacle distance detection sensor has a disadvantage that the detection area is narrower than that of the ultrasonic sensor, so that the distance between the robot cleaner and the obstacle and the existence of the obstacle and the position of the obstacle in the blind area outside the detection area may not be detected. .

Accordingly, an object of the present invention is to provide a robot cleaner and a method of controlling the same, reflecting and managing an obstacle detected by an obstacle sensor on a local map.

Another object of the present invention is to provide a robot cleaner and a method of controlling the robot cleaner to reduce the amount of computation of the robot cleaner in using a local map in which obstacles are reflected for obstacle avoidance, obstacle trapping determination, and obstacle trapping escape.

Robot cleaner according to the present invention for achieving the above object is an obstacle sensor for detecting an obstacle; A memory in which a local map consisting of a plurality of cells is stored; It includes a control unit for calculating the obstacle position by the obstacle sensor and reflecting the calculated obstacle position on the local map.

The obstacle sensor is a PSD (Position Sensitive Detector) sensor, and the local map is a predetermined area around the robot cleaner.

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The control unit calculates the obstacle distance using the infrared ray incident point and the trigonometric function detected by the obstacle sensor, the calculated obstacle distance, the installation position of the obstacle sensor, and the direction the obstacle sensor faces and The obstacle position is calculated using the angle between the robot cleaner moving directions.
The controller checks whether there are cells reflecting the calculated obstacle position among the cells corresponding to the driving area of the robot cleaner on the local map, and switches the traveling direction when the cell reflecting the calculated obstacle position exists.
After changing the traveling direction as described above, check whether there are cells reflecting the calculated obstacle position among the cells corresponding to the driving area of the robot cleaner on the local map, and if the cell reflecting the calculated obstacle position exists, the moving direction is changed again. .

The controller controls the robot cleaner to perform some or all of the wall following driving, the obstacle trapping determination, and the obstacle trapping escape using the local map.

In addition, the robot cleaner according to the present invention for achieving the above object is an obstacle sensor for detecting an obstacle; A memory in which a local map consisting of a plurality of cells is stored; And a controller configured to calculate the obstacle area using the obstacle sensor and reflect the calculated obstacle area on a local map.

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The controller determines whether the obstacle area is reflected in the cell corresponding to the extension line in the robot cleaner travel direction to avoid the obstacle.
The robot cleaner is recognized as a smaller size than the actual size on the local map, and the obstacle region is enlarged to have a radius of a predetermined size based on the obstacle position calculated by the obstacle sensor. At this time, the radius of the predetermined size means the radius of the robot cleaner, the size of the robot cleaner recognized in the local map is less than the cell size of the local map.

In addition, the control method of the robot cleaner according to the present invention for achieving the above object comprises the steps of calculating an obstacle distance with an obstacle sensor; calculating an obstacle position based on the obstacle distance and the installation position of the obstacle sensor; And reflecting the obstacle position on a local map including a plurality of cells, wherein the cell in which the obstacle position is reflected is a cell corresponding to the calculated obstacle position.

Here, wall tracking control is performed using the cell in which the obstacle position is reflected.

The robot cleaner may avoid obstacles when there is the cell in which the obstacle position is reflected on the driving path of the robot cleaner.

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In addition, the control method of the robot cleaner according to the present invention for achieving the above object comprises the steps of calculating the obstacle distance with the obstacle sensor; Calculating an obstacle position based on the obstacle distance and an installation position of the obstacle sensor; Calculating an obstacle area based on the obstacle position; And reflecting the obstacle area on the local map including a plurality of cells, wherein the cell in which the obstacle area is reflected is a cell corresponding to the calculated obstacle area.

Here, the obstacle area is a circle having a predetermined radius around the obstacle location, the robot cleaner is recognized as a smaller size than the actual on the local map.

The wall tracking control is performed using the cell in which the obstacle area is reflected.

The robot cleaner avoids obstacles when there is the cell in which the obstacle area is reflected on an extension line of the robot cleaner in the direction of travel.

When the robot cleaner determines that the obstacle is trapped by the obstacle area of the local map, the robot cleaner initializes the local map and regenerates the local map while rotating the robot cleaner at a lower speed than the moving speed in place.

And using the regenerated local map to allow the robot cleaner to escape trapped obstacles.

