KR101641242B1 - Robot cleaner and controlling method thereof - Google Patents

Abstract

A robot cleaner and its control method are disclosed. In the present invention, a structure such as a threshold is sensed by using a room sensing unit provided inside a robot cleaner without artificially attaching an indicator, rooms are separated from a cleaning area having a plurality of rooms, and cleaned in units of rooms Thereby improving the cleaning efficiency, reducing the cleaning time, and improving the convenience of the user.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner, and more particularly, to a robot cleaner capable of performing room-division cleaning by dividing a room and a control method thereof.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A representative example of the domestic robot is a robot cleaner, which is a type of household appliance that sucks and cleanes dust or foreign matter around the robot while traveling in a certain area by itself. Such a robot cleaner is generally equipped with a rechargeable battery and has an obstacle sensor capable of avoiding obstacles during traveling, so that it can run and clean by itself.

In the early stage, the robot cleaner performed a random cleaning while traveling on its own, and there was a problem that an area which can not be cleaned due to an obstacle occurred. In order to solve this problem, in recent years, in order to clean the entire area while the robot cleaner is traveling on its own, cleaning is performed by dividing the entire cleaning area into a plurality of small areas (hereinafter referred to as cells) A technique of cleaning a surface of a cleaning map by determining a cleaning area such as a cleaning area and an area to be cleaned has been developed and improved.

However, the robot cleaner according to the related art does not reflect the actual cleaning area as it is, and the cleaning efficiency is lowered by setting the cell to a virtual area, and the cleaning time is delayed. Further, in the conventional robot cleaner, when cleaning a home, office, etc. having a plurality of rooms, the cells are set in a plurality of rooms without consideration of rooms, or cleaning is performed on a plurality of rooms at once There is a problem.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot cleaner and a control method thereof, which can perform room-division cleaning by dividing a room.

It is another object of the present invention to provide a robot cleaner and a control method thereof, which detect the structure of a room such as the threshold of a room, recognize the position of the room, and perform cleaning in units of rooms.

The present invention provides a robot cleaner and a control method thereof for cleaning a region having a plurality of chambers by dividing the chambers into groups, creating a cleaning map, and performing cleaning on a room-by-room basis based on the cleaning map. have.

According to an aspect of the present invention, there is provided a robot cleaner including a room sensing unit for sensing room from a cleaning area having a plurality of rooms and outputting room information, . Here, the room sensing unit includes a threshold sensing sensor for sensing a threshold of the room.

The robot cleaner according to an embodiment of the present invention may include an obstacle detection unit that detects obstacles in the cleaning area and outputs obstacle information, a cleaning map generation unit that creates a cleaning map based on the room information and the obstacle information, And a control unit for performing cleaning on a room-by-room basis. The robot cleaner may further comprise a storage unit for storing at least one of the cleaning map, the room information, and the obstacle information.

According to an aspect of the present invention, there is provided a robot cleaner including a power unit including a power supply unit that can be charged and supplies power to the robot cleaner, a drive unit that drives the robot to move the robot cleaner, An input unit for receiving a direct control command with at least one button, a room sensing unit for sensing the room from a cleaning area having a plurality of rooms and outputting room information, A control unit for creating a cleaning map based on the room information and the obstacle information and performing cleaning on a room basis on the basis of the cleaning map; A storage unit for storing one or more pieces of information of the obstacle information; It is configured to include a display unit for displaying the above information.

The robot cleaner according to the embodiments of the present invention further includes a position recognition unit for recognizing the position of the robot cleaner and outputting position information by having at least one sensor. The position recognizing unit includes an upper camera provided at an upper portion of the robot cleaner and photographing an upper portion and outputting an upper image, wherein the room sensing unit includes an image sensor for sensing the room based on the upper image do.

In the robot cleaner according to the embodiments of the present invention, the room sensing unit includes a threshold sensor for sensing a threshold of the room.

According to another aspect of the present invention, there is provided a method of controlling a robot cleaner, the method comprising: detecting a room by a plurality of rooms and cleaning the room;

The control method of the robot cleaner according to the embodiments of the present invention may include a step of searching the cleaning area, detecting room and outputting room information, detecting an obstacle in the cleaning area, and outputting obstacle information Creating a cleaning map based on the room information and the obstacle information, and performing cleaning on the basis of the cleaning map. Here, the step of detecting the room and outputting the room information may be a step of sensing a threshold of the room.

