KR102516830B1 - Cleaning robot and controlling method thereof - Google Patents

Abstract

The cleaning robot includes a traveling unit for moving the cleaning robot, an obstacle detecting unit for detecting an obstacle, and a running speed of the cleaning robot when the cleaning robot and the obstacle come into contact when the distance between the cleaning robot and the obstacle is less than a reference distance. It may include a controller that reduces the driving speed of the cleaning robot so that is less than the shock mitigation speed.

Description

Cleaning robot and its control method {CLEANING ROBOT AND CONTROLLING METHOD THEREOF}

The disclosed invention relates to a cleaning robot and a control method thereof, and relates to a cleaning robot that cleans dust on a cleaning floor while automatically traveling on a cleaning floor and a control method thereof.

A cleaning robot is a device that automatically cleans a cleaning space by sucking foreign substances such as dust accumulated on the floor while traveling in the cleaning space without a user's manipulation. That is, the cleaning robot travels in the cleaning space and cleans the cleaning space.

Existing cleaning robots include a substantially circular body in order to easily change directions. As described above, due to the substantially circular body, the conventional cleaning robot cannot efficiently clean a corner where a wall intersects or an edge of a cleaning floor where a wall intersects a floor to be cleaned.

In order to overcome this problem, some cleaning robots employ side brushes protruding from the body of the cleaning robot to sweep up dust.

However, cleaning robots employing side brushes may be entangled in electric wires, hairs, threads, etc. while the side brushes rotate.

One aspect of the present invention disclosed in order to solve the above problem is to provide a cleaning robot that minimizes an impact of the cleaning robot when it collides 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.

According to an aspect of the present disclosure, a cleaning robot includes a traveling unit for moving the cleaning robot, an obstacle detecting unit for detecting an obstacle, and a traveling speed of the cleaning robot when a distance between the cleaning robot and the obstacle is equal to or less than a reference distance while driving. It may include a control unit that controls the driving unit so that the cleaning robot comes into contact with the obstacle by reducing .

Depending on the embodiment, the controller may control the driving unit to decrease the driving speed from the first driving speed to the second driving speed.

Depending on the embodiment, the control unit may control the traveling unit so that the traveling speed is reduced in a plurality of steps.

Depending on the embodiment, the control unit may control the driving unit to gradually decrease the traveling speed.

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 traveling unit so that the cleaning robot rotates around a rotation center calculated according to a distance to the obstacle.

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

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

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

According to an embodiment, the cleaning robot may further include a contact sensing unit that detects contact between the cleaning robot and the obstacle, and when the contact between the cleaning robot and the obstacle is detected, the controller determines the distance between the front outline of the cleaning robot and the obstacle. Movement of the cleaning robot may be controlled so that the outlines are aligned.

Depending on the embodiment, when the cleaning robot contacts the obstacle, the controller may control the traveling unit so that the cleaning robot rotates around a portion in contact with the obstacle.

According to another aspect of the present disclosure, a cleaning robot includes a main body having at least a part of a flat surface, a driving part for moving the main body, a contact detecting part for detecting contact between the main body and an obstacle, and a contact between the main body and the obstacle. and a control unit controlling the movement of the cleaning robot so that a flat surface of the at least one portion and an outline of the obstacle are aligned when this is detected.

According to an embodiment, the control unit may control the traveling unit to rotate and travel around a portion in contact with the obstacle when contact between the main body and the obstacle is detected.

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

According to an embodiment, the cleaning robot further includes an obstacle detecting unit that detects the obstacle without contacting the obstacle, and when an outline alignment condition is satisfied, the controller aligns the at least partially flat surface with the outline of the obstacle. Movement of the cleaning robot may be controlled so as to be possible.

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

According to an embodiment, when the width of the obstacle is equal to or greater than the reference width, the control unit may control the movement of the cleaning robot so that the outer line of the obstacle is aligned with a surface on which the at least part is flat.

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

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

According to the embodiment, the contact sensing unit is provided in front of the main body and includes a bumper contacting the obstacle, a bumper switch outputting a contact detection signal when the bumper contacts the obstacle, and an external force applied to the bumper from the obstacle. It may include an external force transmission member that transmits to.

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

According to the embodiment, when pressed by the bumper, the external force transmission member may rotate about a rotation axis to press the bumper switch.

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

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

According to yet another aspect of the disclosed invention, a cleaning robot includes a main body including at least a part of a flat surface, a driving part for moving the main body, an obstacle detecting part for detecting an obstacle, and when the obstacle is detected, the at least part of the cleaning robot is flat. A controller may be included to control the movement of the main body so that a surface comes into contact with the obstacle.

According to an embodiment, when the obstacle is detected, the control unit may control the traveling unit so that the cleaning robot rotates around a 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 for detecting contact between the main body and the obstacle, and when the contact between the obstacle and a part of the main body is detected, the main body is centered around the part of the main body that has been in contact. It is possible to control the traveling part to rotate.

According to the embodiment, the contact detection unit is provided in front of the cleaning robot and includes a bumper contacting the obstacle, a bumper switch outputting a contact detection signal when the bumper contacts the obstacle, and an external force applied to the bumper from the obstacle. An external force transmitting member that transmits to the switch may be included.

A method for controlling a cleaning robot according to an aspect of the present disclosure includes driving the cleaning robot and, when a distance between the cleaning robot and the obstacle is equal to or less than a reference distance, reducing a running speed of the cleaning robot to determine whether the cleaning robot and the obstacle and moving the cleaning robot so that a front outline of the cleaning robot and an outline of the obstacle are aligned when the contact between the cleaning robot and the obstacle is detected.

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 parallel to the outer line when the outer line of the cleaning robot and the outer line of the obstacle are aligned.

According to an embodiment, the control method of the cleaning robot may further include moving the cleaning robot so that the outline of the cleaning robot is aligned with the first outline of the obstacle and then the outline of the cleaning robot is aligned with the second outline of the obstacle. can include

According to an embodiment, the control method of the cleaning robot may further include returning the cleaning robot to a charging station when a return command is input from a user or low power of a battery is detected, and while returning the cleaning robot to the charging station, Aligning the front outline of the cleaning robot with the outline of the obstacle may be disabled.

According to one aspect of the disclosed subject matter, the cleaning robot may minimize an impact when colliding with an obstacle by reducing a traveling speed before colliding with the obstacle.

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

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

In addition, the same reference numerals or numerals presented in each drawing in this specification indicate parts or components that perform substantially the same function.

In addition, terms used in this specification are used to describe embodiments, and are not intended to limit and/or limit the disclosed invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It does not preclude in advance the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

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

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

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

1 and 2 , a cleaning robot 100 according to an embodiment includes a contact sensing unit 150 that detects contact with an obstacle or a wall, a driving unit 160 that moves the cleaning robot 100, and A controller 110 controlling the driving unit 160 according to the touch detection signal of the touch sensor 150 may be included.

The contact sensor 150 detects a contact or collision between the cleaning robot 100 such as an obstacle or a wall that hinders the cleaning robot 100 from traveling. Also, when a collision with an obstacle or a wall is detected, the touch sensing unit 150 provides a touch sensing signal to the control unit 140 .

For example, as shown in FIG. Detects contact between 100 and transmits a contact detection signal to the control unit 110 .

Also, the contact detection unit 150 may output a different contact detection signal according to a contact portion between the obstacle O and the cleaning robot 100 .

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

The controller 110 controls the driving unit 160 according to the touch detection signal of the touch sensor 150 .

For example, if the contact detection signal is not received, the controller 110 may control the driving unit 160 so that the cleaning robot 100 moves along a travel path for cleaning the cleaning space, and the contact detection signal is received. Then, the controller 110 may control the driving unit 160 so that the front of the cleaning robot 100 comes into close contact with the obstacle O.

