KR20180062315A - Apparatus and method for controlling cleaning function and robotic cleaner with the apparatus - Google Patents

Abstract

Provided are an apparatus and a method for controlling a cleaning function and a robot for cleaning for acquiring information about a boundary point, updating an indoor map, and recognizing the wall surface or a corner based on the indoor map to control the cleaning function. The apparatus according to the present invention comprises: a point detection unit which detects, as a first point, a point located in an outermost one of points located in a region to be cleaned; a boundary line generation unit for generating a boundary line by combining the first point, at least one second point directly connected to the first point and at least one third point indirectly connected to the first point; and a cleaning function control unit for cleaning a corner area included in a cleaning target area based on the boundary line.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a cleaning function control device, a cleaning function control method,

The present invention relates to an apparatus and method for controlling a cleaning function of a cleaning robot. The present invention also relates to a cleaning robot having an apparatus for controlling a cleaning function.

The wall follow-up driving method applied to an autonomous mobile robot refers to a method in which a robot running at random rides along a wall for a predetermined time when the robot contacts the wall. The cleaning robot collects dust on the wall or the corner by using the side brush attached to the lower side when cleaning the wall or corner by using such a wall-following driving method.

However, such a cleaning technique of the cleaning robot is not performed at all the walls or corners, and it is difficult to uniformly clean all the walls or corners according to the cleaning algorithm installed in each robot.

Korean Patent Laid-Open Publication No. 2016-0042651 (Publication date: April 20, 2016)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cleaning function control apparatus and method for controlling a cleaning function by acquiring information about a boundary point and updating an indoor map and recognizing a wall surface or a corner based on the indoor map, And a cleaning robot.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a cleaning apparatus comprising: a point detection unit for detecting a point located at an outermost one of points located in a cleaning object area as a first point; A boundary line generation unit for generating a boundary line by combining the first point, at least one second point directly connected to the first point and at least one third point indirectly connected to the first point; And a cleaning function controller for cleaning a corner area included in the cleaning target area based on the boundary line.

Preferably, the point detection unit detects the first point among the points recognized as obstacles.

Preferably, the point detection unit detects the first point based on coordinate information of each point included in the map related to the area to be cleaned.

Preferably, when the first point is detected, the point detecting unit continuously detects points mutually connected starting from the first point, and sequentially detects the second point and the third point.

Advantageously, said point detection unit detects said interconnected points about points recognized as obstacles.

Preferably, the point detection unit is a point at which a newly detected point is either a point of the first point, the second point, or the third point, or a point at which a point connected to a previously detected point is recognized as an obstacle And continues to detect the interconnected points until no more.

Preferably, the cleaning function control unit detects a fourth point included in the boundary line, and recognizes the corner area based on the fourth point.

Preferably, the cleaning function control unit detects, as the fourth point, a point located closest to the current position among the points included in the boundary line.

Preferably, the cleaning function controller moves the cleaning robot to the fourth point when the fourth point is detected, and then moves again according to the wall surface following driving mode to recognize the corner area.

Preferably, the cleaning function control unit determines whether a point recognized as an obstacle reaches the fourth point when a point recognized as an obstacle is reached.

Preferably, the cleaning function controller determines whether the point recognized as the obstacle is the fourth point based on the moving distance of the cleaning robot and the heading angle of the cleaning robot.

Preferably, the cleaning function control unit recognizes the corner area on the basis of whether or not a sensor positioned in front of the cleaning robot and a sensor located at one side of the cleaning robot recognize an obstacle at the same time.

The present invention also provides a method for cleaning a cleaning object, the method comprising: detecting a point located at an outer edge of a point located in a cleaning object area as a first point; Combining the first point, at least one second point directly connected to the first point and at least one third point indirectly connected to the first point to create a boundary line; And cleaning the corner area included in the cleaning target area based on the boundary line.

Advantageously, said detecting step detects said first point among points recognized as obstacles.