The robot cleaner and its control method according to the present invention reflects and manages the obstacles detected by the obstacle sensor on the local map, so that the position of the obstacle can be detected in the blind area outside the detection area of the obstacle sensor.

In addition, the robot cleaner and the control method according to the present invention reflects and manages the obstacles detected by the obstacle sensor in the local map, so that the obstacle position can be detected by a small number of obstacle sensors.

In addition, the robot cleaner and the control method according to the present invention reflects the obstacle area on the local map, and checks whether there is a cell reflected on the running line of the robot cleaner to avoid obstacles, determine the obstacle trapped and escape the obstacle trapped, This reduces the amount of computation required to retrieve the cell.

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

1 to 4, the robot cleaner 1 according to the first embodiment of the present invention includes an upper part 11 and a lower part 12, a main body 10 in which a battery is accommodated, and an upper part 11. Is formed on one side of the input unit 110 to allow the user to operate the robot cleaner 1, and a plurality of obstacle sensors (S1, S2, S3, S4, S5, S6 installed around the main body 10) And a driving unit including left and right side driving motors 162 and 163 rotating the left and right driving wheels 40 and 41 rotatably installed in the main body 10 by partially exposed downward from left and right sides of the lower part 12. 160 and a foreign matter collection unit 140 including a brush motor 142 rotating the brush 141 is partially exposed to the floor from the main body 10, and the suction pump installed in the main body 10 The cleaning unit 130 and the robot cleaner 1 including the foreign matter suction unit 150 including the suction motor 152 rotating the 151 are generally removed. The control unit 200 includes a control unit.

The input unit 110 includes a plurality of buttons to provide the control unit 200 with a command corresponding to the button pressed when the user presses the button.

The driving unit 160 is installed on the left and right sides of the lower part 12 by the left and right driving wheels 40 and 41 and the left and right driving motors 162 and 163 rotating the left and right driving wheels 40 and 41 and the control unit 200. It is composed of a driving motor driving unit 161 is controlled to adjust the rotational direction and the rotational speed of the left and right driving motors (162, 163). The driving unit 160 allows the robot cleaner 1 to travel forward and backward or to the left and right in response to a running command of the controller 200.

The debris collecting unit 140 of the cleaning unit 130 is a brush 141 and a brush motor 142 for rotating the brush 141 and the brush 141 for scraping up the debris of the floor to the inside of the main body 10; It consists of a brush motor drive unit 143 to drive. The foreign matter collecting unit 140 rotates the brush 141 when the driving command by the control unit 200 is input to the brush motor driving unit 143 and scrapes off the foreign matter that is separated from the floor into the body 10.

The foreign material suction unit 150 of the cleaning unit 130 is a suction pump 151 and a suction motor 152 for rotating the suction pump 151 and the control unit for sucking the foreign material scraped up by the foreign matter collection unit 140 ( It is made of a suction motor driving unit 153 that is controlled by the 200 to drive the suction motor 152. When the foreign matter suction unit 150 receives the driving command by the controller 200 to the suction motor driver 153, the foreign matter collecting unit 140 collects the foreign substances scraped up by the foreign matter collecting unit 140 and is installed inside the main body 10. Discharge into a vat (not shown in the figure). Accordingly, foreign matters are accumulated and stored in the dust collecting container.

A plurality of obstacle sensors (S1, S2, S3, S4, S5, S6, S7) and some of the obstacle sensors (S3, S4, S5) installed in the front of the main body 10, as shown in Figure 3) The other part of the obstacle sensor (S1, S2) provided on the left side of the (10) and another part of the obstacle sensor (S6, S7) provided on the right side of the main body (10).

As shown in FIG. 4, the plurality of obstacle sensors S1, S2, S3, S4, S5, S6, and S7 include LED light emitting units 211a, 212a, 213a, which emit infrared rays in one direction DS1 to DS7. 221a, 222a, 231a, and 232a and LED emitters 211a, 212a, 213a, 221a, 222a, 231a, and 232a, and then receive receivers 211b, 212b, which sense infrared rays that are reflected from an obstacle and returned. 213b, 221b, 222b, 231b, and 232b.