According to the control of the controller 110, the cleaning robot 100 can travel in various patterns.

Specifically, if the cleaning robot 100 does not approach or come into contact with the obstacle O, the cleaning robot 100 may travel all over the cleaning space to clean the cleaning space as shown in (a) of FIG. 2 . can

At this time, when the cleaning robot 100 approaches or contacts the obstacle O as shown in FIG. 2(b), the cleaning robot 100 moves toward the cleaning robot 100 as shown in FIG. ) is moved so as to come into close contact with the obstacle (O).

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

In this way, when the cleaning robot 100 cleans the obstacle O in close contact with it, the cleaning robot 100 may clean dust located along the outline of the obstacle O. Since a significant amount of dust in the cleaning space is located along the outer line of the obstacle O, the cleaning robot 100 capable of cleaning the dust located along the outer line of the obstacle O can improve the cleaning ability of the cleaning space. .

In the above, the operation of aligning the front outline of the cleaning robot 100 with the outline of the obstacle O has been described, but it is not limited thereto, and any part has a flat outline that can be aligned with the outline of the obstacle O. 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.

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

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

Referring to FIGS. 3 to 6 , the cleaning robot 100 may include a main body 101 and a sub body 103 . As shown in FIG. 3 , the main body 101 may have a semicircular shape, and the sub body 103 may have a rectangular parallelepiped shape.

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

Specifically, the cleaning robot 100, together with the aforementioned contact sensor 150, driving unit 160, and controller 110, displays a user interface 120 that interacts with a user and images around the cleaning robot 100. Includes an image acquisition unit 130 that acquires, a non-contact obstacle sensor 140 that detects an obstacle O in a non-contact manner, a cleaner 170 that cleans the cleaning space, and a storage unit 180 that stores programs and various data. can do.

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

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

In addition, each button included in the input button group 121 includes a push switch that detects a user's pressure and a touch switch that detects a membrane switch or a contact with a user's body part. can be hired

The display 123 displays information on the cleaning robot 100 in response to a control command input by the user. For example, the display 123 displays the operation status of the cleaning robot 100, the power status, and the user's selection. It can display cleaning mode, return to charging station, etc.

In addition, the display 123 may employ a light emitting diode (LED) capable of self-emission, an organic light emitting diode (OLED), or a liquid crystal display having a separate light source. can

Although not shown in the drawing, 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 input control command. there is.

Specifically, the touch screen panel includes a display displaying operation information and control commands that can be input by a user, a touch panel detecting coordinates of a user's body part contacted, and a touch panel detecting coordinates based on the contact coordinates detected by the touch panel. It may include a touch screen controller that determines the control 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 an upper surface of the sub body 103 included in the cleaning robot 100, and may include a lens for concentrating light emitted from above the cleaning robot 100 and a lens for converting light into an electrical signal. An image sensor may be included.

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

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

The obstacle detecting unit 140 senses an obstacle O obstructing the movement of the cleaning robot 100 without contact.

Here, the obstacle O refers to anything that protrudes from the floor of the cleaning space and obstructs the movement of the cleaning robot 100, and includes furniture such as tables and sofas as well as walls partitioning the cleaning space.

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

In this way, the cleaning robot 100 uses light such as infrared rays to detect the obstacle O, but is not limited thereto, and may also use ultrasonic waves or radio waves.

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

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

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

A 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 , driving wheels 163 and caster wheels 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 wheel 163a provided on the left side of the cleaning robot 100 based on the front of the cleaning robot 100 and the cleaning robot ( 100) may include a right driving wheel 163b provided on the right side.

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

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

The left driving motor 161a and the right driving motor 161b may each receive a driving control signal from the control unit 110 and operate independently.

In this way, the left driving wheel 163a and the right driving wheel 163b can rotate independently of each other by the left driving motor 161a and the right driving motor 161b that operate independently.

In addition, since the left driving wheel 163a and the right driving wheel 163b can rotate independently, the cleaning robot 100 can perform various driving such as forward driving, backward driving, rotational driving, and stationary rotation.

For example, when both the left and right driving wheels 163a and 163b rotate in the first direction, the cleaning robot 100 travels (forward) in a straight line forward, and both the left and right driving wheels 163a and 163b rotate in the second direction. The lower body 101 can travel (reverse) backward in a straight line.

In addition, when the left and right driving wheels 163a and 163b rotate in the same direction but 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 lower surface of the main body 101 so that the rotating shaft of the caster wheel 165 can rotate according to the moving direction of the cleaning robot 100 . In this way, the caster wheels 165 whose rotating shaft rotates according to the moving direction of the cleaning robot 100 do not interfere with the running of the cleaning robot 100, and the cleaning robot 100 can run while maintaining a stable posture. make it possible

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

The cleaning unit 170 includes a drum brush 173 that scatters the dust on the floor of the cleaning area, a brush drive motor 171 that rotates the drum brush 173, a dust suction module 175 that sucks the scattered dust, and a suction A dust bin 177 for storing dust is included.

As shown in FIG. 5, the drum brush 163 is provided in the dust inlet 103a formed on the bottom surface of the sub body 103, and cleans while rotating around a rotating shaft provided horizontally with the cleaning floor of the sub body 103. Dust on the floor is scattered into the dust inlet 103a.

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

As shown in FIG. 6 , the dust suction module 175 is provided on the main body 101 and sucks dust scattered by 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) generating a suction force for sucking dust into the dust storage box 167 and a dust suction motor (not shown) for rotating the dust suction fan. .

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

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

The storage unit 180 may store a control program and control data for controlling the cleaning robot 100 and map information of a cleaning space acquired while the cleaning robot 100 is 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 even if power to the cleaning robot 100 is cut off, stored data is not destroyed. It may consist of a volatile storage medium.

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

The controller 110 comprehensively controls the operation of the cleaning robot 100 .

Specifically, the control unit 110 includes an input/output interface 117 that mediates data entry and exit between various components included in the cleaning robot 100 and the control unit 110, a memory 115 for storing programs and data, and an image Main processor 111, input/output interface 117, memory 115, graphic processor 113 and A system bus 119 serving as a passage for data transmission and reception between the main processors 111 may be included.

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 contact detection result detected by the contact detection unit 150, and the like, and transmits them to the system bus It is transmitted to the main processor 111, graphic processor 113, memory 115, etc. through 119.

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

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

The memory 115 may include volatile memory such as SRAM and D-Lab. However, the present invention is not limited thereto, and in some cases, the memory 115 may include non-volatile memory such as flash memory and 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.

Also, when the obstacle detecting unit 150 includes an image sensor, the graphic processor 113 may convert the image obtained by the obstacle detecting 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 the programs and data stored in the memory 115, or the driving unit 160 and An arithmetic operation for controlling the cleaner 170 is performed.

For example, the main processor 111 calculates the position 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 or contact the obstacle O according to the direction, distance, and size of the obstacle O. When it is determined that the obstacle O is to be avoided, the main processor 111 calculates a driving path for avoiding the obstacle O, and when it is determined that the obstacle O is to be in contact with the main processor 111, the obstacle O A travel path for aligning the cleaning robot 100 with 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 path.

The controller 110 may control the traveling unit 160 so that the cleaning robot 100 travels on the cleaning floor, and may control the cleaning unit 170 to clean the cleaning floor while the cleaning robot 100 travels.

In addition, the control unit 110 detects the position 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, contact can be determined.

In addition, the control unit 110 may be configured to align the front outline of the cleaning robot 100 with the outline of the obstacle O in order to clean the edge of the cleaning space where the obstacle O or the wall and the cleaning space intersect. ) can be controlled.

An operation of the cleaning robot 100 to be described below may be interpreted as an operation by a control operation of the controller 110 .

