KR20150065972A - Robot cleaner and method for controlling the same - Google Patents

Abstract

The disclosed invention relates to a robot cleaner and a method for controlling the robot cleaner. The robot cleaner comprises a foreign material detection sensor sensing various state including images from the front or back based on a driving direction, and transmitting to a control part; and a control part generating a front image based on sensing information transmitted from the foreign material detection sensor, distinguishing the front bottom area and non-bottom area by analyzing the generated front image, and detecting existence of foreign materials of the bottom area, or identifying type of the detected foreign materials.

Description

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

A robot cleaner and a control method of the robot cleaner.

Currently, the robot cleaner is a device that installs a rotatable brush on the bottom surface and sweeps the dust on the floor surface toward the suction port side when the robot cleaner runs.

The robot cleaner described above is a device for cleaning foreign matter while traveling on its own area without any additional operation by the user, and carries out a cleaning operation while traveling according to a predetermined driving pattern.

As the number of users using robotic vacuum cleaners increases rapidly due to the convenience of living, various researches have been conducted in order to increase the reliability of removing the foreign substances in the robot cleaner.

It is a very important issue in the robot cleaner to provide the cleaning function of the wet mode and the dry mode in advance to determine the kind of the foreign matter. For example, if there is foreign matter such as hair or dust on the floor surface, it is effective to first perform a dry cleaning and perform an additional wet cleaning, while, on the other hand, a liquid containing milk, juice, stew, In the presence of foreign matter, performing a normal dry cleaning not only spreads the contamination to the surroundings, but also causes damage to the cleaning member (for example, a brush) of the robot cleaner.

Accordingly, there is a need for a technology for detecting the presence or absence of foreign substances in front of the robot cleaner, as well as for identifying the type of foreign object.

One aspect of the robot cleaner and the control method of the robot cleaner relates to a robot cleaner and a control method of the robot cleaner for detecting foreign objects by acquiring image information of the cleaned floor and distinguishing the types of foreign objects detected.

According to an aspect of the present invention, there is provided a robot cleaner including: a foreign matter detection sensor for sensing a front region; And a controller for generating a forward image based on the sensing information transmitted from the foreign matter detection sensor and analyzing the generated forward image to distinguish a front area and a bottom area from each other, And a control unit for determining the type of the foreign object.

Further, the foreign matter detection sensor may include a light irradiation unit for irradiating the forward light; And an image acquisition unit for converting the light incident from the front or rear side into an electrical signal to acquire a video signal.

The control unit may further include: a video signal receiving unit receiving the video signal transmitted from the video acquiring unit; An image processor for converting an electrical image signal received by the image signal receiver to generate a forward image; A foreign matter sensing unit for distinguishing a bottom region and a bottom region based on the forward image generated by the image processing unit and for sensing foreign matter in the bottom region based on the forward image or for identifying the type of foreign matter; . ≪ / RTI >

Also, the foreign substance sensing unit may determine the size of the foreign substance detected from the forward image, and may determine the foreign substance as a cleaning object when the size of the detected foreign substance falls within the reference value range.

In addition, the foreign substance sensing unit can detect the foreign matter in the front region by grasping the boundary through each color difference from each frame of the forward image continuously inputted through the image processing unit.

In addition, the foreign substance sensing unit may analyze the degree of distortion of the ray-structured light irradiated through the light irradiating unit in the front image obtained through the image processing unit to determine whether or not foreign matter exists in the front region.

In addition, when the linear structure light is irradiated in a straight line shape so as to intersect with the running direction of the robot cleaner, and the foreign matter sensing unit detects a distortion in a specific region among the regions irradiated with the linear structure light in the front image, It can be understood that a foreign substance exists in the region.

The robot cleaner may further include a foreign matter sensing sensor for sensing a rear area of the robot cleaner, and the foreign matter sensing unit may detect a foreign object based on a shape of the foreign object based on the front image and the rear image after cleaning the bottom area can do.