Meanwhile, the LED light emitters 211a, 212a, 213a, 221a, 222a, 231a, and 232a have infrared rays reflected from the obstacle O in one direction DS1 to DS7, so that each receiver 211b, 212b, 213b, 221b, When infrared rays are incident on the 222b, 231b, and 232b, the obstacle sensors S1, S2, S3, S4, S5, S6, and S7 output the infrared incident points to which the infrared rays are incident to the controller 200. In addition, the controller 200 to be described later uses an infrared ray incident point and a trigonometric function input from the respective obstacle sensors S1, S2, S3, S4, S5, S6, and S7. Obstacle distances D-1 to D-7 between S2, S3, S4, S5, S6, and S7 can be calculated. Here, the distance calculation method using the incidence point and the trigonometric function uses a generally known method, so a detailed description thereof will be omitted.

On the input side of the controller 200, a plurality of obstacle sensors S1, S2, and S3 for detecting a distance between the input unit 110, the robot cleaner 1, and the obstacle allowing the user to input a command to the controller 200. , S4, S5, S6, and S7 are provided, and on the output side, the driving motor driving unit 161 for driving the left and right driving motors 162 and 163 and the brush motor driving unit 143 and the suction motor for driving the brush motor 142. A suction motor driving unit 153 for driving 152 is provided.

In addition, the controller 200 is provided with a memory 120 in which the data required for the robot cleaner 1 to operate, the local map LM reflecting the program and the obstacle position OP around the robot cleaner are stored.

The local map LM stored in the memory 120 includes a plurality of arrays arranged in a matrix so that the robot cleaner 1 has the center C as a reference of XY coordinates and the obstacle position OP around the robot cleaner is reflected. It is a local map centering on a robot cleaner 1 composed of cells CE. The horizontal length L and the vertical length H of the local map LM are horizontal lengths in consideration of the minimum distance between the robot cleaner 1 and the obstacle O required for the robot cleaner 1 to avoid obstacles. L and vertical length H are set to 1M.

The area of the cell CE is determined to be small so that the resolution of the obstacle position OP information on the local map LM is high in consideration of the capacity of the memory 120.

Meanwhile, as shown in FIG. 4, the controller 200 uses the plurality of obstacle sensors S1, S2, S3, S4, S5, S6, and S7, respectively, to provide the obstacle sensors S1, S2, S3, and S4. The obstacle distances D-1 to D-7 from, S5, S6 and S7 to the obstacle O are calculated. And the installation positions (S1x, S1y) ~ (S7x, S7y) of each obstacle sensor (S1, S2, S3, S4, S5, S6, S7) and each obstacle sensor (S1, S2, S3, S4, S5) The obstacle position OP is sequentially calculated by substituting a pair of obstacle distances D-1 to D-7 from, S6, S7 to the obstacle O in Equation 1 below.

[Equation 1]

Here, 0P (Ox, Oy) is an obstacle position on the local map LM, and (Sx, Sy) is when the heading direction HD of the robot cleaner 1 coincides with the X axis of the local map LM. On the coordinates of the local map LM, the installation positions S1x, S1y to S7x, S7y of the respective obstacle sensors S1 to S7, d are the respective obstacle sensors S1, S2, S3, S4, S5, S6, S7 and the obstacle distance (D-1 ~ D-7) to the obstacle (O), Sθ is the direction that each obstacle sensor (S1, S2, S3, S4, S5, S6, S7) ( DS1 to DS7 and the angle between the heading direction HD of the robot cleaner 1 (S1θ to S7θ), and Rθ is the angle between the heading direction HD of the robot cleaner 1 and the X-axis of the local map LM. to be.

The controller 200 searches for the cell CE of the local map LM corresponding to the calculated obstacle position OP and reflects the obstacle position OP in the cell CE.

The controller 200 performs the robot cleaner 1 to perform obstacle avoidance, obstacle trapping, obstacle trapping, and wall tracking using the local map LM reflecting the obstacle location OP.

Hereinafter, a control method of the robot cleaner according to the present invention will be described with reference to the drawings.

5 to 10, first, when a user turns on the robot cleaner 1 and inputs a driving condition including a driving method through the input unit 110, the controller 200 controls the robot cleaner 1. Start operation (501).