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

FIG. 7 illustrates an example of an obstacle detecting unit included in a cleaning robot according to an exemplary embodiment, and FIG. 8 illustrates an example in which an obstacle detecting unit included in the cleaning robot transmits light according to an exemplary embodiment. 9 illustrates an example of receiving light reflected by an obstacle by an obstacle detecting unit included in the cleaning robot according to an exemplary embodiment.

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

As shown in FIG. 7 , the light emitting module 141 may include a light source 141a for emitting light and a wide-angle lens 141b for diffusing the radiated light in a direction parallel to the cleaned floor.

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 made of a material capable of transmitting light, and diffuses the light emitted from the light source 141a in a direction parallel to the cleaning floor by using refraction or total reflection.

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

In addition, the obstacle detecting unit 140 may include a plurality of light emitting modules 141 as shown in FIGS. 7 and 8 so that the portion where the light emitted by the light emitting module 141 does not reach is minimized. can

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

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

The image sensor 143b may be provided below the reflective mirror 143a and receives light reflected by the reflective mirror 143a. Specifically, the image sensor 143a may obtain a 2D image formed on the reflection mirror 143a by light reflected by the obstacle O. That is, the image sensor 143a may be configured as a 2D image sensor in which light sensors are arranged in 2D.

At this time, the image sensor 143b is preferably an image sensor 143b capable of receiving light having the same wavelength as the light emitted by the light source 143a of the light emitting module 141 . For example, when the light source 141a emits light in the infrared region, the image sensor 143b is also preferably an image sensor 143b capable of obtaining an image in the infrared region.

Also, 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 be provided in a different number from the light emitting module 141 . As described above, the light emitting module 141 uses the wide-angle lens 141b to spread light emitted by the light source 141a in various directions, and the light receiving module 143 uses the reflective mirror 143a to spread light in various directions. Since light is focused on the image sensor 143a, the obstacle detecting unit 140 may include different numbers of light emitting modules 141 and light receiving modules 143.

Briefly explaining the principle of the obstacle detecting unit 140 detecting the obstacle O, the light emitting module 141 emits 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 emitting module 141 travels toward the front of the cleaning robot 100 so that the light receiving module 143 can detect the obstacle ( O) will not receive the reflected light.

When an obstacle O is positioned 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 shown in FIG. 9, which 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 toward the light receiving module 143 is reflected by the reflective mirror 143a, and its travel path is directed toward the image sensor 143b, and the image sensor 143b receives the reflected light reflected from the reflective mirror 143a. do.

At this time, since the reflected light is reflected at various positions of the obstacle O, the image sensor 143b may obtain a reflected light image, and the obstacle detection unit 140 may determine the distance and direction of the obstacle O based on the reflected light image. can be calculated.

Specifically, the incident angle at which the light reflected from the obstacle O is incident on the reflective mirror 143a varies depending on the distance between the light emitting module 143 and the obstacle O. In addition, light incident on the reflective mirror 143a at different incident 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 is different depending on the distance between the light emitting module 143 and the obstacle O. That is, the reflected light image acquired by the image sensor 143b varies according to the distance between the light emitting module 143 and the obstacle O.

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

Depending on the direction of the obstacle O, the incident position of the reflection mirror 143a where light reflected from the obstacle O is incident is changed. In addition, reflected light reflected at different positions of the reflective mirror 143a is received at different positions of the image sensor 143b. As a result, the position at which the image sensor 143b receives the reflected light is different depending on the direction of the obstacle O. That is, the reflected light image acquired by the image sensor 143b varies according to the direction of the obstacle O with respect to 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 emitting module 141 including the light source 141a and the wide-angle lens 141b and the light receiving module 143 including the reflective mirror 143a and the image sensor 143b have been described, but the light emitting module 141 and the light receiving module 143 are not limited thereto.

For example, the obstacle detecting unit 140 detects the intensity of light reflected from the obstacle O as the distance to the obstacle O, or the obstacle detecting unit 140 detects the light transmitted from the obstacle detecting unit 140. The distance to the obstacle O can be calculated based on the time it takes for the object to return after being reflected by the obstacle O.

10 illustrates another example of an obstacle detecting unit included in a cleaning robot according to an exemplary embodiment.

As shown in FIG. 10 , the light emitting module 141 includes a light source 141c emitting light toward the front of the cleaning robot 100, and the light receiving module 143c is configured to reflect light from an obstacle O. An optical sensor 143c for receiving light may be included.

As shown in FIG. 10 , the light source 141c may transmit light having a substantially straight line toward the front of the cleaning robot 100, and the light sensor 143c is provided to correspond to the light source 141c and is provided to the obstacle O ) can receive the light reflected from it.

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 includes a plurality of light emitting modules 141 and a plurality of light receiving modules as shown in FIG. 10 . module 143.

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

11 illustrates an example of a contact sensing unit included in a cleaning robot according to an exemplary embodiment.

The contact sensing unit 150 includes the aforementioned bumper 151 and the bumper switches 153a and 153b: 153 together with the external force transmission members 155a and 155b: 155, the bumper restoring members 157a and 157b: 157, and the slip ( A slip prevention member 159a, 159b: 159 may be included.

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

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

In addition, the bumper 151 has a left protrusion 151c that transmits the external force F applied from the left to the left external force transmission member 155a and an external force F applied from the right to the right external force transmission member 155b. A right protrusion 151d is formed.

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

The bumper switches 153a and 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 come into contact. Specifically, the left bumper switch 153a is turned on or off according to an external force F generated by contact between the obstacle O and the left portion of the bumper 151 .

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

The left and right bumper switches 153a and 153b may be installed obliquely as shown in FIG. 11 in order 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 a difference between a direction in which the switch is pressed and a forward direction of the cleaning robot 100 becomes a first reference angle α. Here, the first reference angle α may range from 10 degrees to 60 degrees, and is preferably 45 degrees.

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

The external force transmitting member 155 may include a left external force transmitting member 155a and a right external force transmitting 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 presses 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 and 159b: 159 prevent the bumper 151 from slipping due to 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 left side at a front angle of 45 degrees to the cleaning robot 100, sliding of the bumper 151 causes an external force to be applied not only to the left external force transmitting member 155a but also to the right external force transmitting member 155b. (F) can be delivered. As a result, both the left bumper switch 153a and the right bumper switch 153b transmit the contact detection signal to the controller 110, and the controller 110 controls 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 anti-slip members 159a and 159b is fixed to the bumper 151 to limit the movement of the bumper 151 and the bumper fixing plates 151a and 151b and the sub body 103 to prevent the bumper 151 from moving. It includes bumper fixing protrusions 103a and 103b that limit the movement of the bumper.

Bumper fixing holes into which bumper fixing protrusions 103a and 103b are inserted are provided in each of the bumper fixing plates 151a and 151b. By providing a diameter of the bumper fixing hole larger than that of the bumper fixing protrusions 103a and 103b, the bumper 151 may move within a limited range.

In addition, anti-slip protrusions for preventing the bumper 151 from slipping are formed on the inner circumferential surface of the bumper fixing holes, and anti-slip grooves formed corresponding to the anti-slip protrusions are formed on the outer circumferential surfaces of the bumper fixing protrusions 103a and 103b.

Due to the anti-slip protrusion and the anti-slip groove, the bumper 151 is prevented from slipping. Specifically, when an external force F is applied from the front of the cleaning robot 100, the anti-slip protrusion is inserted into the groove of the slip device, thereby preventing the bumper 151 from slipping.

The bumper restoring members 157a and 157b: 157 restores the bumper 151 whose position has been moved by an external force to its original position.

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

One side of the bumper restoration member 157 is coupled to the elastic body fixing protrusion 103c formed on the sub body 103, and the other side of the bumper restoring member 157 is coupled to 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 backward, 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.

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

Hereinafter, an operation of the touch sensor 150 will be described.