Preferably, the detecting step detects the first point based on coordinate information of each point included in the map related to the area to be cleaned.

Advantageously, the detecting step sequentially detects the points interconnected starting from the first point when the first point is detected, and sequentially detects the second point and the third point.

Advantageously, said detecting step detects said interconnected points about points that are recognized as obstacles.

Preferably, the detecting step includes a step of detecting a point at which a newly detected point is a point at any one of the first point, the second point and the third point, or a point connected to a previously detected point is recognized as an obstacle And continuously detects the interconnected points until it is not.

Preferably, the cleaning step detects a fourth point included in the boundary line, and recognizes the corner area based on the fourth point.

Preferably, the cleaning step detects a point at a position closest to the current position among the points included in the boundary line as the fourth point.

Preferably, the cleaning step moves the cleaning robot to the fourth point when the fourth point is detected, and then moves again according to the wall surface following driving mode to recognize the corner area.

Preferably, the cleaning step determines whether the point recognized as the obstacle reaches the fourth point when the point recognized as the obstacle is reached.

Preferably, the cleaning step determines whether the point recognized as the obstacle is the fourth point based on the moving distance of the cleaning robot and the heading angle of the cleaning robot.

Preferably, the cleaning step recognizes the corner area based on whether a sensor positioned in front of the cleaning robot and a sensor located at one side of the cleaning robot recognize the obstacle at the same time.

The present invention also relates to a cleaning function execution unit for cleaning a cleaning target area; And a point detection unit for detecting a point located at an outermost one of the points located in the area to be cleaned as a first point so as to control the area to be cleaned to be cleaned; A boundary line generation unit for generating a boundary line by combining the first point, at least one second point directly connected to the first point and at least one third point indirectly connected to the first point; And a cleaning function controller for cleaning a corner area included in the cleaning target area based on the boundary line.

The present invention can achieve the following effects through the configurations for achieving the above object.

First, the cleaning performance against the wall or the corner can be improved, and the cleaning time can be shortened. These effects can also improve product satisfaction with customers.

Second, it is possible to prevent the obstacle from being mistaken as a wall surface, and it is possible to efficiently use the wall-side following traveling method when cleaning a wall surface or a corner.

FIG. 1 is a flowchart schematically illustrating an operation method of a cleaning robot according to an embodiment of the present invention.
2 is a reference diagram for explaining a configuration of a map created by the cleaning robot.
FIG. 3 is a first reference view for explaining a method of extracting a boundary line of a cleaning robot according to an embodiment of the present invention.
4 is a second reference diagram for explaining a method of extracting an outline boundary line of the cleaning robot according to an embodiment of the present invention.
FIG. 5 is a conceptual diagram schematically illustrating an internal configuration of a cleaning function control device according to a preferred embodiment of the present invention.
6 is a flowchart schematically illustrating a cleaning function control method according to a preferred embodiment of the present invention.
FIG. 7 is a conceptual view schematically showing an internal configuration of a cleaning robot according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

There are two cleaning methods of cleaning robots: map-based cleaning and simple mixed cleaning. The map-based cleaning method uses a camera sensor, an ultrasonic sensor, and a laser scanner to identify the location of the cleaning robot in real time, create a map, and conduct cleaning based on the map. The simple mixed cleaning method refers to a method of cleaning by combining a random driving mode, a spiral driving mode, and a wall following driving mode without grasping the position of the cleaning robot.

In the case of the simple mixed cleaning method, it is presupposed that the cleaning robot will be able to clean all areas of the room when the cleaning robot performs cleaning several times by combining different traveling modes. However, the indoor cleaning environment such as the presence of obstacles and the number of obstacles may have a great influence on the premise, and sufficient time must be ensured to complete the cleaning of all the indoor areas. Also, when the cleaning robot is moved to a position where cleaning is completed, there is a problem that the area where the repetitive driving is frequent and the area where the repetitive driving is not performed are clearly divided.