Also, the foreign matter sensing unit may apply the forward and backward images to an Inverse Perspective Mapping method to acquire an image based on a position perpendicular to the bottom area, And if the shape of the stain is deformed, it is possible to judge the stain as a cleanable stain.

Also, the foreign substance sensing unit extracts luminance from a front image obtained through the image processing unit, extracts a reflected light region having an extracted luminance value equal to or higher than a reference value, forms a closed curve by grasping a boundary curve of the foreign substance from the forward image, When the reflected light region overlaps with the inner region of the closed curve, the foreign matter can be judged as a liquid.

The control unit may further include a light source control unit for controlling ON or OFF of a light source of linear structure light or plane structure light emitted from the light irradiation unit.

According to another aspect of the present invention, there is provided a method for controlling a robot cleaner, comprising: acquiring a forward image according to traveling of a robot cleaner; processing the forward image to distinguish a bottom region and a non- It is possible to detect the foreign matter in the front region of the robot cleaner based on the image.

In addition, foreign objects in the front region can be detected by grasping the boundary through the color difference from each frame of the forward image continuously input in accordance with the running of the robot cleaner.

Further, it may further include irradiating light in front of the running direction of the robot cleaner.

In addition, foreign matter in the front region can be detected by analyzing the degree of distortion of the irradiated line structure light in the obtained front image.

The robot cleaner further obtains a rear image corresponding to the running of the robot cleaner, processes the rear image to distinguish the bottom area from the bottom area, and detects the uneven area based on the back image after cleaning the front area and the bottom area. You can detect stains based on shape.

According to still another aspect of the present invention, there is provided a method of controlling a robot cleaner, including: dividing a bottom area and a bottom area from a forward image acquired according to travel of a robot cleaner; Converting the forward image into black and white; Extracting a luminance from the monochrome converted front image, and extracting a reflected light region having the extracted luminance value equal to or greater than a reference value; Forming a closed curve by grasping a boundary curve of the foreign object from the forward image; Confirming whether the reflected light region overlaps the inner region of the closed curve; And recognizing that a foreign substance in liquid form exists in the corresponding region if the result of the check is duplicated.

According to one aspect of the robot cleaner and the method of controlling the robot cleaner, the floor area is divided through the front image based on the traveling direction of the robot cleaner, the presence of the foreign object is detected by analyzing the bottom area of the front image, It is possible to expect an effect that the kind of the foreign substance can be grasped.

In addition, it is possible to improve the reliability of the foreign matter detection result and the foreign matter type determination result through various analysis of the forward image, and to apply it to the robot cleaner, the user's satisfaction with the cleaning result can be improved.

1 is a view showing an appearance of a robot cleaner.
2 is a view showing the configuration of the robot cleaner in detail.
FIG. 3 is a view showing in detail the configuration of the foreign matter detection sensor.
4 is a diagram showing the configuration of the control unit in detail.
5 is a flowchart for explaining a control method of the robot cleaner.
6 is a view for explaining an embodiment of a method for detecting a foreign object in the robot cleaner.
FIGS. 7 and 8 are views for explaining another embodiment of the foreign object detecting method of the robot cleaner.
FIGS. 9 and 10 are views for explaining another embodiment of a foreign matter detection method of the robot cleaner.
11 is a view for explaining a method of identifying a foreign object type of the robot cleaner.

BRIEF DESCRIPTION OF THE DRAWINGS The objectives, specific advantages, and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. In this specification, the terms first, second, etc. are used to distinguish one element from another, and the element is not limited by the terms.

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

1 is a view showing an appearance of a robot cleaner.

1, the robot cleaner 10 includes a foreign matter detection sensor including a main body 11, a light irradiation unit 13, and an image acquisition unit 17, a drive wheel 27, and a cleaning member 29 .