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

When the cleaning robot 100 contacts the obstacle O, an external force F is applied to the bumper 151 . Also, the bumper 151 moves from the front to the rear 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 backward, and the external force transmission member 155 pressed by the bumper 151 rotates around the external transmission rotation shafts 103e and 103f. In addition, the external force transmitting member 155 presses the bumper switch 153 while rotating, and the bumper switch 153 pressed by the external force transmitting member 155 outputs a contact detection signal.

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

For example, when the front of the cleaning robot 100 contacts an 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 left and right sides of the bumper 151 equally move backward, and the rearward moving bumper 151 presses both the left external force transmission member 155a and the right external force transmission 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 The bumper switch 153b outputs a left touch detection signal and a right touch detection signal, respectively.

The control unit 110 receiving both the left contact detection signal and the right contact detection signal may recognize that both front 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 rearward, and the right side of the bumper 151 remains in place. That is, the bumper 151 is inclined to the left. In addition, the bumper 151 moves backward by the anti-slip member 159 and does not slide to the right.

The bumper 151, the left side of which moves rearward, presses both of the left external force transmitting members 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.

Upon receiving the left contact detection signal, the control unit 110 may detect contact of the left side of the cleaning robot 100 with the obstacle O.

In addition, since the controller 110 can determine the position of the obstacle O through the obstacle detecting unit 140, the controller 110 determines that the front left side of the cleaning robot 100 from the position of the obstacle O is the obstacle ( 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 from the left side of the bumper 151 parallel to the bumper 151 as shown in FIG. 14 .

As a result, the bumper 151 moves to the right as a whole, and while the bumper 151 moves to the right, the left protrusion 151c formed inside the bumper 151 presses the left external force transmitting member 155a. 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.

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

In addition, since the controller 110 can determine the position of the obstacle O through the obstacle detecting unit 140, the controller 110 determines that the left side of the cleaning robot 100 is the obstacle (O) from the position of the obstacle O. O) can be recognized.

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

Hereinafter, an 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 traveling in the cleaning space. In particular, the cleaning robot 100 may perform an outline alignment operation to effectively clean a portion where the outline of the obstacle O and the cleaning floor intersect (the outer portion of the cleaning floor).

FIG. 15 illustrates an example of an outline aligning operation of the cleaning robot according to an embodiment, and FIG. 16 illustrates the cleaning robot performing the outline aligning operation as illustrated in FIG. 15 .

An example of an 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 contact with the obstacle O using the contact sensor 150 .

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

Specifically, when a contact detection signal is received from the left bumper switch 153a, the controller 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 controller 110 may determine that the front right side of the cleaning robot 100 is in contact with the obstacle O.

In addition, when contact detection signals are received from both the left bumper switch 153a and the right bumper switch 153b, the controller 110 may determine that the front of the cleaning robot 100 is in contact with 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 driving wheel 163 includes a left driving wheel 163a and a right driving wheel 163b, and the left driving wheel 163a and the right driving wheel 163b may rotate independently. In addition, each of the driving wheels 163a and 163b is provided with a rotation sensor for detecting rotation of each of the driving wheels 163a and 163b.

The control unit 110 may determine whether the left and right driving wheels 163a and 163b are in contact with the obstacle O and the direction of contact with the obstacle O based on the rotation of the left and right driving 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 determines the corresponding level of the cleaning robot 110. It can be determined that there is contact with the obstacle O at the part.

Specifically, when the rotation of the left driving wheel 163a is not detected, the controller 110 determines that the front left side of the cleaning robot 100 has contacted the obstacle O, and the rotation of the right driving wheel 163b is detected. If not, the controller 110 may determine that the front right side of the cleaning robot 100 is in contact with the obstacle O.

In addition, when rotation of both the left and right driving wheels 163a and 163b is not sensed, the controller 110 may determine that the front of the cleaning robot 100 is in contact with the obstacle O.

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

As described above, based on the contact detection signal of the contact detection unit 150 or the rotation of the driving wheel 163, the cleaning robot 100 determines whether or not the cleaning robot 100 is in contact with the obstacle O and determines whether or not the cleaning robot 100 is in contact with the obstacle O. ), and the position of the cleaning robot 100 in contact with may be determined.

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

For example, as shown in (a) of FIG. 16 , when it is determined that the front right side of the cleaning robot 100 is in contact with the obstacle O, the cleaning robot 100 moves the front right side of the cleaning robot 100 rotate around the center

Specifically, when a touch detection signal is transmitted from the right bumper switch 153b of the contact sensor 150, the control unit 110 stops the right driving wheel 163b and rotates the left driving wheel 163a. ) can be controlled.

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

As another example, as shown in (b) of FIG. 16 , when it is determined that the front left side of the cleaning robot 100 is in contact with the obstacle O, the cleaning robot 100 has the front left side of the cleaning robot 100 as the center. rotate to

Specifically, when a touch detection signal is transmitted from the left bumper switch 153a of the contact sensor 150, the controller 110 stops the left driving wheel 163a and rotates the right driving wheel 163b. ) can be controlled.

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

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

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

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

For example, when touch detection signals are received from both the left bumper switch 153a and the right bumper switch 153b of the contact detection unit 150, the control unit 110 determines that both front sides of the cleaning robot 100 are obstructed ( O) can be judged to have been in contact with. 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 rotation of both the left driving wheel 163a and the right driving wheel 163b is not sensed or the rotation speed is significantly slower than the rotation command, the controller 110 controls both front sides of the cleaning robot 100. It can be determined that is in contact with the obstacle (O).

If both front sides of the cleaning robot 100 do not come into contact with the obstacle O (No in 1030), the cleaning robot 100 continues to rotate with the part in contact with the obstacle O as the rotation center.

When both front sides of the cleaning robot 100 come into contact with the obstacle O (YES in 1030), the cleaning robot 100 ends the outline aligning operation with the obstacle O.

Since the front part (bumper) of the cleaning robot 100 has a substantially flat shape, when both sides of the front side of the cleaning robot 100 come into contact with the obstacle O, the front part (bumper) of the cleaning robot 100 becomes the obstacle ( O) aligned with

In addition, in order to improve the cleaning efficiency of the edge of the cleaning floor where the outline of the obstacle O intersects with the cleaning floor, the cleaning robot 100 aligns the front outline of the cleaning robot 100 with the outline of the obstacle O. It is possible to clean the edge of the cleaning floor without driving for a predetermined edge cleaning time.

In this way, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, dust positioned at the boundary between the obstacle O and the cleaning floor through the dust inlet 103a provided on the bottom of the sub body 103. can be effectively cleaned.

FIG. 17 illustrates another example of an outline aligning operation of the cleaning robot according to an embodiment, and FIG. 18 illustrates the cleaning robot performing the outline aligning operation as illustrated in FIG. 17 .

Another example of the outline alignment operation 1100 of the cleaning robot 100 will be described with reference to FIGS. 17 and 18 . However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

The cleaning robot 100 determines whether the cleaning robot 100 is in contact with the obstacle O (1110).

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

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

As described in step 1020 shown in FIG. 15 , the cleaning robot 100 contacts the obstacle O based on the contact detection signal of the contact sensor 150 or the rotation of the driving wheel 163 ( 100) is determined, and the cleaning robot 100 is rotated 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 shown in (a) of FIG. 18 , when the front right side of the cleaning robot 100 contacts the obstacle O, the cleaning robot 100 rotates clockwise with the front right side as the center.

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

As described in step 1030 shown in FIG. 15 , the cleaning robot 100 detects an obstacle on both front sides of the cleaning robot 100 based on the contact detection signal of the contact sensor 150 or the rotation of the driving wheel 163. It can be determined whether it has been in contact with (O).

If both front sides of the cleaning robot 100 do not come into contact with the obstacle O (No in 1130), the cleaning robot 100 continues to rotate with the part in contact with the obstacle O as the rotation center.