In the control method of the robot cleaner according to the embodiments of the present invention, the step of performing the cleaning may include a step of setting a threshold avoiding mode, a step of performing cleaning in units of rooms, Determining whether the cleaning of the cleaning area is completed when the cleaning of the room is completed; The step of performing the cleaning may further include a step of setting a threshold passage mode and a step of moving to another room.

According to another aspect of the present invention, there is provided a method of controlling a robot cleaner, the method including: searching a cleaning area having a plurality of rooms; sensing a threshold of the room to output room information; A step of setting a mode, a step of detecting an obstacle in the cleaning area and outputting obstacle information, a step of creating a cleaning map based on the room information and the obstacle information, and the cleaning based on the cleaning map .

In the control method of the robot cleaner according to the embodiments of the present invention, the step of performing the cleaning may include a step of performing cleaning in units of rooms, a step of determining whether or not the cleaning of the room is terminated, And if the cleaning of the unit is completed, determining whether the cleaning area is finished to be cleaned. The step of performing the cleaning may further include a step of setting a threshold passage mode and a step of moving to another room.

The control method of the robot cleaner according to the embodiments of the present invention further comprises storing at least one of the cleaning map, the room information, and the obstacle information.

The control method of the robot cleaner according to the embodiments of the present invention may further include displaying at least one of the cleaning map, the room information, and the obstacle information.

The control method of the robot cleaner according to the embodiments of the present invention further comprises recognizing the position of the robot cleaner through one or more sensors.

The robot cleaner and the control method thereof according to the present invention divide the chambers by cleaning the area having a plurality of chambers and perform cleaning in units of rooms, thereby increasing the cleaning efficiency and reducing the cleaning time.

The present invention can easily separate a room by dividing a room using a structure such as a threshold of a room without installing an artificial indicator, reducing installation cost and manufacturing cost, and improving user convenience.

In the present invention, when a region having a plurality of rooms is cleaned, a cleaning map is created by dividing the rooms and cleaning is performed on a room-by-room basis based on the cleaning map, thereby improving the expandability of the product, It is possible to easily distinguish a room that has not been cleaned from a room that has not been cleaned, or to perform selective cleaning.

1 is a perspective view schematically showing the appearance of a robot cleaner according to the present invention;
2 is a bottom view schematically showing the appearance of a robot cleaner according to the present invention;
FIG. 3 and FIG. 4 are block diagrams schematically showing a configuration of a robot cleaner according to embodiments of the present invention; FIG.
FIG. 5 illustrates a cleaning area for explaining a robot cleaner and a control method thereof according to the present invention; FIG.
6 is a view for explaining a cleaning pattern of the robot cleaner according to the present invention;
FIG. 7 is a flowchart schematically illustrating a method of controlling a robot cleaner according to an embodiment of the present invention; FIG.
FIG. 8 is a flow chart showing in detail the control method of FIG. 7; FIG.
FIG. 9 is a flowchart schematically illustrating a method of controlling a robot cleaner according to the present invention. FIG.
FIG. 10 is a flowchart schematically illustrating a cleaning execution operation in the control method of the robot cleaner according to the present invention; FIG.
11 is a flowchart illustrating a method of controlling a robot cleaner according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION Hereinafter, a robot cleaner and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIGS. 1 to 4, a robot cleaner 1 according to the present invention includes a room sensing unit (not shown) for sensing the room from a cleaning area having a plurality of rooms as shown in FIG. 5 and outputting room information 110), and performs cleaning in units of rooms. Here, the room sensing unit 110 includes a threshold sensing sensor 111 for sensing a threshold of the room. The threshold sensor 111 includes a light emitting unit (not shown) for irradiating light to the bottom surface, a light receiving unit (not shown) for receiving light reflected from the bottom surface, (Not shown) for calculating a distance, and detects a threshold or a cliff based on the distance. At this time, the light emitting portion and the light receiving portion may be formed as a plurality of as needed, and may be formed at a certain angle with the bottom surface. As the threshold sensor 111, an infrared sensor (Infra-RED sensor), a supersonic wave sensor, a laser sensor, a cliff sensor, or the like may be used. In addition, a PSD (Position Sensitive Device) sensor capable of accurately calculating distances using an infrared triangulation method can be used as the threshold detection sensor 111 instead of simply detecting the presence or absence of an object.