Next, the controller 200 initializes the local map LM stored in the memory 120 (502). In other words, the obstacle position OP reflected in the cell CE of the local map LM is deleted.

Next, the controller 200 uses the obstacle sensors S1, S2, S3, S4, S5, S6, and S7, and the obstacle sensors S1, S2, S3, S4, S5, S6, and S7 and the obstacle O. Calculate the obstacle distance (D-1 ~ D-7), and obtain the obstacle position (OP) by using the calculated obstacle distance (D-1 ~ D-7) and the above [Equation 1] Reflected in the corresponding cell CE of the local map LM. The controller 200 updates the local map LM periodically (503). Here, the update of the local map LM is performed by moving the obstacle position OP from the cell CE in which the obstacle position OP is reflected to another cell CE corresponding to the translational motion of the local map L, and reflecting the obstacle. The deletion of the obstacle position OP in the cell CE in which the position OP is reflected.

Subsequently, the controller 200 determines whether the driving method is wall tracking (504). At this time, if the driving method is not wall tracking, the control unit 200 performs the steps 507 and subsequent steps while driving along the driving path according to the other driving method (505). Here, the other driving methods include a random driving method and an oblique driving method.

On the other hand, if the driving method is wall tracking, the controller 200 causes the robot cleaner 1 to follow the wall surface by using the local map LM in which the obstacle position OP is reflected (506). In other words, as shown in FIG. 7, at least two cells CE located on the left side of the robot cleaner 1 and storing the obstacle position OP close to the robot cleaner 1 are searched for, and the searched two The cell line CE is connected to obtain a wall straight line WL. Next, the heading direction HD of the robot cleaner 1 parallel to the wall surface WL is calculated, and the driving path AP is calculated based on the calculated heading direction HD of the robot cleaner 1. . Here, the driving path AP refers to an area having a width AW that the robot cleaner 1 passes and a front length AH that varies depending on the traveling speed of the robot cleaner 1. The front length AH is set in inverse proportion to the traveling speed of the robot cleaner 1. Subsequently, the controller 200 causes the robot cleaner 1 to travel along the calculated driving path AP.

Subsequently, the controller 200 causes the robot cleaner 1 to travel the driving path AP, while the obstacle position OP is placed on the driving path AP of the local map LM stored in the memory 120. It is determined whether there is a reflected cell CE (507).

At this time, if there is no cell CE reflecting the obstacle position OP on the driving course AP, the controller 200 determines whether the driving end condition is 512, and if the driving end condition is not 512, the controller 200 proceeds to step 507. The regression and subsequent steps are performed, and the operation ends if it is an end condition. Here, the driving termination condition may be a case in which the robot cleaner 1 completes a driving path according to a wall following driving method or a driving method other than that.

On the other hand, if there is a cell CE reflecting the obstacle position OP on the driving course AP, the controller 200 calculates the obstacle avoidance path EAP (508). That is, as shown in FIG. 8, the heading direction HP of the robot cleaner 1 is moved by the obstacle avoidance angle EQ to determine the obstacle avoidance heading direction EHD, and to the obstacle avoidance heading direction EHD. Compute the corresponding obstacle avoidance path (EAP).

Subsequently, the controller 200 searches whether there is a cell CE in which the obstacle position OP is reflected on the obstacle avoidance path EAP (508).

At this time, if there is no cell CE reflecting the obstacle position OP on the obstacle avoidance course EAP, the controller 200 causes the robot cleaner 1 to complete the obstacle avoidance course EAP (510), Step 512 described above while allowing the robot cleaner 1 to return to the driving path according to the wall tracking driving method or the other driving method and to travel along the driving path according to the wall tracking driving method or the other driving method (511) and Perform the subsequent steps.

On the other hand, if there is a cell CE reflecting the obstacle position OP on the obstacle avoidance path EAP, the controller 200 determines whether the robot cleaner 1 is trapped by an obstacle (513). That is, the controller 200 determines whether the robot cleaner 1 is surrounded by the cell CE in which the obstacle position OP is reflected. In other words, it is determined whether any of the shortest distances ID between the cells CE in which the obstacle position OP is reflected is larger than the diameter of the robot cleaner 1.

At this time, if the robot cleaner 1 is not locked by the obstacle, the robot cleaner 1 performs the regression and subsequent steps to step 508 described above.