More specifically, the light irradiating unit 13 may be provided on an upper portion and a lower portion of a front surface facing forward in the running direction of the main body 11, but is not limited thereto, It is also possible to change the value. At this time, the light irradiating unit 13a provided at the upper portion may irradiate a linear structure light such as a laser, and the light irradiating unit 13b provided at the lower portion may irradiate a surface structure light such as an LED, But is not limited thereto.

The image acquiring unit 17 includes a side mirror 19 for reflecting the incident light to the photographing lens 21, a photographing lens 21 for transmitting the light transmitted through the side mirror 19 to the image sensor 23, And an image sensor 23 that converts light incident through the photographing lens 21 into an electric signal. At this time, the image sensor 23 may be a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), but is not limited thereto. The image acquiring unit 17 may be configured to acquire images through incident light including a camera. Further, the image acquiring unit 17 is not limited to the position shown in Fig. 1, but may be mounted at another position as required by the operator.

The driving wheels 27 may be formed on the left and right edges of the central area of the bottom surface of the main body 11 in symmetrical positions with respect to each other and in the front area of the bottom surface of the main body 11. However, It is also possible to mount it. At this time, the driving wheel 27 is configured to be movable in various directions such as forward, backward, or rotation of the main body 11 in the cleaning driving mode, and can receive a moving force through a wheel motor (not shown). The driving wheel 27 may be modularized and detachably mounted on the bottom surface of the main body 11 through a method such as a hook coupling, a screw coupling, a fitting, or the like.

The cleaning member 29 is a structure required for cleaning the bottom surface in the operation mode of the dry mode and the wet mode including the brush unit and the mop which will be described later and is not limited to the brush unit and the mop described above, As shown in FIG.

In addition to the above-described components, the robot cleaner 10 may include a sensor, a communication unit, a display, a dust collecting unit, a brush unit, and a power supply unit.

In more detail, the detection sensor may be a sensor for detecting an obstacle present on a path that the main body 11 travels, and may be in the form of a proximity sensor capable of recognizing distance, but is not limited thereto. In addition, the robot cleaner 10 may further include a vision sensor capable of recognizing the position to form a map for driving the robot cleaner 10.

The communication unit enables the robot cleaner 10 to communicate with an external device such as a docking station and virtual guard. At this time, the docking station can supply power to the main body 11 in such a configuration that the main body 11 is docked when the cleaning running mode of the robot cleaner is completed or when the amount of the battery becomes lower than the reference value. The docking station may include a communication unit for transmitting and receiving a docking signal with the main body 11 to induce docking of the main body 11. [ In order to prevent the robot cleaner 10 from entering the specific area, the virtual guard is configured to perform a virtual wall function for distinguishing the travel restriction area at the time of traveling of the robot cleaner 10, It is possible to transmit an entry limiting signal toward the connection path between the two.

The display is formed on one side of the main body 11 and can display various states of the robot cleaner 10. For example, the battery charging state or whether the dust collecting part is full of dust, the cleaning traveling mode of the robot cleaner 10, the sleeping mode, and the like may be displayed.

The dust collecting unit may collect dust such as dust that is collected through the brush unit or the like and collects through the suction port.

The brush unit may include a side brush unit and a main brush unit. The side brush unit is installed on both front sides of the main body 11 and is rotatable in a horizontal plane with respect to the bottom surface. . At this time, the side brush unit may include a protruding side brush unit and a fixed side brush unit.

The main brush unit may be attached to a suction port formed on the bottom surface of the main body 11. [ The main brush unit may include a main brush and a roller, and the main brush may be formed on the outer surface of the roller. As the roller rotates, the main brush can scatter dust accumulated on the floor surface and guide it to the suction port. At this time, the main brush can be applied to any material having an elastic force.

The power supply unit is a device for supplying power for driving the main body 11 and includes a battery for supplying driving power in addition to the main body 11 and electrically connected to a driving unit for driving various components mounted on the main body 11 . At this time, the battery may be a rechargeable secondary battery, and may be charged through the power supply from the docking station when the main body 11 completes the cleaning running mode and is coupled to the docking station (not shown).