1 to 3, the robot cleaner 1 according to an embodiment of the present invention includes an obstacle detection unit 120 for detecting an obstacle in a cleaning area having a plurality of chambers and outputting obstacle information, And a control unit (200) which creates a cleaning map based on the room information and the obstacle information, and performs cleaning on a room-by-room basis based on the cleaning map.

The obstacle detection unit 120 detects obstacles in the vicinity of the robot cleaner while moving in the cleaning area or cleaning the robot cleaner and informs the control unit 200 of obstacle information such as presence, Output. The obstacle detection unit 120 may be an infrared sensor, an ultrasonic sensor, a RF sensor, a bumper, or the like.

The control unit 200 creates a cleaning map based on the obstacle information output from the obstacle detection unit 120 and generates a cleaning map based on the room information output from the room sensing unit 110 Create a map. In addition, the control unit 200 performs cleaning on the cleaning area based on the cleaning map. The control unit 200 cleans one room first by dividing the cleaning area into a room, and then moves to the next room to perform cleaning. The control unit 200 can perform cleaning in the manner shown in FIG. 6, and can perform cleaning in other ways. 6A is a zigzag method for performing cleaning by dividing a cleaning area into a plurality of cells, and FIG. 6B is a zigzag method for cleaning the entire cleaning area. The zigzag method is a method in which the vehicle travels in a straight line repeatedly along a long route and a short route. Such a zigzag method has advantages such as easy cleaning of a house, such as a room or a living room having a rectangular shape, and a high cleaning coverage rate, but has a disadvantage in that cleaning performance deteriorates depending on the surrounding environment such as an obstacle. FIG. 6 (c) is a spiral method in which the spiral method is performed while increasing the radius of rotation while rotating in a certain direction from the starting point. Such a spiral method has an advantage over the random method described below in that it has an advantage of improving the cleaning coverage rate and cleaning the specific contaminated area. On the other hand, it is difficult to clean the house such as a rectangular room or a living room, The performance is different, and the traveling speed is slow. FIG. 6 (d) shows a random method, wherein the random method is a method of moving in arbitrary directions and distances. Such a random approach has the advantage of being easy to avoid obstacles and moving over a certain distance, while the area that is not cleaned has a relatively wide disadvantage that the cleaning coverage rate is lowered. The robot cleaner according to the present invention performs cleaning by dividing a whole cleaning area having a plurality of rooms into a room unit regardless of the cleaning method or the cleaning pattern, thereby improving the cleaning coverage rate and maintaining a high cleaning performance .

The robot cleaner further includes a storage unit (300) for storing at least one of the cleaning map, the room information, and the obstacle information.

The storage unit 300 stores obstacle information such as the detected room information by searching for the cleaning area, the position of the obstacle detected through the obstacle detecting unit 120 at the time of the current movement, the previous movement, or the cleaning, And stores one or more pieces of information on the cleaning map created through the unit (200). The storage unit 300 is a non-volatile memory. Here, the non-volatile memory (NVM) is a storage device that keeps stored information even when power is not supplied. The storage device includes a ROM, a flash memory, a magnetic computer storage device A hard disk, a diskette drive, and a magnetic tape), an optical disk drive, and the like, and includes not only perforated cards and paper tapes, but also magnetic RAM, PRAM, and the like. In addition, the storage unit 300 may further store the driving record of the robot cleaner in the cleaning area. Also, the storage unit 300 stores the cleaning area and a plurality of cells to be described later.

Referring to FIG. 4, the robot cleaner 1 according to another embodiment of the present invention includes a power unit 400 having a rechargeable power supply unit to supply power to the robot cleaner, and a robot cleaner An input unit 600 for receiving a direct control command with one or more buttons and a room sensing unit for sensing the room from a cleaning area having a plurality of rooms and outputting room information, And an obstacle detection unit (120) for detecting an obstacle in the cleaning area and outputting obstacle information, and a control unit for generating a cleaning map based on the room information and the obstacle information, A storage unit (300) for storing information of at least one of the cleaning map, the room information, and the obstacle information; a control unit (200) Of the obstacle information is configured to include a display unit 700 for displaying one or more information.

The power supply unit 400 supplies the operating power for moving the robot cleaner and performs cleaning, and supplies the charging power to the power supply unit, that is, the charging current is supplied from the charging stand when the remaining battery power is insufficient.

The drive unit 500 drives a predetermined wheel motor that rotates the plurality of wheels including a plurality of main wheels and at least one auxiliary wheel so that the robot cleaner moves.