On the other hand, if the robot cleaner 1 is trapped by an obstacle, the controller 200 performs obstacle trapping escape control.

More specifically, if the robot cleaner 1 is surrounded by the cells CE in which the obstacle position OP is reflected, the controller 200 initializes the local map LM as shown in step 502 (514). .

Then, the controller 200 causes the robot cleaner 1 to rotate in place at a low speed (515), using the obstacle sensors S1, S2, S3, S4, S5, S6, and S7 as in step 503 described above. To calculate the obstacle distances D-1 to D-7 of the obstacle sensors S1, S2, S3, S4, S5, S6, and S7, and the calculated obstacle distances D-1 to D-7. ) And the local map LM is periodically updated (516) while the obstacle position OP is acquired using the above Equation 1 and reflected in the corresponding cell CE of the local map LM. Next, the controller 200 determines whether the robot cleaner 1 completes the 360 degree rotation (517), and if it is not completed, continuously determines whether the robot cleaner 1 completes the 360 degree rotation, and if so, the robot The rotation of the cleaner 1 is stopped (518).

Next, as shown in FIG. 9, the controller 200 determines whether there is an obstacle trapped escape trapped escape area on the local map LM (519). In other words, the adjacent distance ID of the cells CE reflecting the obstacle position OP is calculated, and the adjacent distance ID longer than the diameter 2R of the robot cleaner 1 among the calculated adjacent distance IDs. Here, the obstacle trapped escape area is a cell (reflection of the obstacle position OP having an adjacent distance ID longer than the diameter 2R of the robot cleaner 1 among the calculated adjacent distance IDs). CE).

At this time, if there is an obstacle trapped escape area on the local map LM, the controller 200 calculates an obstacle trapped escape path ECAP toward the obstacle trapped escape area on the local map LM, and the robot cleaner 1 Drive along the obstacle trapped escape route (ECAP) (520). Next, the controller 200 initializes the local map as described above with steps 502 and 503, and uses the obstacle sensors S1, S2, S3, S4, S5, S6, and S7. , S4, S5, S6, S7 and the obstacle distance (D-1 ~ D-7) of the obstacle, the calculated obstacle distance (D-1 ~ D-7) and [Equation 1] described above The local map LM is periodically updated while acquiring the obstacle position OP and reflecting the obstacle position OP in the corresponding cell CE of the local map LM (521). Subsequently, the controller 200 performs the regression and subsequent steps to step 507 as described above while allowing the robot cleaner 1 to return to the existing driving path.

In contrast, if there is no obstacle trapped escape area on the local map LM, the controller 200 causes the robot cleaner 1 to escape from the collision (523). In other words, the longest distance among the calculated adjacent distances ID is calculated by calculating the adjacent distances ID of the cells CE reflecting the obstacle position OP, and the obstacle position having the longest adjacent distance ID. The obstacle trapped escape path ECAP is calculated between the cells CE reflected by OP. Subsequently, the controller 200 causes the robot cleaner 1 to travel along the obstacle trapped escape route ECAP.

Next, the controller 200 determines whether the robot cleaner 1 completes collision escape (524). Here, the collision escape completion may be determined whether the robot cleaner 1 completed the obstacle trapped escape route (ECAP).

At this time, if the robot cleaner 1 has completed the collision escape, the control unit 200 performs step 520 and subsequent steps described above. On the other hand, if it is determined that the robot cleaner 1 has not completed the collision escape, the controller 200 determines whether the time from the time when the robot cleaner 1 first escapes the collision has passed the reference time. In step 525, if the reference time has not elapsed, the regression and subsequent steps are performed in step 523. If the reference time has elapsed, the robot cleaner 1 waits for operation (526).

Hereinafter, the robot cleaner according to the second embodiment of the present invention will be described with reference to the same reference numerals for the same configuration as the robot cleaner according to the first embodiment of the present invention, but compared with the first embodiment of the present invention. It will be described only to the part that is.