FIG. 2 is a detailed view of the configuration of the robot cleaner, FIG. 3 is a detailed view of the foreign matter detection sensor, and FIG. 4 is a detailed view of the configuration of the control unit.

6 and 7 for explaining another embodiment of the method for detecting a foreign object in the robot cleaner, and FIG. 8 and FIG. 8 for explaining another embodiment of the method for sensing foreign objects in the robot cleaner. 9 and 10 for explaining the foreign matter sorting method of the robot cleaner will be described with reference to FIG.

2, the robot cleaner 10 may include a foreign matter detection sensor 100, a control unit 200, a motor driving unit 300, a cleaning member operation unit 400, and a memory 500.

The foreign substance detection sensor 100 senses various states including an image from a front or a rear direction on the basis of the traveling direction, and transmits the sensed state to the control unit 200.

3, the foreign substance detecting sensor 100 includes a light irradiating unit 13 for irradiating the front surface structure light including the linear light including the laser light or the LED light forward, And an image acquiring unit 17 for converting the light to an electrical signal to acquire a video signal. The image acquiring unit 17 may include a first image acquiring unit mounted on the front surface of the robot cleaner 10 and a second image acquiring unit mounted on the rear surface of the robot cleaner. The front and rear surfaces may be divided into a front side and a rear side based on a running direction of the robot cleaner 10.

The control unit 200 generates a forward image based on the sensing information transmitted from the foreign material detection sensor 100, analyzes the generated forward image to distinguish the forward and backward regions from each other, It is possible to detect the presence or the kind of foreign matter detected.

4, the control unit 200 may include a video signal receiving unit 210, a light source control unit 220, an image processing unit 230, a foreign substance sensing unit 240, and a drive control unit 250.

More specifically, the image signal receiving unit 210 can receive the image signal transmitted from the image obtaining unit 17.

The light source control unit 220 can control ON or OFF of the light sources of the line structure light or the plane structure light emitted from the light irradiation unit 13.

The image processing unit 230 may convert the electrical image signal received by the image signal receiving unit 210 to generate a forward image. At this time, if the received electrical image signal is for the rear side, it is natural that the rear image is generated.

The foreign substance sensing unit 240 distinguishes the floor area and the non-floor area based on the forward image generated by the image processing unit 230, detects the foreign substance in the floor area based on the forward image, .

At this time, the foreign substance sensing unit 240 may determine the size of the foreign substance detected from the forward image, and may determine the foreign substance to be cleaned if the size of the detected foreign substance falls within the reference value range. In this case, the reference value range means a range of the maximum size value from the minimum size value of the foreign object to be cleaned, and is a criterion for excluding foreign objects that are too small or too large to be cleaned.

Hereinafter, a description will be given of a technique for detecting a foreign object in the foreign object sensing unit 240 or a kind of a foreign object.

First, the foreign substance sensing unit 240 can detect the foreign matter in the front region by grasping the boundary through the color difference from each frame of the continuously inputted forward image through the image processing unit 230. [

For example, as shown in FIGS. 6 (a) to 6 (b), the foreign substance sensing unit 240 senses the moving image of each of the front image frames input by the image processing unit 230 in real time Directional color components of the neighboring region, and divides the bottom region and the non-bottom region by the color tracking method based on the partial color components. In this case, the color tracking means the degree to which the color balance is maintained over the entire achromatic color scale (grayscale). For the luminance region generated by the monochrome signal, It may mean the degree to which a certain chromaticity is being obtained.

Meanwhile, the foreign substance sensing unit 240 may be able to distinguish the bottom area from the non-bottom area from the forward image through a water-shed technique. This can be achieved by transforming the original image into a gradient image assuming a forward image as a two dimensional terrain and acquiring a watershed line filling the water at a local minimum, . ≪ / RTI >

Next, the foreign substance sensing unit 240 extracts a boundary (contour) from the forward image frame continuously input in the bottom region through the color difference (Fig. 6 (c)) and removes the background except the boundary ), And labels the detected foreign matter (A) (FIG. 6 (e)) to detect the foreign matter.