On the other hand, in the case of the map-based cleaning method, there is a problem that the cleaning robot needs to include sensors for position recognition, thereby increasing the cost. However, since the cleaning robot determines the area where the cleaning is completed based on the map, It is possible to shorten the time taken and to solve the problem of repeatedly cleaning a specific area.

The present invention proposes a cleaning robot for solving the conventional problems based on a map-based cleaning method. The cleaning robot proposed in the present invention acquires information about a boundary point to update the map, and recognizes a wall or a corner based on the map to perform a cleaning function. When the cleaning robot recognizes one point of the wall surface, the cleaning robot follows the wall surface in accordance with the wall surface following driving mode and carries out the function of cleaning the wall surface and the corner mainly.

Hereinafter, the cleaning robot performs the above-described method. In the present invention, the above-described method performed by the cleaning robot may be performed by a processor mounted on the cleaning robot. The processor can control the cleaning function to perform the cleaning function by the cleaning robot. Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a flowchart schematically illustrating an operation method of a cleaning robot according to an embodiment of the present invention.

(1) First, the cleaning robot acquires information about the boundary point in the area to be cleaned (S110). Thereafter, the cleaning robot updates the map based on the information about the boundary point (S120).

First, the necessity of information on the boundary point is explained.

The cleaning robot using the map-based cleaning method finishes the cleaning when the area to be moved is no longer present on the created map as cleaning proceeds. When the cleaning is finished, the map finally completed by the cleaning robot forms a closed loop with reference to the outer periphery. That is, the area represented by the closed loop in the finally completed map becomes the outline boundary in the area to be cleaned to follow when the cleaning robot performs the cleaning.

A mobility obstacle (eg, user) may be located within the area to be cleaned. However, if the cleaning robot does not extract the outline boundary line but uses only the simple wall follow-up, the cleaning robot can perform the infinite wall follow-up by obstacles moving in the same direction, mistake the obstacle to the wall surface, A situation that can not be achieved can occur.

Accordingly, in the present invention, the cleaning robot obtains information on the boundary points constituting the outer boundary by using the boundary boundary extraction algorithm, and adds information on the boundary points to the map.

When the information about the boundary point is added to the map, the cleaning robot can solve the problem of mistaking the obstacle to the wall by comparing the information about the own position and the boundary point even if the wall follow-up is performed, can do. In addition, the cleaning robot can clean the wall or the corner without fail, and the time required for cleaning the entire area to be cleaned can be greatly shortened.

Next, a description will be given of a method (S110) of acquiring information on a boundary point in the area to be cleaned.

The cleaning robot extracts the starting point of the outer boundary line, and follows the wall surface according to the wall following driving mode to determine the outer boundary line.

① Extraction of the start point of outer boundary line

The cleaning robot updates the map of the indoor environment in real time while cleaning. When the cleaning is completed, the cleaning robot generates a map in which a closed loop is formed on the outer periphery, and records the closed loop located on the outer periphery as an identified obstacle as cleaning proceeds.

When a map in which a closed loop is formed on the outer periphery is generated, it becomes possible to confirm the size of the map related to the area to be cleaned. The cleaning robot acquires LT (Left Top) coordinates and RB (Right Bottom) coordinates from the map generated through the completion of cleaning and creates a virtual rectangle frame. The cleaning robot can generate a rectangular frame based on RT (Right Top) coordinates and LB (Left Bottom) coordinates and generates a rectangular frame based on at least three coordinates of LT coordinate, RT coordinate, LB coordinate and RB coordinate It is also possible to do.