A user or the like inputs control commands directly to the robot cleaner through the input unit 600 or inputs information about obstacles such as room information and obstacle position stored in the storage unit 300, , The obstacle detection unit 110, or a position recognition unit 800 (described later). The input unit 600 may include positional information such as the position of the room, the position of the obstacle, the position of the robot cleaner, a cleaning area, an OK button for inputting a command for confirming a plurality of cells or a cleaning map, A reset button for inputting a command for resetting, a delete button, a cleaning start button, and a stop button.

The robot cleaner according to embodiments of the present invention further includes a position recognition unit 800 for recognizing the position of the robot cleaner and outputting position information by having at least one sensor.

The position recognition unit 800 includes at least one distance sensor to recognize the position of the robot cleaner in the cleaning area. The position recognition unit 800 includes an acceleration sensor (not shown) for recognizing the speed and the position, an encoder (not shown) connected to the wheel motor for driving the wheels of the robot cleaner to detect the speed, One or more of a gyro sensor (not shown) for detecting the speed may be used.

In addition, the position recognition unit 800 may include an upper camera 810 provided at an upper portion of the robot cleaner and photographing an upper portion and outputting an upper image. In this case, the room sensing unit 110 includes an image sensor (not shown) for sensing the room based on the upper image. That is, in the case where the threshold or the cliff can not be easily detected, the threshold does not exist, or the threshold detection is to be supplemented, the room sensing unit 110 senses The room can be recognized by recognizing a door frame or a structure capable of distinguishing a room from the upper image. Of course, it is also possible to use the front camera instead of the upper camera.

The display unit 700 displays the room information, the obstacle information and the cleaning area information stored in the storage unit 300, the room sensing unit 110, the obstacle detection unit 120, And a cleaning map, position information, and the like created through the control unit 200. [0064] The display unit 700 may further display status information such as a current status of each unit constituting the robot cleaner and a current cleaning status. The display unit 700 may be any of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED) And may be formed of one element. At this time, the input unit 600 and the display unit 700 may have a form of a touch screen capable of both inputting and outputting.

2, the robot cleaner may further include a cleaning unit 10. The cleaning unit 10 includes a predetermined suction motor for sucking air and a means for agglomerating the dust , And sucks dust or foreign matter around it.

7 to 11, a method for controlling a robot cleaner according to an embodiment of the present invention includes: detecting a room by searching for a plurality of rooms having a plurality of rooms, Cleaning is performed. The configuration of the apparatus will be described with reference to Figs.

Referring to FIG. 7, a method of controlling a robot cleaner according to an exemplary embodiment of the present invention includes a step S110 of searching for a cleaning area, a step S120 of sensing room information and outputting room information, (S140) of detecting obstacles in the cleaning area and outputting obstacle information, creating a cleaning map based on the room information and the obstacle information (S140), performing cleaning on the basis of the cleaning map (S170).

In the control method of the robot cleaner, the step of sensing the room and outputting the room information (S100) may include detecting a threshold of the room (not shown). 9, the step of sensing the threshold of the room may include illuminating the floor surface of the light emitting unit of the room sensing unit 110 (S121), receiving the light reflected from the floor surface of the light receiving unit (S122 ), Calculates the distance between the robot cleaner and the bottom surface using the irradiated light and the received light (S123), and detects the threshold.

As another example, the robot cleaner may include an upper camera 810, and an upper image may be captured through the upper camera, and a structure such as a door frame may be recognized from the upper image to detect a room. That is, when the threshold or the cliff can not be easily detected, or when there is no threshold, or when the threshold detection is to be supplemented, the robot cleaner may notify the upper image It is possible to recognize a door frame or a structure capable of distinguishing a room to detect a room. Of course, it is also possible to use the front camera instead of the upper camera.

Referring to FIGS. 7 and 8 together, the robot cleaner searches for an entire cleaning area having a plurality of chambers by using a predetermined traveling pattern, for example, the cleaning pattern of FIG. 6, (S120), and the obstacle existing in the cleaning area is detected through the obstacle detection unit 120 (S130). The robot cleaner classifies the rooms for the cleaning area, creates a cleaning map using the detected obstacle information (S140), and performs cleaning on the basis of the created cleaning map (S170). At this time, the robot cleaner may perform cleaning on a room-by-room basis using the room information, and may perform cleaning on the entire cleaning area. Referring to FIG. 8, if the room information is information on a threshold of a room, the robot cleaner creates a cleaning map and then switches to a cleaning mode (S171) and sets a threshold avoiding mode (S172). Then, the robot cleaner performs cleaning in units of rooms without going beyond the threshold (S173). When the robot cleaner finishes cleaning the room in the threshold (S174), it determines whether cleaning of the entire cleaning area is completed (S175). If it is determined that there is a room to be cleaned, the robot cleaner sets a threshold passage mode (S176), moves to another room, and performs cleaning again (S177).