At this time, the foreign substance sensing unit 240 creates a foreign substance grid map from the continuous observation information, registers a region where the foreign substance is observed many times by probability update, with a high probability on the map, It is also possible to improve the reliability of the foreign matter detection result by carrying out the additional verification according to the foreign matter detection by registering and managing with probability. At this time, a region where foreign matter is not found for a certain period among the regions where the foreign substance is likely to be present may be deleted on the grid map.

In addition, the foreign substance sensing unit 240 can analyze the degree of distortion of the ray-structured light irradiated through the light irradiating unit 13 in the forward image acquired through the image processing unit 230 to determine presence or absence of foreign matter in the front region. It is also possible to analyze the degree of distortion of the plane structure light without limitation. At this time, the line-structured light may be irradiated in a straight line shape (see FIG. 7) so as to intersect the running direction of the robot cleaner 10.

When the foreign substance sensing unit 240 detects a distortion in a specific region of a region irradiated with linear structure light in the front image, it can be determined that a foreign substance exists in the region.

For example, as shown in Fig. 7, the robot cleaner 10 can irradiate linearly structured light like a laser toward the front through the light irradiation part 13 (Figs. 7 and 8 (a)). At this time, when the foreign substance sensing unit 240 senses the distortion of the linear structure light (B in FIG. 8 (c)) in the forward image transmitted through the image processing unit 230, it is determined that the foreign substance exists in the corresponding region, (B in Fig. 8 (d)). At this time, the foreign substance sensing unit 240 determines a region that does not appear as a straight line as a distortion region according to the characteristic of the line-structured light that appears as a straight line, or compares the state of the linear structure light with the foreign- It is also possible to judge the distortion of the light.

In addition, the foreign substance detection unit 240 detects the foreign object based on the forward image before passing through the robot cleaner obtained through the first image acquiring unit and the second image acquiring unit, and the rear image after cleaning the bottom area by the robot cleaner You can detect the stain based on the modified stain pattern. At this time, the foreign substance sensing unit 240 acquires an image of a position reference perpendicular to the floor area by applying a forward image and a backward image to an inverse perspective mapping transform method, And if it is confirmed that the shape of the stain is deformed, it is possible to judge the stain as a cleanable stain. In this case, the stain is defined as meaning the traces of the liquid such as coffee, juice and the like having different colors from the floor.

9, when the robot cleaner 10 mounts the cleaning member 29 such as a first image acquiring unit 17a, a second image acquiring unit 17b, and a mop and travels, (A) and a rear image (Fig. 10 (b)) photographed from the first image acquiring unit 17a and stores the forward image (Fig. 10 The image viewed from the vertical position is acquired and the difference between the front and rear images is calculated using the difference image based on the pixel brightness (Fig. 10 (c)) to detect the stain from the modified stain pattern. At this time, the foreign substance sensing unit 240 may detect differences between the two images through a technique such as an NSSD (Normalized Sum of Squared Difference) and a NCC (Normalized Cross-Correlation) in addition to the pixel brightness difference difference image.

The foreign substance sensing unit 240 extracts luminance from the forward image obtained through the image processing unit 230 and extracts a reflected light region having the extracted luminance value equal to or greater than the reference value, The curve can be grasped to form a closed curve. In addition, the foreign substance sensing unit 240 may check whether the reflected light region overlaps the inside of the closed curve. If the foreign substance is overlapped, the foreign substance may be determined as a liquid. At this time, the reflected light region extraction is performed by grasping a region having a luminance value higher than a reference value as a reflected light region through the surface structure light irradiated through the light irradiating unit 13.