When both front sides of the cleaning robot 100 come into contact with the obstacle O (YES in 1130), the cleaning robot 100 repeats backward and forward a predetermined number of times (1140).

A large amount of dust tends to accumulate at the boundary line where the outer line of the obstacle O and the cleaning floor meet. In addition, when the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, dust positioned at the boundary between the obstacle O and the cleaning floor through the dust inlet 103a provided on the bottom of the sub body 103. can be effectively cleaned.

Therefore, in order to more efficiently clean dust located at the boundary where the outline of the obstacle O and the cleaning floor meet, after the outline of the obstacle O and the front outline of the cleaning robot 100 are aligned, the cleaning robot 100 repeats backwards and forwards.

For example, after both front sides of the cleaning robot 100 come into contact with the obstacle O, the cleaning robot 100 moves backward a predetermined backward distance or for a predetermined time, as shown in FIG. 18(b) . can fall behind

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 shown in (c) of FIG. 18 .

The cleaning robot 100 may repeat such backward and forward motions a predetermined number of times.

In this way, after the front outline of the cleaning robot 100 and the outline of the obstacle O are aligned, if the backward and forward movements are repeated, the obstacle O and the cleaning robot 103 are cleaned through the dust suction port 103a provided on the bottom of the sub body 103. Dust located at the boundary of the floor can be cleaned more effectively.

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

Another example of the outline alignment operation 1200 of the cleaning robot 100 will be described with reference to FIGS. 19 to 21B. However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

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 detection unit 140 .

As described above, 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 the reflected light reflected from the obstacle O. there is. Also, the control unit 110 of the cleaning robot 100 may calculate the distance to the obstacle O according to the reflected light image obtained through the image sensor 143b.

When an obstacle O is detected in 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 distance d between the cleaning robot 100 and the cleaning robot 100. An angle Θ formed by the direction of travel and the outline of the obstacle O is detected (1220).

Specifically, the control unit 110 of the cleaning robot 100 may use the obstacle detecting unit 140 to calculate the distance d to the obstacle O positioned in front O of the cleaning robot 100. there is.

As described above, the control unit 110 determines the distance d to the obstacle O based on the reflected light image formed in the image sensor 143b of the obstacle detecting unit 140 by the light reflected from the obstacle O. distance can be calculated.

Also, the control unit 110 of the cleaning robot 100 may use the obstacle detecting unit 140 to calculate the angle Θ between the forward direction of the cleaning robot 100 and the outline of the obstacle O.

For example, as shown in (a) of FIG. 20 , the controller 110 divides the front of the cleaning robot 100 into a plurality of regions R1, R2, ... R10, and the obstacle detection unit 140 ) can be used to detect the distance from the obstacle O to the cleaning robot 100 in the plurality of regions R1, R2, ... R10.

Thereafter, the controller 110 determines the moving direction of the cleaning robot 100 and the obstacles O based on the distances from the obstacles O in the plurality of areas to the cleaning robot 100 as shown in FIG. 20(b). The angle (Θ) between the outlines of ) can be calculated.

Thereafter, the cleaning robot 100 calculates the radius of rotation and the center of rotation to align the front outline of the cleaning robot 100 with the exterior line of the obstacle O (1230).

The controller 110 determines the distance d between the cleaning robot 100 and the obstacle O and the angle between the forward direction of the cleaning robot 100 and the outline of the obstacle O (θ and the bumper 151 stored in advance). The cleaning robot 100 may calculate a rotational driving radius R and a rotational driving center C to align with the outline of the obstacle O based on the distance h between the robot and the driving wheel 163 .

Here, when the cleaning robot 100 rotates around the rotation center C, the front sides of the cleaning robot 100 come into contact with the obstacle O, and the outer line of the obstacle O of the cleaning robot 100 can be sorted

Thereafter, the cleaning robot 100 rotates around the calculated center C of rotation (S1240).

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 driving center calculated in step 1230 as shown in FIG. 21A. Control the driving unit 160 to rotate around (C).

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

For example, as shown in FIG. 21A , when the rotation center C is located on the right side of the cleaning robot 100, the driving unit 160 adjusts the rotational speed of the left driving wheel 163a to the right driving wheel ( It can be faster than the rotation speed of 163b). In addition, when the turning radius C is long, the difference between the rotational speed of the left driving wheel 163a and the rotational speed of the right driving wheel 163b is reduced, and when the rotational driving radius C is short, the left driving wheel 163a It is possible to increase the difference between the rotational speed of the right wheel and the rotational speed of the right driving wheel (163b).

While rotating, the cleaning robot 100 determines whether the distance to the obstacle O is smaller than the reference distance (1242).

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

In this case, the reference distance may vary according to the traveling speed of the cleaning robot 100, and may be determined as a distance required to sufficiently decelerate the traveling speed of the cleaning robot 100. For example, the reference distance may be set to approximately 10 cm to 12 cm according to the traveling speed of the cleaning robot 100 .

If the distance between the cleaning robot 100 and the obstacle O is not less than the 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 the 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 caused by the contact between the cleaning robot 100 and the obstacle O. can

For example, when the cleaning robot 100 travels at a first travel speed while traveling for cleaning, if the distance between the cleaning robot 100 and the obstacle O is less than the reference distance, the cleaning robot 100 The traveling speed of the cleaning robot 100 may be set to 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 decrease the rotational speed of the wheel driving motor 161 .

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

For example, when the distance between the cleaning robot 100 and the obstacle O becomes less than a predetermined reference distance, the cleaning robot 100 immediately decelerates the traveling speed of the cleaning robot 100 to a second level, and the cleaning robot 100 ( The shock mitigation speed may be maintained until the front side of 100 makes contact with the obstacle O.

As another example, the cleaning robot 100 may gradually decrease the traveling speed of the cleaning robot 100 when the distance between the cleaning robot 100 and the obstacle O becomes less than a predetermined reference distance. 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 the cleaning robot 100 reaches the second reference distance, the traveling speed of the cleaning robot 100 is reduced to the third traveling speed, and when the distance between the cleaning robot 100 and the obstacle O reaches the third reference distance, cleaning is performed. The driving speed of the robot 100 may be reduced to a fourth driving speed.

As another example, when the distance between the cleaning robot 100 and the obstacle O becomes less than a predetermined reference distance, the cleaning robot 100 continues to move the cleaning robot 100 until the cleaning robot 100 contacts the obstacle O. ) can continuously reduce 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.

In this way, by reducing the traveling speed of the cleaning robot 100, the impact of the cleaning robot 100 when the cleaning robot 100 and the obstacle O come into contact is minimized.

Thereafter, the cleaning robot 100 determines whether the cleaning robot 100 is in contact with the obstacle O (1250).

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

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

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

As described in step 1020 shown in FIG. 15 , the cleaning robot 100 contacts the obstacle O based on the contact detection signal of the contact sensor 150 or the rotation of the driving wheel 163 ( 100) is determined, and the cleaning robot 100 is rotated 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 front sides of the cleaning robot 100 are in contact with the obstacle O (1270).

As described in step 1030 shown in FIG. 15 , the cleaning robot 100 detects an obstacle on both front sides of the cleaning robot 100 based on the contact detection signal of the contact sensor 150 or the rotation of the driving wheel 163. It can be determined whether it has been in contact with (O).

If both front sides of the cleaning robot 100 do not come into contact with the obstacle O (No in 1270), the cleaning robot 100 continues to rotate with the part in contact with the obstacle O as the rotation center.

When both front sides of the cleaning robot 100 come into contact with the obstacle O (Yes in 1270 ), the cleaning robot 100 ends the outline aligning operation 1200 .