To extract the outline boundary, you need to find the outermost boundary line in the final completed map. The boundary line at the outermost part consists of the obstacle information acquired by the cleaning robot while cleaning. The cleaning robot moves from diagonal directions (eg, LT coordinates) to work coordinates (eg LT coordinates) that make up the rectangle frame until the obstacle is found. These functions of the cleaning robot can be coded as follows. The following example shows the process of searching for an obstacle while moving in the direction of the RB coordinate from the LT coordinate in the rectangular frame generated based on the LT coordinate and the RB coordinate.

for (int i = LT_pos.x; i <RT_pos.x; i ++)

{

for (int j = LT_pos.y; i <RT_pos.y; i--)

{

if (Cell_check [i, j] == Obstacle_Info)

{

Start_Position = Cell_check;

Break;

}

}

}

② Final outline boundary extraction

The cleaning robot finds the starting point for extracting the outline boundary line in the above manner, extracts the outline boundary line along the obstacle information previously stored on the map, and inputs the additional information for the extracted outline boundary line. At this time, the input boundary boundary information is used to prevent the obstacle from following the obstacle to the wall when the cleaning robot follows the wall.

The map generated by the cleaning robot while being cleaned is stored in a memory in the form of a two-dimensional array of N × N cells according to a mapping algorithm. At this time, each cell stored in the memory has coordinate information. In addition to the coordinate information, environmental information that is confirmed while the cleaning robot performs cleaning is stored in the memory.

The outline boundary line and the obstacle information constituted by a closed loop in the map are constituted by consecutive cells 210a, 210b, ..., 210n as shown in Fig. In other words, the outline boundary and obstacle information on the map can be identified by at least two interconnected cells. A method of extracting the outline boundary line in consideration of this point is coded as follows.

for (int i = 0; i <8; i ++)

{

if (AreThereNeighborObstacleCell ())

{

neighborCell ++;

}

}

if (neighborCell> = 2)

{

MarkingBoundaryCellInfo (find.x, find.y, Marking);

MoveToNextCell (next.X, next.Y);

}

FIGS. 3 and 4 are reference views for explaining a method of extracting an outline boundary line of the cleaning robot according to an embodiment of the present invention.

Referring to FIG. 3, neighboring cells 222 and 223 are positioned on the right side and the lower side of the first cell 221 indicating the starting position of the cleaning robot.

If the second cell 222 and the third cell 223 neighboring the first cell 221 are registered to have the same obstacle information as the first cell 221, And the third cell 223, respectively. In detail, the cleaning robot performs a neighboring cell search from the second cell 222 in a first searching direction 230, and separately from the third cell 223 in a second searching direction 2 240 &lt; / RTI &gt; The cleaning robot can perform the cell search by dividing into N search directions when searching for neighboring cells from the second cell 222 and the third cell 223. On the other hand, if there is a cell registered to form an outline boundary line with the first cell 221 of the second cell 222 and the third cell 223, the cleaning robot does not perform the neighbor cell search using this cell.

As shown in (a) of FIG. 4, the cells that can be marked by the boundary information are not extracted any more, or the cells of (b Until the boundary line information has already been marked in the cell. When both of these two conditions are satisfied, the boundary boundary extraction algorithm is terminated and the outer boundary boundary to be referred to when the cleaning robot follows the wall is finally completed.

(2) When the map is updated through the outline boundary extraction, the cleaning robot recognizes the wall or the corner based on the map (S130). Thereafter, the cleaning robot performs a cleaning function on the wall surface or the corner (S140).

In the present invention, a cleaning method specialized for the wall surface cleaning and the corner following the extracted outer boundary line is proposed. Referring back to FIG.

① The cleaning robot moves to one point of the boundary line included in the map.

When the outer boundary extraction is completed, the cleaning robot must move to the point indicated by the outer boundary line to clean the wall. The cleaning robot detects one point of the outer boundary line located at the closest distance based on the current position.

The cleaning robot searches for radiation from the current position in order to detect one point of the outer boundary line located at a recent distance. The cleaning robot proceeds to search until a cell having information related to the outline boundary is found. If a cell is found, the coordinates of the cell are set as a destination, and then the robot moves to a destination according to a path planning algorithm do.