Referring to FIG. 10, in the control method of the robot cleaner, the cleaning step S170 is switched to a cleaning mode (S171), the detected room is divided into a plurality of cells and set (S1731 , A cleaning pattern is set for the cells (S1732), and cleaning is performed on a cell-by-cell basis (S1733). Of course, cleaning can be performed by setting the entire room as one cell. In step S1734, it is determined whether the cell-based cleaning is completed or not. In the step S170, when the cleaning of the room is completed, it is determined whether the cleaning of the entire cleaning area is terminated (S175). As a result of the determination, if the cleaning of the room is performed but the cleaning of the entire cleaning area is not performed, the robot cleaner moves to another room and repeats the operation.

Referring to FIG. 11, a method of controlling a robot cleaner according to another embodiment of the present invention includes a step S210 of searching for a cleaning area having a plurality of rooms, a step of detecting a threshold of the room and outputting room information (S230) of detecting obstacles in the cleaning area and outputting obstacle information, and creating a cleaning map based on the room information and the obstacle information (S222) (S240), and performing cleaning based on the cleaning map (S270).

In the method of controlling the robot cleaner according to another embodiment of the present invention, the step of performing the cleaning (S270) may include a step S271 of performing the cleaning in units of rooms, (S272), and determining whether the cleaning area is completely cleaned (S273) when the cleaning of the room is completed. The robot cleaner is switched to a cleaning mode to divide the sensed room into a plurality of cells and set the cleaning pattern for the cells to perform cleaning on a cell basis. Of course, cleaning can be performed by setting the entire room as one cell. The robot cleaner determines whether or not the cell-based cleaning is completed, repeats the cleaning in units of cells, and then determines whether the cleaning of the entire room is completed. When the robot cleaner finishes the cleaning by the room, the threshold passage mode is set (S274), the robot cleaner moves to another room (S275), and the room cleaning is repeatedly performed in units of rooms.

7 to 11, the control method of the robot cleaner according to the embodiments of the present invention may include storing at least one of the cleaning map, the room information, and the obstacle information (S150, S250) . The robot cleaner searches for the cleaning area and detects the room information. The obstacle information such as the position of the obstacle detected at the time of previous movement or cleaning, and the created cleaning map. In addition, the robot cleaner may further store the driving record in the cleaning area, and may store the cleaning area and a plurality of cells to be described later.

7 to 11, a method of controlling a robot cleaner according to embodiments of the present invention may include displaying at least one of the cleaning map, the room information, and the obstacle information (S160, S260) . The robot cleaner may store the room information, the obstacle information, the cleaning area information, the room sensing unit 110, the obstacle detection unit 120, or the position recognition unit 800 stored in the storage unit 300 And a cleaning map created through the control unit 200, corrected position information, and the like. The robot cleaner may further display status information such as a current status of each of the configuration units and a current cleaning status.

The control method of the robot cleaner according to the embodiments of the present invention further comprises steps (S131, S231) of recognizing the position of the robot cleaner through one or more sensors. The sensors for recognizing the position include an acceleration sensor for recognizing the speed and the position, an encoder connected to the wheel motor for driving the wheels of the robot cleaner to detect the speed, a gyro sensor for detecting the rotational speed of the robot cleaner, An upper camera provided on the upper part and photographing the upper part and outputting an upper image, or the like. The robot cleaner may correct the cleaning map or perform cleaning more precisely using the recognized location information.

As described above, the robot cleaner and the control method thereof according to the present invention are capable of distinguishing rooms from a cleaning area having a plurality of chambers by using a room detecting unit such as a threshold detecting sensor in a robot cleaner without artificially attaching an indicator And cleaning by room, thereby increasing cleaning efficiency, reducing cleaning time, and enhancing convenience for users. In addition, according to the present invention, it is possible to improve the expandability of the product, to allow the user or the like to easily distinguish between the room where the cleaning is performed and the room where the cleaning has not been carried out, or to perform selective cleaning.