In this way, if 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 ( 100) may perform a preparation operation for aligning the front outline, 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 this is reduced

Such an outline aligning operation is not always performed when an obstacle O is detected. For example, if the width of the obstacle O is less than a certain reference width or if the outline of the obstacle O is uneven, the cleaning efficiency decreases, so the outline alignment operation may not be performed.

22 illustrates an example of a method of determining whether a cleaning robot performs an outline aligning operation according to an exemplary embodiment. 23 illustrates an example in which the cleaning robot performs an outline aligning operation as shown in FIG. 22, and FIG. 24 illustrates an example in which the cleaning robot does not perform the outline aligning operation as shown in FIG. 22. show

Referring to FIGS. 22 to 24 , an example of an alignment determination operation 1300 for determining whether the cleaning robot 100 performs an outline alignment operation will be described. However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

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

As described above 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 light 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 location 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 by using the obstacle detection unit 140 .

For example, the controller 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, as shown in FIG. 23 , the controller 110 may divide the front of the cleaning robot 100 into 10 regions R1, R2, ... R10. At this time, the sum of the widths of 6 regions among the 10 regions R1, R2, ... R10 may be set to be the reference width w.

Thereafter, the controller 110 determines whether obstacles O are detected in each of the 10 areas R1, R2, ... R10, and if the number of areas where obstacles O are detected is 6 or more, the controller 110 can determine that the width of the obstacle O is equal to or greater than the reference width w. Also, if the detected 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 obtains an image of the reflected light reflected from the obstacle O with the image sensor 143b of the obstacle detecting unit 140, calculates the width of the obstacle O based on the reflected light image, This may be compared with the reference width w.

If the width of the obstacle O is equal to or greater than 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, obstacles O are detected in 6 or more areas among 10 divided areas R1, R2, ... R10 in front of the cleaning robot 100. 23(b) , the cleaning robot 100 may perform an outline alignment operation of aligning 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 shown 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, the number of obstacles O in less than 6 areas among 10 areas R1, R2, ... R10 divided in front of the cleaning robot 100 If detected, the cleaning robot 100 may perform an operation of following the outline of the obstacle to travel along the outline of the obstacle O, as shown in (b) of FIG. 24 .

As another example, as shown in (a) of FIG. 24, obstacles O are detected in less than 6 areas among 10 areas R1, R2, ... R10 divided in front of the cleaning robot 100. Then, the cleaning robot 100 may immediately change its direction and perform an outline bouncing operation in which it travels in an arbitrary direction.

As such, if the width of the obstacle O is less than the reference width w, the obstacle O is likely to correspond to a leg of a furniture, etc., and the outline of the obstacle O such as a leg of the furniture and the boundary line of the floor to be cleaned. is less likely to accumulate dust.

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 aligning operation.

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

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

Referring to FIGS. 25 to 28 , another example of an alignment determination operation 1400 for determining whether the cleaning robot 100 performs an outline alignment operation will be described. However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

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

As described above 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 light 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 location 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), an 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 controller 110 moves the front of the cleaning robot 100 to a plurality of areas R1, R2, ... R10), and the distance between the obstacle O and the cleaning robot 100 can be detected in the plurality of areas R1, R2, ... R10 using the obstacle detecting unit 140. .

In addition, the controller 110 may detect obstacles ( The outline L1 of the obstacle O may be detected based on the distance between O) and the cleaning robot 100 .

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

Specifically, the controller 110 calculates the straightness of the outline of the obstacle O in order 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 means the degree to which the outline of the cross section deviates from the straight line when the object is cut, and the straightness of the object increases as the outline of the cross section deviates from the straight line.

In other words, the controller 110 may determine whether the outline L1 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, as shown in (b) of FIG. 26, (b) of FIG. 27, and (b) of FIG. An 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 the approximation straight line L2 using a linear approximation method.

Also, the controller 110 may calculate an error between the distance between the obstacle O and the cleaning robot 100 and the approximate straight line L, and calculate an 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 errors calculated as described above 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, as shown in FIG. 26(a), in the case of an obstacle O having a flat outline, the outline L1 detected by the cleaning robot 100 is a straight line as shown in FIG. 26(b). It maintains its shape and almost coincides with the approximation straight line L2.

In this way, when the outline L1 of the obstacle 100 detected by the cleaning robot 100 and the approximate straight line L2 almost match, the outline L1 of the obstacle O is determined to be flat, so the cleaning robot 100 As shown in (a) of FIG. 26 , an outline aligning operation for aligning the outline of the obstacle O and the front outline of the cleaning robot 100 is performed.

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

If the outline of the obstacle O is not flat (No in S1430), the cleaning robot 100 performs an obstacle avoidance operation (S1450).

For example, as shown in FIG. 27(a), 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, it has the shape of the letter “U”, and the outline L1 of the obstacle O detected by the cleaning robot 100 greatly deviate from the approximate straight line L2.

In this way, if the cleaning robot 100 deviates greatly from the outer line L1 and the approximate straight line L2 of the obstacle 100 detected, the outer line L1 of the obstacle O is determined to be not flat, so the cleaning robot 100 As shown in (c) of FIG. 27, ) performs an obstacle outline tracking operation that travels along the outline of the obstacle O.

As another example, as shown in (a) of FIG. 28 , when the cleaning robot 100 faces the edge of the obstacle O, the outline L1 of the obstacle O detected by the cleaning robot 100 is shown in FIG. 28 . As shown in (b) of (b), it has the shape of the English letter "V", and the outline L1 of the obstacle O detected by the cleaning robot 100 greatly deviate from the approximate straight line L2.

In addition, if the outline L1 of the obstacle O detected by the cleaning robot 100 deviates greatly from the approximate straight line L2, it is determined that the outline L1 of the obstacle O is not flat, so the cleaning robot 100 As shown in (c) of FIG. 28, performs an obstacle outline tracking operation that travels along the outline of the obstacle O.

As such, if the outline of the obstacle O is not flat, the bumper 151 provided in front of the cleaning robot 100 does not match the outline of the obstacle O, 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 cleaning efficiency by quickly avoiding the obstacle without performing an outline alignment operation.

FIG. 29 illustrates an example of a cleaning operation around an obstacle in which the cleaning robot intensively cleans around an obstacle along with an outline aligning operation according to an embodiment, and FIG. 30 shows the cleaning robot cleaning according to the method shown in FIG. 29 . show

Referring to FIGS. 29 and 30 , an operation 1500 of cleaning around an obstacle, in which the cleaning robot intensively cleans around an obstacle together with an outline aligning operation, will be described. However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

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

As described above 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 light 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 location 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 the outline alignment condition is satisfied (1520).

The outline alignment condition is a condition for performing the outline alignment operation described in FIGS. 22 and 25 . That is, the outline alignment condition 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 equal to or greater than 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 the 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 outline alignment condition is not satisfied.

If the outline alignment condition is not satisfied (No in S1520), the cleaning robot 100 performs an obstacle avoidance operation as described above (S1560).

This is to improve cleaning efficiency by omitting an unnecessary outline aligning operation when cleaning efficiency is not increased by aligning the outline.

When the outline alignment condition is satisfied (Yes in S1520), the cleaning robot 100 increases the rotational speed of the drum brush 173 and increases the suction power of the dust suction module 175 (S1530).

Specifically, the control unit 110 of the cleaning robot 100 increases the rotational speed of the brush drive motor 171 that rotates the drum brush 173 and the dust suction motor that drives the dust suction module 175 (not shown). ) Controls the cleaning unit 170 to increase the rotational speed.

When the rotational speed of the drum brush 173 increases, the amount of dust scattered by the drum brush 173 to the dust inlet 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 box 177.

When cleaning the floor, the cleaning robot 100 rotates the drum brush 173 at an appropriate rotational speed and removes the dust suction module 175 as shown in FIG. 30(a) to improve energy efficiency. Keep the suction power at an appropriate level.