The cleaning robot can touch the obstacle while moving to the destination. In the present invention, the cleaning robot further performs the following functions to prevent an obstacle from being mistaken as an outer boundary line. Cells displaying an outer boundary line on a map and cells displaying an obstacle (ex. User) are registered as having obstacle information in common. Therefore, when the cleaning robot reaches the registered cell having the obstacle information, the cleaning robot checks the moving distance to the cell and the heading angle of the cleaning robot to determine whether the reached cell corresponds to the destination. This function of the cleaning robot can be coded as follows.

int dist_to_boundary = robot_position_to_goal_position;

if (dist_to_boundary <defined_arrive_distance

    && angle_diff <defined_arrive_angle_diff)

{

Arrived ();

Run_Wall_Following_Behavior ();

}

else

{

if (++ failure_count> defined_failure_count)

{

Fail_to_arrive ();

Marking_unRechable_cell (goal_position);

Find_Next_nearest_Cell (robot_position);

}

}

② When the cleaning robot moves to the outer boundary line, the wall is moved while moving the wall according to the wall following mode.

The cleaning robot moves to the cell where the boundary line is located based on the coordinate information, and when the obstacle meets the obstacle, the wall following driving mode is activated to perform cleaning of the wall. At this time, the cleaning robot determines whether there is a cell registered as having obstacle information in the vicinity of the reached cell in order to avoid infinite wall follow-up due to a moving obstacle (ex) Check. These functions of the cleaning robot are coded and described as follows.

while (1)

{

for (int i = 0; i <8; i ++)

{

for (int j = 0; j <8; j ++)

{

if (Cell_check [i, j]! = Saved_Obstacl_Info)

{

Something_wrong ();

break;

}

}

}

doWall_following ();

}

③ Corner cleaning method using wall following mode

For the purpose of sufficient movement, avoidance and collision prevention even in complex obstacle environments, the appearance of the cleaning robot has a circular shape or a rectangular shape. The side brush is also attached to the outer edge as much as possible, and is designed to smoothly carry out edge and corner cleaning.

However, due to the various sensors installed to detect nearby obstacles, the cleaning robots do not enter the corners deeply when driving. In consideration of this point, the present invention proposes a method in which the cleaning robot recognizes corners while moving along the wall in accordance with the wall following driving mode, and cleans the corners.

The corner recognition and cleaning functions of the cleaning robot are performed as follows.

First, the cleaning robot travels while using the front sensor and both sensors to determine whether an obstacle exists in the front or the side.

Then, when it is determined that one of the sensors on one side and the sensor on the opposite side simultaneously have an obstacle, the cleaning robot estimates that there is a corner-shaped obstacle environment ahead, and when the obstacle is contacted while reducing the moving speed To continue forward. The cleaning robot normally performs the straight running until it comes into contact with the obstacle, but it is also possible to carry out the curve running in the present invention. When the cleaning robot carries out the curve driving, the position of the lateral sensor which senses the obstacle is considered so that it can reach the corner at the destination.

On the other hand, the traveling end condition of the cleaning robot for reaching the corner can be determined when the cleaning robot comes into contact with the obstacle or by determining the movement end time to prevent the cleaning robot from going straight ahead. In the present invention, the movement end time can be calculated based on the traveling speed of the cleaning robot and the distance from the current position of the cleaning robot to the corner point.

The present invention described with reference to Figs. 1 to 4 can expect the following effects.

First, by extracting the outline boundary line using the closed loop type obstacle information stored in the map generated by the cleaning robot and cleaning the wall surface and the corner based on the outline boundary line, the cleaning robot follows the wrong wall face by the obstacle having mobility Or to perform infinite wall follow-up can be avoided, the time taken to complete cleaning can be shortened, and the efficiency of cleaning by the cleaning robot can be improved.

Second, the cleaning robot recognizes the corner environment by itself when cleaning the corner, and performs cleaning suitable for the corner, so that the cleaning can be performed perfectly even in the corner area that was difficult to clean due to the structural characteristics of the cleaning robot.