The controller 200 of the robot cleaner 1 according to the second embodiment of the present invention reflects the obstacle area OZ on the local map LM differently from the first embodiment of the present invention. In other words, as shown in FIG. 10, the control unit 200 of the robot cleaner 1 according to the second embodiment of the present invention uses a plurality of obstacle sensors S1, S2, S3, S4, S5, S6, and S7. The obstacle position OP is sensed using the above-described method, and the obstacle area OZ is calculated based on the detected obstacle position OP. Here, the obstacle area OZ is a circle whose radius R1 is larger than the radius R of the robot cleaner 1 based on the obstacle position OP so as to correspond to the size of the main body 10 of the robot cleaner 1. . The controller 200 searches for the cell CE corresponding to the obstacle area OZ calculated above in the local map LM, and applies the obstacle area OZ to the corresponding cell CE of the local map LM. Reflect.

Hereinafter, a method of controlling a robot cleaner according to a second embodiment of the present invention will be described with reference to the robot cleaner according to the first embodiment of the present invention.

11 to 15, first, when a user turns on the robot cleaner 1 and inputs a driving condition including a driving method through the input unit 110, the controller 200 controls the robot cleaner 1. Start operation (901).

Next, the controller 200 initializes the local map LM stored in the memory 120 (502). In other words, the obstacle area OZ reflected in the cell CE of the local map LM is deleted.

Next, the controller 200 uses the obstacle sensors S1, S2, S3, S4, S5, S6, and S7, and the obstacle sensors S1, S2, S3, S4, S5, S6, and S7 and the obstacle O. Calculate the obstacle distance (D-1 ~ D-7), using the calculated obstacle distance (D-1 ~ D-7) and the above equation [1] obstacle position (OP) and the obstacle area (OZ) is acquired and reflected in the cell CE of the local map LM. The controller 200 updates the local map LM periodically (903). Here, the update of the local map LM is performed in the cell CE in which the obstacle position OP is reflected, so that the obstacle position OP and the obstacle area OZ correspond to another cell CE corresponding to the translational movement of the local map L. This means that the obstacle position OP and the obstacle region OZ are deleted from the cell CE in which the obstacle position OP and the obstacle region OZ are reflected while moving to reflect.

Subsequently, the controller 200 determines whether the driving method is wall tracking (904). At this time, if the driving method is not wall tracking, the control unit 200 performs the steps 907 and subsequent steps described below, while traveling along the driving path according to the other driving method (905). Here, the other driving methods include a random driving method and an oblique driving method.

On the other hand, if the driving method is wall tracking, the controller 200 causes the robot cleaner 1 to follow the wall surface by using the local map LM in which the obstacle position OP and the obstacle area OZ are reflected (906). . In other words, as shown in FIG. 13, at least two cells CE located on the left side of the robot cleaner 1 and storing the obstacle area OZ close to the robot cleaner 1 are searched for, and the searched two The cell line CE is connected to obtain a wall straight line WL. Then, the heading direction HD of the robot cleaner 1 parallel to the wall straight line WL is calculated and extends toward the heading direction HD of the robot cleaner 1 calculated at the center of the robot cleaner 1. The traveling course line AL is calculated. Here, the length of the traveling path line AL is set in inverse proportion to the traveling speed of the robot cleaner 1. Subsequently, the controller 200 causes the robot cleaner 1 to travel along the calculated driving path line AL.

Subsequently, the controller 200 causes the robot cleaner 1 to drive the driving course DP, and the obstacle area OZ on the driving course line AL of the local map LM stored in the memory 120. It is determined whether there is the reflected cell CE (907).

At this time, if there is no cell CE in which the obstacle position OP is reflected on the driving course line AL, the controller 200 determines whether the driving end condition is 912, and if it is not the driving end condition, step 907. Regression and subsequent steps are performed, and the operation is terminated if the operation is terminated. Here, the driving termination condition may be a case in which the robot cleaner 1 completes a driving path according to a wall following driving method or a driving method other than that.

On the other hand, if there is a cell CE in which the obstacle area OZ is reflected on the driving course line AL, the controller 200 calculates the obstacle avoidance path line EAL (908). That is, as shown in FIG. 14, the heading direction HP of the robot cleaner 10 is moved by the obstacle avoidance angle EQ to determine the obstacle avoidance heading direction EHD, and the center C of the robot cleaner 1 is determined. ), The obstacle avoidance path line EAL extending in the obstacle avoidance heading direction EHD is calculated.