When 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. 30(b) and , the suction force of the dust suction module 175 is increased.

As a result, the cleaning robot 100 may improve cleaning efficiency at 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 shown in FIGS. 15 , 17 , or 19 .

When the outline aligning operation ends, the cleaning robot 100 restores the rotational speed of the drum brush 173 and the suction power of the dust suction module 175 (1550).

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

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

An 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 description of the same operation as that of the cleaning robot 100 described above will be simplified.

The cleaning robot 100 performs cleaning area setting driving for setting a cleaning area (2010).

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

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

As shown in (b) of FIG. 32 , the cleaning robot 100 may clean the cleaning space while moving along a preset cleaning travel path, or may clean the cleaning space while moving in a random direction for a preset time.

FIG. 33 illustrates an example of cleaning driving of the cleaning robot according to an embodiment, and FIGS. 34 and 35 illustrate paths traveled by the cleaning robot according to the cleaning driving illustrated in FIG. 33 .

An example of a cleaning run 2100 including an outline alignment operation will be described with reference to FIGS. 33 to 35 . However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

The cleaning robot 100 travels in a straight line (2110).

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

Thereafter, the cleaning robot 100 determines whether an obstacle O is detected in front of the cleaning robot 100 (S2120).

The obstacle detecting unit 140 may transmit light such as infrared light 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 location where the reflected light image is generated on the image sensor 143b.

If the obstacle O is not detected in front of the cleaning robot 100 (No in 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 drawings, the cleaning robot 100 may determine whether an outline alignment condition is satisfied prior to performing an 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.

Also, if the outline alignment condition is satisfied, the cleaning robot 100 performs an outline alignment operation. However, for ease of understanding, it is assumed that the outline alignment condition is satisfied and the cleaning robot 100 performs the outline alignment operation.

When the outline alignment operation is completed, the cleaning robot 100 moves backward 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 moves backward the first distance d1 as shown in (b) of FIG. 34 .

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

For example, let "h`" be the maximum length from the center of the cleaning robot 100 to the outer line of the cleaning robot 100, and the distance from the center of the cleaning robot 100 to the front bumper 151 of the cleaning robot 100 When the length 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 may be set to "(√ㅧh"). .

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

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

Thereafter, the cleaning robot 100 follows the obstacle outline by the second distance d2 (2160). That is, the cleaning robot 100 travels the second distance d2 parallel to the outline of the obstacle.

As a result of the previously performed outline aligning operation, the moving direction of the cleaning robot 100 and the outline of the obstacle O become perpendicular to each other. Accordingly, when the cleaning robot 100 rotates approximately 90 degrees in place after a slight backward movement, the moving direction of the cleaning robot 100 becomes parallel to the outline of the obstacle O as shown in FIG. 34(c).

In this way, immediately after the outline aligning operation, the cleaning robot 100 may head in a direction parallel to the outline of the obstacle O, and immediately after the outline aligning operation, the cleaning robot 100 may perform driving following the outline of the obstacle. In other words, the cleaning robot 100 may travel parallel to the outline of the obstacle O without an initial stabilization operation to travel parallel to the outline of the obstacle O during driving following the outline of the obstacle.

Also, the second distance d2 is preferably about the length of the drum brush 163 of the cleaning robot 100 or the width of the cleaning robot 100 . If the second distance d2 is set to approximately 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 straight line travel and the next straight line travel When cleaning, the area to be cleaned by the cleaning robot 100 may overlap.

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

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

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 traveling parallel to the outline of the obstacle O and following the outline of the obstacle, the cleaning robot 100 rotates in the opposite direction to the obstacle O as shown in (d) of FIG. will be directed towards

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

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

As described above, the cleaning robot 100 performs an outline aligning operation while cleaning in a zigzag pattern, so that the cleaning robot 100 can clean the boundary between the obstacle O and the cleaning floor.

In addition, during the outline-following driving in parallel with the obstacle O in the zigzag pattern, the outline-following driving may be performed without an initial stabilization operation of making the driving direction parallel to the outline of the obstacle O.

FIG. 36 illustrates another example of cleaning driving of the cleaning robot according to an embodiment, and FIGS. 37 and 38 illustrate paths traveled by the cleaning robot according to the cleaning driving illustrated in FIG. 36 .

Another example of a cleaning run 2200 including an outline alignment operation will be described with reference to FIGS. 36 to 38 . However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

The cleaning robot 100 travels in a straight line (2210).

The controller 110 of the cleaning robot 100 may control the driving unit 140 so that the cleaning robot 100 travels in a straight line 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 light 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 location where the reflected light image is generated on the image sensor 143b.

If the obstacle O is not detected in front of the cleaning robot 100 (No in 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 moves backward 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 moves backward the third distance d3 as shown in (a) of FIG. 37 .

In addition, it is preferable to set the third distance d3 to a distance within a distance at which the obstacle detecting unit 140 can detect the obstacle O. This is for the cleaning robot 100 to perform an outline aligning operation afterwards.

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

The controller 110 of the cleaning robot 100 may control the driving unit 160 so 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 less than 90 degrees as shown in FIG. 37(b). That is, it is preferable to keep the front of the cleaning robot 100 facing the obstacle O even after rotating in place. This is for the cleaning robot 100 to perform an outline aligning operation afterwards.

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.

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

When the outline aligning operation is completed, the cleaning robot 100 moves backward 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 moves backward the fourth distance d4 as shown in (d) of FIG. 37 .

The fourth distance d4 is the maximum length (h`) from the center of the cleaning robot 100 to the outer line of the cleaning robot 100 and the distance from the center of the cleaning robot 100 to the front bumper 151 of the cleaning robot 100. It is preferable that it is a larger value 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 in place by approximately 180 degrees in a random direction (2280).

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

After the outline alignment operation in which the outline of the obstacle O and the front outline of the cleaning robot 100 come into contact, the cleaning robot 100 rotates 180 degrees, so the cleaning robot 100 moves to the obstacle as shown in (d) of FIG. (O) in the opposite direction.

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

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

As described above, the cleaning robot 100 performs an outline aligning operation while cleaning in a zigzag pattern, so that the cleaning robot 100 can clean the boundary between the obstacle O and the cleaning floor.

In particular, when the obstacle O is found, the cleaning robot 100 can thoroughly clean the boundary between the obstacle O and the cleaning floor by performing the outline aligning operation twice in a parallel position.

FIG. 39 illustrates another example of a cleaning run of a cleaning robot according to an embodiment, and FIGS. 40 and 41 illustrate paths traveled by the cleaning robot according to the cleaning run shown in FIG. 39 .

Another example of a cleaning operation 2300 including an outline aligning operation will be described with reference to FIGS. 39 to 41 . However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

The cleaning robot 100 travels in a straight line (2310).

The controller 110 of the cleaning robot 100 may control the driving unit 140 so that the cleaning robot 100 travels in a straight line 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 light 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 location where the reflected light image is generated on the image sensor 143b.

If the obstacle O is not detected in front of the cleaning robot 100 (No in 2320), 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 2320), the cleaning robot 100 performs an outline alignment operation (2330).

The cleaning robot 100 may perform an outline alignment operation as shown in FIG. 40(a) when the outline alignment condition is satisfied.

When the outline aligning operation is completed, the cleaning robot 100 moves backward 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 moves backward the fifth distance d5 as shown in (b) of FIG. 40 .

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

Thereafter, the cleaning robot 100 rotates in place by a random angle in a random direction (2350).

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

When the cleaning robot 100 rotates at an arbitrary angle in an arbitrary direction, the cleaning robot 100 can travel in a straight line in an arbitrary direction thereafter.

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

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

The cleaning robot 100 performs a cleaning run having a random pattern for a predetermined time period, and cleans the cleaning space while performing the cleaning run.