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention has been described with reference to Figs. Best Mode for Carrying Out the Invention Hereinafter, preferred forms of the present invention that can be inferred from the above embodiment will be described.

FIG. 5 is a conceptual diagram schematically illustrating an internal configuration of a cleaning function control device according to a preferred embodiment of the present invention.

5, the cleaning function control apparatus 400 includes a point detection unit 410, a boundary line generation unit 420, a cleaning function control unit 430, a first power supply unit 440, and a first main control unit 450 .

The first power supply unit 440 performs a function of supplying power to each of the components constituting the cleaning function control apparatus 400. The first main controller 450 controls the overall operation of each of the components constituting the cleaning function controller 400. The cleaning function control apparatus 400 may not include the first power source unit 440 and the first main control unit 450 in the present embodiment.

The point detection unit 410 detects a point located at an outer corner among the points located in the area to be cleaned as a first point.

The point detecting unit 410 may detect the first point among the points recognized as obstacles.

The point detecting unit 410 can detect the first point based on the coordinate information of each point included in the map related to the area to be cleaned.

When the first point is detected, the point detecting unit 410 may continuously detect the points mutually connected starting from the first point and sequentially detect the second point and the third point.

The point detection unit 410 may detect points that are mutually connected with respect to points recognized as obstacles.

The point detection unit 410 detects the point of the newly detected point, which is either the point of the first point, the second point, or the third point, or the points that are connected to the previously detected point, Can be continuously detected.

The boundary line generation unit 420 functions to create a boundary line by combining a first point, at least one second point directly connected to the first point, and at least one third point indirectly connected to the first point .

The cleaning function control unit 430 performs a function of cleaning a corner area included in the cleaning target area based on the boundary line generated by the boundary line generation unit 420. [

The cleaning function control unit 430 detects the fourth point included in the boundary line, and recognizes the corner area based on the fourth point.

The cleaning function control unit 430 may detect a point located closest to the current position among the points included in the boundary line as the fourth point.

When the fourth point is detected, the cleaning function control unit 430 moves the cleaning robot to the fourth point and then moves again according to the wall surface following driving mode to recognize the corner area.

The cleaning function control unit 430 may determine whether a point recognized as an obstacle reaches a fourth point when a point recognized as an obstacle is reached.

The cleaning function control unit 430 can determine whether or not the point recognized as an obstacle is the fourth point based on the moving distance of the cleaning robot and the heading angle of the cleaning robot.

The cleaning function control unit 430 recognizes the corner area based on whether or not the sensor positioned in front of the cleaning robot and the sensor positioned at one side of the cleaning robot recognize the obstacle at the same time.

Next, an operation method of the cleaning function control device 400 will be described. 6 is a flowchart schematically illustrating a cleaning function control method according to a preferred embodiment of the present invention.

First, the point detecting unit 410 detects a point located at the outer side among the points located in the area to be cleaned as the first point (S510).

Then, the boundary line generating unit 420 combines the first point, at least one second point directly connected to the first point, and at least one third point indirectly connected to the first point to generate a boundary line (S520) .

Thereafter, the cleaning function control unit 430 cleans the corner area included in the cleaning target area based on the boundary line (S530).

Next, a cleaning robot for mounting the cleaning function control device described with reference to Fig. 5 as a processor will be described. FIG. 7 is a conceptual view schematically showing an internal configuration of a cleaning robot according to a preferred embodiment of the present invention.

7, the cleaning robot 600 includes a cleaning function execution unit 610, a second power source unit 620, a second main control unit 630, and a cleaning function control apparatus 400. [

The second power supply unit 620 performs a function of supplying power to each configuration of the cleaning robot 600.

The second main controller 630 controls the overall operation of the respective components constituting the cleaning robot 600.

The cleaning function execution unit 610 performs a function of cleaning the area to be cleaned.

The cleaning function control device 400 controls the cleaning target area to be cleaned, and includes a point detection unit 410, a boundary line generation unit 420, and a cleaning function control unit 430. The cleaning function control device 400 has been described above with reference to FIG. 4, and a detailed description thereof will be omitted here.