1: robot cleaner 110:
111: threshold sensor 120: obstacle detection unit
200: control unit 300: storage unit
400: power supply unit 500: drive unit
600: input unit 700: display unit
800: position recognition unit 810: camera

Claims (22)

delete delete delete delete A power supply unit including a rechargeable power supply unit for supplying power to the robot cleaner;
A drive unit for driving the robot to move the robot cleaner;
An input unit having one or more buttons to receive a direct control command;
A room sensing unit for sensing the room from a cleaning area having a plurality of rooms and outputting room information;
An obstacle detection unit for detecting obstacles in the cleaning area and outputting obstacle information;
A control unit for creating a cleaning map based on the room information and the obstacle information, and performing cleaning on a room-by-room basis based on the cleaning map;
A storage unit for storing at least one of the cleaning map, the room information, and the obstacle information; And
And a display unit for displaying at least one of the cleaning map, the room information, and the obstacle information,
Wherein the room sensing unit comprises:
And a threshold detection sensor for detecting a threshold of the room,
The control unit includes:
Wherein the robot cleaner sets the robot cleaner to the threshold avoiding mode when receiving information related to the threshold using the threshold sensor,
Wherein when the threshold avoiding mode is set, the driving unit is controlled so as not to pass through the threshold,
After the threshold avoiding mode is set, it is determined whether or not cleaning of the room where the robot cleaner is located is completed,
Wherein the controller is configured to set the robot cleaner operating in the threshold avoiding mode to the threshold passage mode when cleaning of the room where the robot cleaner is located is completed. 6. The method of claim 5,
And a position recognition unit having at least one sensor for recognizing the position of the robot cleaner and outputting position information. 7. The apparatus according to claim 6,
And an upper camera provided at an upper portion of the robot cleaner and photographing an upper portion thereof to output an upper image. The apparatus according to claim 7,
And an image sensor for detecting the room based on the upper image. delete delete Searching a cleaning area having a plurality of rooms;
Detecting a threshold of the room and outputting room information including information related to the threshold;
Detecting obstacles in the cleaning area and outputting obstacle information;
Creating a cleaning map based on the room information and the obstacle information; And
And performing cleaning on a room-by-room basis based on the cleaning map,
The step of performing the cleaning includes:
Setting the robot cleaner to a threshold avoiding mode when the robot cleaner passes the threshold of the room,
And performing cleaning while controlling the movement of the robot cleaner so that the threshold bypass mode is not passed again.
Determining whether or not cleaning of the room in which the robot cleaner is located is completed after the threshold avoiding mode is set; And
And switching the robot cleaner operating in the threshold avoiding mode to a threshold passage mode when cleaning of the room where the robot cleaner is located is completed. delete 12. The method of claim 11, wherein sensing the threshold of the room comprises:
A process of irradiating light on the bottom surface;
Receiving light reflected from the bottom surface; And
And calculating a distance between the robot cleaner and the bottom surface of the robot cleaner. delete 12. The method of claim 11, wherein performing the cleaning comprises:
And moving the robot to another room after the threshold passage mode is set. [16] The method of claim 15,
Setting at least one cell based on the obstacle information;
A process of setting a cleaning pattern; And
And a step of cleaning the cell. 12. The method of claim 11,
And storing at least one of the cleaning map, the room information, and the obstacle information. 12. The method of claim 11,
And displaying at least one of the cleaning map, the room information, and the obstacle information. 12. The method of claim 11,
And recognizing the position of the robot cleaner through one or more sensors. Searching a cleaning area having a plurality of rooms;
Detecting a threshold of the room and outputting room information;
Setting a threshold avoiding mode when passing the threshold;
Controlling movement of the robot cleaner so as not to pass through the threshold after the threshold avoiding mode is set;
Detecting obstacles in the cleaning area and outputting obstacle information;
Creating a cleaning map based on the room information and the obstacle information; And
And performing cleaning on the basis of the cleaning map,
The step of performing the cleaning includes:
Performing cleaning in the room unit;
Determining whether or not cleaning of the room in which the robot cleaner is located is completed after the threshold avoiding mode is set; And
And setting the robot cleaner operating in the threshold avoiding mode to a threshold passage mode when cleaning of the room where the robot cleaner is located is completed. 21. The method of claim 20, wherein performing the cleaning comprises:
And determining whether the cleaning area is completely cleaned when the cleaning of the room where the robot cleaner is located is completed. 22. The method of claim 21, wherein performing cleaning comprises:
And moving the robot to another room after the threshold passage mode is set.

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