11 (a) and 11 (b)), the foreign substance sensing unit 240 distinguishes the bottom area and the bottom area from the front image, (FIG. 11 (d)). If the curvature direction of the boundary curve is overlapped with the reflected light region, , (f)). In this case, the bottom and non-bottom regions can be classified by an image segmentation technique using a Watershed algorithm. Boundary curve image extraction can be performed through a Canny Edge Detection algorithm or a Find Contour algorithm. But is not limited thereto.

The driving control unit 250 can control the traveling direction of the robot cleaner 10 according to the presence or the type of the foreign object in the front area detected by the foreign material sensing unit 240. [

For example, the drive control unit 250 may control the robot cleaner 10 to avoid running in front of the robot when sensing the liquid area on the basis of the running direction of the robot cleaner 10, It is possible to control the driving mode according to the type of the foreign matter or the front foreign matter such as driving the wet cleaning mode in the corresponding area when foreign matter is detected.

The motor driving unit 300 may provide a driving force to the driving wheels (27 in Fig. 1).

The cleaning member operation part 400 includes a brush unit, a mop, and a cleaning member 29 (shown in FIG. 1) formed on the bottom surface of the robot cleaner 10 for removing foreign substances in the bottom area, under the control of the controller 200 Can operate.

The memory 500 may store information related to the robot cleaner 10.

5 is a flowchart for explaining a control method of the robot cleaner.

First, the robot cleaner 10 can distinguish between a floor area and a non-floor area from a forward image obtained according to the traveling of the robot cleaner (S101).

More specifically, the robot cleaner 10 stores partial color components of the adjacent region from each of the forward image frames input in real time, and distinguishes between the bottom region and the non-bottom region based on the color tracking method . Also, the robot cleaner 10 may be able to distinguish the bottom region from the non-bottom region from the forward image through a water-shed technique. This can be achieved by transforming the original image into a gradient image assuming a forward image as a two dimensional terrain and acquiring a watershed line filling the water at a local minimum, . ≪ / RTI >

Next, the robot cleaner 10 can convert the forward image to black and white (S103).

Next, the robot cleaner 10 extracts the luminance from the front image converted from monochrome conversion, and extracts the reflected light region having the extracted luminance value equal to or higher than the reference value (S105).

Next, the robot cleaner 10 can form a closed curve by grasping the boundary curve of the foreign object from the forward image (S107). That is, a closed curve is formed depending on the shape of the foreign object, which can be used to check whether or not the corresponding region overlaps with the reflected light region. It is also possible that step S107 is performed before step S101 and after step S103.

Next, the robot cleaner 10 can check whether the reflected light region overlaps the inner region of the closed curve (S109).

If the check result shows that the robot cleaner 10 is duplicated, the robot cleaner 10 can recognize that a liquid foreign substance exists in the corresponding area (S111). That is, when the luminance value of the foreign substance is higher than the reference value by using the luminance value (reflectance) characteristic of the liquid, it is recognized as a liquid.

On the other hand, before step S101 and after step S107, the robot cleaner 10 can detect the foreign matter in the front area through the color difference from each frame of the forward image.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification or improvement is possible.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10: robot cleaner 11: main body
13: Light irradiation unit 17: Image acquisition unit
27: drive wheel 29: cleaning member
100: foreign substance detection sensor 200:
210: video signal receiving unit 220: light source control unit
230: image processor 240: foreign matter detector
250: drive control unit 300: motor drive unit
400: cleaning member operating part 500: memory

Claims (17)