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, or the like can be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (20)

A point detection unit that detects a point located at an outer corner among the points located in the area to be cleaned as a first point;
A boundary line generation unit for generating a boundary line by combining the first point, at least one second point directly connected to the first point and at least one third point indirectly connected to the first point; And
And a cleaning function controller for cleaning the corner area included in the cleaning target area based on the boundary line,
And a controller for controlling the cleaning function. The method according to claim 1,
Wherein the point detection unit detects the first point among the points recognized as obstacles. The method according to claim 1,
Wherein the point detection unit detects the first point based on coordinate information of each point included in the map related to the area to be cleaned. The method according to claim 1,
Wherein the point detection unit continuously detects points mutually connected starting from the first point when the first point is detected, and sequentially detects the second point and the third point. 5. The method of claim 4,
Wherein the point detection unit detects points mutually connected to points recognized as obstacles. 5. The method of claim 4,
Wherein the point detection unit detects the point at which the newly detected point is located at any one of the first point, the second point, and the third point, And continuously detects points connected to each other. The method according to claim 1,
Wherein the cleaning function control unit detects a fourth point included in the boundary line, and recognizes the corner area based on the fourth point. 8. The method of claim 7,
Wherein the cleaning function control unit detects, as the fourth point, a point closest to the current position among the points included in the boundary line. 8. The method of claim 7,
Wherein the cleaning function control unit recognizes the corner area by moving the cleaning robot to the fourth point when the fourth point is detected and then moving again according to the wall surface following running mode. 8. The method of claim 7,
Wherein the cleaning function control unit determines whether a point recognized as the obstacle reaches the fourth point when a point recognized as an obstacle is reached. 11. The method of claim 10,
Wherein the cleaning function control unit determines whether or not the point recognized as the obstacle corresponds to the fourth point based on the moving distance of the cleaning robot and the heading angle of the cleaning robot, . The method according to claim 1,
Wherein the cleaning function control unit recognizes the corner area on the basis of whether or not a sensor positioned in front of the cleaning robot and a sensor located at one side of the cleaning robot recognize an obstacle at the same time. Detecting, as a first point, a point located at an outer corner among the points located in the area to be cleaned;
Combining the first point, at least one second point directly connected to the first point and at least one third point indirectly connected to the first point to create a boundary line; And
Cleaning the corner area included in the cleaning target area based on the boundary line
And controlling the cleaning function. 14. The method of claim 13,
Wherein the detecting step detects the first point among the points recognized as obstacles. 14. The method of claim 13,
Wherein the detecting step sequentially detects the points mutually connected starting from the first point when the first point is detected and sequentially detects the second point and the third point. . 16. The method of claim 15,
Wherein the detecting step is performed until the newly detected point is a point at any one of the first point, the second point and the third point, or the point connected to the previously detected point is not a point at which the point is recognized as an obstacle And continuously detecting the interconnected points. 14. The method of claim 13,
Wherein the cleaning step detects a fourth point included in the boundary line, and recognizes the corner area based on the fourth point. 18. The method of claim 17,
Wherein the cleaning step determines whether a point recognized as the obstacle reaches the fourth point when a point recognized as an obstacle is reached. 14. The method of claim 13,
Wherein the cleaning step recognizes the corner area based on whether a sensor positioned in front of the cleaning robot and a sensor located at one side of the cleaning robot recognize the obstacle at the same time. A cleaning function execution unit for cleaning the cleaning target area; And
A point detection unit for detecting a point located at an outer circumference among the points located in the area to be cleaned as a first point to control the cleaning target area to be cleaned; A boundary line generation unit for generating a boundary line by combining the first point, at least one second point directly connected to the first point and at least one third point indirectly connected to the first point; And a cleaning function controller for cleaning a corner area included in the cleaning target area based on the boundary line,
And a controller for controlling the cleaning robot.

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