 Subsequently, the controller 200 searches whether there is a cell CE in which the obstacle area OZ is reflected on the obstacle avoidance path line EAL (909).

At this time, if there is no cell CE reflecting the obstacle area OZ on the obstacle avoidance path line EAL, the controller 200 causes the robot cleaner 1 to complete the obstacle avoidance path line EAL (910). ), While the robot cleaner 1 returns to the driving path according to the wall following driving method or the other driving method and moves along the driving path according to the wall following driving method or the other driving method (911), Step 912 and subsequent steps are performed.

On the other hand, if there is a cell CE in which the obstacle area OZ is reflected on the obstacle avoidance path line EAL, the controller 200 determines whether the robot cleaner 1 is trapped by an obstacle (913). That is, the controller 200 determines whether the robot cleaner 1 is surrounded by the cell CE in which the obstacle area OZ is reflected. In other words, it is determined whether any of the shortest distances ID between the cells CE in which the obstacle area OZ is reflected is larger than the diameter of the robot cleaner 1.

At this time, if the robot cleaner 1 is not trapped by an obstacle, the robot cleaner 1 performs the regression and subsequent steps to step 908 described above.

On the other hand, if the robot cleaner 1 is trapped by an obstacle, the controller 200 performs obstacle trapping escape control.

More specifically, when the robot cleaner 1 is surrounded by the cells CE in which the obstacle position OP is reflected, the controller 200 initializes the local map LM in step 902 as described above (914). ).

Then, the controller 200 causes the robot cleaner 1 to rotate in place at a low speed (915), using the obstacle sensors S1, S2, S3, S4, S5, S6, and S7 as in step 903. By calculating the obstacle distance (D-1 ~ D-7) of the obstacle sensor (S1, S2, S3, S4, S5, S6, S7) and the obstacle (O), the obstacle distance (D-1 ... The obstacle position OP and the obstacle region OZ are obtained using D-7) and Equation 1 described above, and reflected in the corresponding cell CE of the local map LM. The controller 200 periodically updates the local map LM (916). Subsequently, the controller 200 determines whether the robot cleaner 1 completes the 360 degree rotation (917), and if not, continues to determine whether the robot cleaner 1 completes the 360 degree rotation, and if so, the robot The rotation of the cleaner 1 is stopped (918).

Next, the controller 200 determines whether there is an obstacle trapped escape area on the local map LM as shown in FIG. 15 (919). In other words, it is determined whether there is a place where the obstacle trapped escape route line ECAL can pass among the cells CE in which the obstacle area OZ is reflected.

At this time, if there is an obstacle trapped escape area on the local map LM, the controller 200 calculates the obstacle trapped escape path ECAL toward the obstacle trapped escape area on the local map LM, and the robot cleaner 1 (920) to drive along the obstacle trapped escape route (ECAP). Next, the controller 200 initializes the local map as described above with steps 902 and 903, and uses the obstacle sensors S1, S2, S3, S4, S5, S6, and S7 to use the obstacle sensors S1, S2, and S3. , S4, S5, S6, S7 and the obstacle distance (D-1 ~ D-7) of the obstacle, the calculated obstacle distance (D-1 ~ D-7) and [Equation 1] described above The obstacle location OP and the obstacle area OZ are calculated and reflected to the corresponding cell CE of the local map LM, and the local map LM is periodically updated 921. Subsequently, the controller 200 performs the regression and subsequent steps to the above-described step 907 while causing the robot cleaner 1 to return to the existing driving path.

In contrast, if there is no obstacle trapped escape area on the local map LM, the controller 200 causes the robot cleaner 1 to escape from the collision (923). In other words, the cells CE reflecting the obstacle area OZ calculate the obstacle trapped escape route ECAL to an area not concentrated. Subsequently, the controller 200 causes the robot cleaner 1 to travel along the obstacle trapped escape route ECAL.

Next, the controller 200 determines whether the robot cleaner 1 completes collision escape (924). Here, the collision escape completion may be determined whether the robot cleaner 1 has completed the obstacle trapped escape route (ECAL).

At this time, if the robot cleaner 1 has completed the collision escape, the control unit 200 performs step 520 and subsequent steps described above. On the other hand, if the robot cleaner 1 does not complete the collision escape, the control unit 200 determines whether the time from the time when the robot cleaner 1 first escapes the collision has passed the reference time ( 925) If the reference time has not elapsed, the process returns to step 923 and subsequent steps, and if the reference time has elapsed, the robot cleaner 1 waits for operation and ends (926).