42 illustrates another example of an automatic cleaning operation in which a cleaning robot automatically cleans a cleaning space according to an embodiment, and FIG. Show cleaning.

An automatic cleaning operation 3000 in which the cleaning robot 100 automatically cleans the cleaning space will be described with reference to FIGS. 42 and 43 . However, the description of the same operation as that of the cleaning robot 100 described above will be simplified.

The cleaning robot 100 performs cleaning area setting driving for setting a cleaning area (3010).

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

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

After performing the first cleaning run as shown in (a) of FIG. 43 , the cleaning robot 100 may perform the second cleaning run as shown in (b) of FIG. 43 .

As shown in (a) and (b) of FIG. 43 , the first cleaning run and the second cleaning run are cleaning runs having a zigzag pattern perpendicular to each other.

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

In contrast, in the second cleaning run, the cleaning run in the y-axis direction is performed with the y-axis as the main axis, and when the cleaning run in the y-axis direction is finished, the cleaning run in the y-axis direction is shifted to the x-axis direction and the cleaning run in the y-axis direction is performed again.

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

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

Referring to FIGS. 44 and 45 , a returning 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 a 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 power is low if the output voltage of the battery is less 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).

While performing the cleaning operation, the cleaning robot 100 may increase cleaning efficiency by performing an outline aligning operation when an obstacle O is detected.

On the other hand, if the cleaning robot 100 performs the outline aligning operation while returning to the charging station CS, not only additional power consumption occurs, but also the return to the charging station CS is delayed.

For this reason, the cleaning robot 100 deactivates the outline aligning operation during the return trip.

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

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

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

Although an embodiment of the disclosed invention has been shown and described above, the disclosed invention is not limited to the specific embodiment described above, and those skilled in the art to which the disclosed invention belongs without departing from the subject matter claimed in the claims Of course, various modifications are possible by this, and these modifications cannot be 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: reflection mirror
143b: image sensor 150: touch sensor
151: bumper 153: bumper switch
155: external force transmission member 157: bumper restoring member
159: anti-slip member 160: driving part
170: cleaning unit 180: storage unit

Claims (20)

A main body having at least a part of the flat front;
a driving unit for moving the main body;
an obstacle sensor that detects an obstacle in a non-contact manner and outputs an obstacle detection signal;
a contact sensor detecting contact with the obstacle and outputting a contact detection signal;
a suction motor that rotates the suction fan; and
A controller electrically connected to the driving unit, the obstacle sensor, the contact sensor, and the suction motor;
The control unit
Determine whether or not to align the flat front of the main body with the obstacle based on the obstacle detection signal;
Based on determining the alignment between the flat front of the main body and the obstacle, controlling the driving unit so that the flat front is parallel to a first position of the obstacle;
Based on the contact detection signal, it is detected that the flat front contacted the first position of the obstacle;
Controlling the driving unit so that the main body moves backward based on contact of the flat front with the first position of the obstacle;
Controlling the driving unit so that the main body travels in a curve so as to make the flat front side parallel to the second position of the obstacle adjacent to the first position of the obstacle;
A cleaning robot that increases a rotational speed of the suction motor while the main body moves toward the obstacle. According to claim 1,
The control unit
The cleaning robot determines an alignment between the flat front of the main body and the obstacle based on a width of the obstacle equal to or greater than a reference width. According to claim 1,
The control unit
and determining to avoid the obstacle based on the fact that the width of the obstacle is less than a reference width. According to claim 1,
The control unit
Detecting an outline of the obstacle based on the obstacle detection signal;
The cleaning robot determines alignment between the flat front of the main body and the obstacle based on the straightness of the outer line of the obstacle being within a predetermined range. According to claim 1,
The control unit
Detecting an outline of the obstacle based on the obstacle detection signal;
The cleaning robot determines to avoid the obstacle based on the straightness of the outline of the obstacle deviating from a predetermined range. According to claim 1,
The control unit
A cleaning robot that controls the traveling part so that the main body moves backward by a predetermined first distance from the obstacle. According to claim 6,
The control unit
Based on the contact detection signal, it is detected that the flat front is in contact with the second position of the obstacle;
The cleaning robot controls the driving part so that the main body moves backward by a predetermined second distance from the obstacle based on contact of the flat front with the second position of the obstacle. According to claim 7,
the second distance
A cleaning robot that is the difference (h'-h) between the maximum length (h') from the center of the cleaning robot to the outer line of the cleaning robot and the length (h) from the center of the cleaning robot to the front bumper of the cleaning robot. According to claim 1,
The control unit
Calculating a distance to the obstacle and an angle between the moving direction of the main body and the obstacle based on the obstacle detection signal;
The cleaning robot calculates a turning radius (R) and a turning center (C) for the curved driving based on a distance to the obstacle, an angle between the moving direction of the main body and the obstacle, and a predetermined distance between the bumper and the driving wheel. According to claim 9,
The control unit
The cleaning robot controls the traveling unit to decrease traveling speed based on a distance to the obstacle being less than a predetermined reference distance. A method for controlling a cleaning robot comprising a main body having a flat front at least in part, a traveling part for moving the main body, and a suction motor for rotating a suction fan, the method comprising:
determining whether a flat front of the main body and an obstacle are aligned based on an obstacle detection signal output from an obstacle sensor;
based on determining an alignment between the flat front of the main body and the obstacle, controlling the driving unit so that the flat front is parallel to a first position of the obstacle;
detecting contact of the flat front with the first position of the obstacle based on a contact detection signal output from a contact sensor;
controlling the driving unit so that the main body moves backward based on contact of the flat front with the first position of the obstacle;
controlling the driving unit so that the main body travels in a curve so as to make the flat front face parallel to a second position of the obstacle adjacent to the first position of the obstacle;
and increasing a rotational speed of the suction motor while the body moves toward the obstacle. According to claim 11,
Determining whether to align between the flat front of the body and the obstacle is,
and determining alignment between the flat front of the main body and the obstacle based on a width of the obstacle being greater than or equal to a reference width. According to claim 11,
Determining whether to align between the flat front of the body and the obstacle is,
and determining to avoid the obstacle based on a width of the obstacle being less than a reference width. According to claim 11,
Determining whether to align between the flat front of the body and the obstacle is,
detecting an outline of the obstacle based on the obstacle detection signal;
and determining an alignment between the flat front of the main body and the obstacle based on a straightness of an outline of the obstacle being within a predetermined range. According to claim 11,
Determining whether to align between the flat front of the body and the obstacle is,
detecting an outline of the obstacle based on the obstacle detection signal;
and determining to avoid the obstacle based on a straightness of the outline of the obstacle deviating from a predetermined range. According to claim 11,
Controlling the driving unit so that the main body moves backward,
and moving the main body backward by a predetermined first distance from the obstacle. According to claim 16,
detecting contact of the flat front with the second position of the obstacle based on the contact detection signal;
and controlling the driving part so that the main body moves backward by a predetermined second distance from the obstacle based on contact of the flat front with the second position of the obstacle. According to claim 17,
the second distance
The control method of the cleaning robot, which is a difference (h'-h) between a maximum length (h') from the center of the cleaning robot to an outline of the cleaning robot and a length (h) from the center of the cleaning robot to a front bumper of the cleaning robot. According to claim 11,
Controlling the driving unit so that the main body travels in a curve,
calculating a distance to the obstacle and an angle between the moving direction of the main body and the obstacle based on the obstacle detection signal;
Calculating a turning radius (R) and a turning center (C) for the curved driving based on the distance to the obstacle, the angle between the moving direction of the main body and the obstacle, and the distance between the predetermined bumper and the driving wheel; A control method of a cleaning robot comprising: According to claim 19,
Controlling the driving unit so that the main body travels in a curve,
and reducing a traveling speed based on a distance to the obstacle being less than a predetermined reference distance.

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