A foreign matter detection sensor for sensing a front area; And
A front image is generated on the basis of the sensing information transmitted from the foreign substance detection sensor, and the front image is analyzed to analyze a front floor area and a bottom floor area, and the presence or absence of a foreign substance in the floor area, A control unit for recognizing the type of the light source;
.
The method according to claim 1,
The foreign substance detecting sensor includes:
A light irradiation unit for irradiating light forward; And
An image acquiring unit for acquiring an image signal by converting light incident from the front or rear side into an electrical signal;
.
The method of claim 2,
Wherein,
A video signal receiving unit for receiving a video signal transmitted from the video acquiring unit;
An image processor for converting an electrical image signal received by the image signal receiver to generate a forward image; And
A foreign matter sensing unit for distinguishing a bottom area and a bottom area based on the forward image generated by the image processing unit and for sensing a foreign substance in the bottom area on the basis of the forward image or recognizing a kind of a foreign substance;
.
The method of claim 3,
Wherein the foreign substance sensing unit comprises:
The size of the foreign object sensed from the forward image is determined, and when the size of the foreign object detected corresponds to the reference value range, the foreign object is judged to be a cleaning object.
The method of claim 3,
Wherein the foreign substance sensing unit comprises:
And detects a foreign matter in a front region by grasping the boundary through each color difference from each frame of the forward image continuously inputted through the image processing unit.
The method of claim 3,
Wherein the foreign substance sensing unit comprises:
And analyzing the degree of distortion of the ray-structured light irradiated through the light irradiating unit in the front image obtained through the image processing unit to determine presence or absence of foreign matter in the front region.
The method of claim 6,
The line-structured light is irradiated in a straight line shape so as to intersect the running direction of the robot cleaner,
Wherein the foreign substance sensing unit comprises:
Wherein when a distortion appears in a specific area of the area irradiated with the line-structured light in the forward image, foreign matter exists in the area.
The method of claim 3,
Wherein the robot cleaner further comprises a foreign matter detection sensor for sensing a rear region,
Wherein the foreign substance sensing unit comprises:
And detects a stain on the basis of the shape of the stain deformed based on the forward image and the backward image after cleaning the bottom area.
The method of claim 8,
Wherein the foreign substance sensing unit comprises:
The front image and the back image are applied to an Inverse Perspective Mapping method to obtain an image of a position reference perpendicular to the bottom area, and whether a smear pattern is deformed through a front / If the deformation of the robot cleaner to judge the stain that can be cleaned.
The method of claim 3,
Wherein the foreign substance sensing unit comprises:
Extracting a luminance from a front image obtained through the image processing unit, extracting a reflected light region having an extracted luminance value equal to or greater than a reference value, forming a closed curve by grasping a boundary curve of the foreign substance from the forward image, The robot cleaner judges the foreign matter as a liquid when the inner region is overlapped.
The method of claim 3,
Wherein,
A light source control unit for controlling ON or OFF of a light source of linear structure light or plane structure light emitted from the light irradiation unit;
And a robot cleaner.
The robot cleaner obtains a forward image according to the running of the robot cleaner,
Processing the forward image to distinguish the bottom area from the bottom area,
Detecting a foreign matter in a front area of the robot cleaner based on the image of the bottom area of the front image.
The method of claim 12,
And detecting the foreign matter in the front area by grasping the boundary through each color difference from each frame of the forward image continuously input according to the running of the robot cleaner.
The method of claim 12,
Further comprising irradiating light in front of the running direction of the robot cleaner.
15. The method of claim 14,
A control method of a robot cleaner for detecting a foreign matter in a front region by analyzing a degree of distortion of the illuminated line structure light in the obtained front image
The method of claim 12,
Further acquiring a backward image according to traveling of the robot cleaner,
Processing the backward image to distinguish the bottom area from the bottom area,
And detecting a stain on the basis of the front image and the shape of the stain deformed based on the back image after cleaning the bottom area.
A step of distinguishing a bottom region and a bottom region from a forward image obtained in accordance with travel of the robot cleaner;
Converting the forward image into black and white;
Extracting a luminance from the monochrome converted front image, and extracting a reflected light region having the extracted luminance value equal to or greater than a reference value;
Forming a closed curve by grasping a boundary curve of the foreign object from the forward image;
Confirming whether the reflected light region overlaps the inner region of the closed curve; And
Recognizing that a foreign substance in liquid form exists in the corresponding region if the result of the check is duplicated;
And controlling the robot cleaner.

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