1 is a perspective view showing a robot cleaner according to a first embodiment of the present invention.

2 is a block diagram showing a control system of the robot cleaner according to the first embodiment of the present invention.

3 is a view showing the arrangement of the obstacle sensor of the robot cleaner according to the first embodiment of the present invention.

4 is a diagram for describing a method of reflecting a position of an obstacle on a local map by a robot cleaner according to a first embodiment of the present disclosure.

5 and 6 are flowcharts showing the control procedure of the robot cleaner according to the first embodiment of the present invention.

7 is a view for explaining the wall following driving of the robot cleaner according to the first embodiment of the present invention.

8 is a view for explaining obstacle avoidance of the robot cleaner according to the first embodiment of the present invention.

FIG. 9 is a diagram illustrating an obstacle trapping determination and an obstacle trapping escape of the robot cleaner according to the first embodiment of the present disclosure.

FIG. 10 is a diagram for describing a method of reflecting an obstacle area on a local map by a robot cleaner according to a second embodiment of the present disclosure.

11 and 12 are flowcharts illustrating a control procedure of the robot cleaner according to the second embodiment of the present invention.

FIG. 13 is a view for explaining wall tracking driving of a robot cleaner according to a second exemplary embodiment of the present invention. FIG.

14 is a view for explaining obstacle avoidance of the robot cleaner according to the second embodiment of the present invention.

15 is a view for explaining the obstacle trapped escape of the robot cleaner according to the second embodiment of the present invention.

Description of the Related Art

10: main body 120: memory

200: control unit LM: local map

S1, S2, S3, S4, S5, S6, S7: Obstacle Sensor CE: Cell

Claims (26)

delete delete delete delete delete main body; A distance detecting sensor provided in the main body and detecting a distance from an obstacle; A memory in which a local map consisting of a plurality of cells is stored; The obstacle position is calculated based on the detected distance from the obstacle, and an area extending by a predetermined size from the calculated obstacle position is set as an obstacle area, and a cell corresponding to the obstacle area is searched for in the local map. Robot cleaner comprising a control unit for reflecting. delete delete The method of claim 6, The controller calculates a distance between the cells in which the obstacle area is reflected, and compares the calculated distance with the size of the main body to control the escape of obstacle trapping when there is a distance longer than the size of the main body, and than the size of the main body. Robot cleaner to control crash escape if there is no long distance. delete delete delete delete delete Using the distance sensor provided in the main body to detect the distance to the obstacle, Calculate the obstacle position based on the distance to the obstacle, Setting an area extending by a predetermined size from the calculated obstacle position as an obstacle area, The control method of the robot cleaner which searches for a cell corresponding to the obstacle area and reflects it on a local map. 16. The method of claim 15, The obstacle area is a circle having a diameter of a predetermined size around the obstacle location, The robot cleaner is a control method of the robot cleaner is recognized as a smaller size than the actual on the local map. 16. The method of claim 15, Search for at least two cells reflecting the obstacle area, Calculating a driving route parallel to a line connecting the retrieved cells, The control method of the robot cleaner further comprising performing a wall tracking control along the driving path. 18. The method of claim 17, It is determined whether there is a cell in which the obstacle area is reflected on the driving path, If it is determined that there is a cell in which the obstacle area is reflected on the driving path, the distance between the cells in which the obstacle area is reflected is calculated. Check the distance longer than the size of the main body of the calculated distance, A distance longer than the size of the main body is determined as an obstacle trapped escape area, And avoiding obstacles by driving toward the determined obstacle trapped escape area. 16. The method of claim 15, And resetting the local map and regenerating the local map while the main body rotates at a lower speed than a moving speed when it is determined that the main body is obstructed by the obstacle area of the local map. 20. The method of claim 19, And controlling the robot cleaner to perform obstacle trapping escape using the regenerated local map. delete delete delete delete The method of claim 6, The predetermined size is a robot cleaner of the size of the main body. 26. The method of claim 25, The size of the body recognized in the local map is a robot cleaner of less than the cell size of the local map.

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