KR20190037632A - Robot cleaner and apparatus for managing cleaning of robot cleaner - Google Patents

Abstract

Disclosed are a robot cleaner and an apparatus for cleaning management of a robot cleaner. The robot cleaner of the present invention is characterized by comprising: a cleaning unit cleaning indoors; a driving unit driving a main body according to a map for cleaning produced in advance; a position sensing unit sensing the position of the main body; and a control unit producing cleaning information while cleaning indoors by controlling the driving unit and the cleaning unit according to position information of the main body sensed by the position sensing unit, and transmitting the cleaning information to the apparatus for cleaning management of a robot cleaner.

Description

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

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a robot cleaner and a robot cleaner cleaning and management apparatus, and more particularly, to a robot cleaner and a robot cleaner cleaning and management apparatus that can confirm and manage an actual clean area of the robot cleaner.

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

A typical example of a domestic robot is a robot cleaner. The robot cleaner refers to a device for automatically cleaning an area to be cleaned by suctioning foreign matter such as dust from a floor surface while traveling the area to be cleaned by itself without user's operation. The robot cleaner senses an obstacle or the like located in the cleaning area through various sensors and controls the traveling path and the cleaning operation of the cleaning robot using the detection result.

The initial cleaning robot performed a random cleaning while traveling on its own, and areas where obstacles existed or the floor surface was not cleaned due to the presence of obstacles occurred. In order to compensate for this, recently, all the areas to be cleaned, that is, the entire cleaning area is divided into a plurality of cleaning areas or cells to perform cleaning, a map is created for the entire cleaning area, And cleaning is performed by dividing the area and the area to be cleaned.

Background Art [0002] The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2015-0126235 (Nov.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to provide an indoor map based on various sensors, perform cleaning based on the indoor map, The robot cleaner and the robot cleaner cleaning management apparatus can be managed so that the robot cleaner can be re-cleaned.

According to an aspect of the present invention, there is provided a robot cleaner including: a cleaner for cleaning a room; A running section for running the main body according to the created cleaning map; A position sensing unit for sensing a position of the main body; And a control unit for controlling the traveling unit and the cleaning unit according to the position information of the main body sensed by the position sensing unit to generate cleaning information while cleaning the room and transmitting the cleaning information to the robot cleaner cleaning management apparatus .

The present invention relates to an obstacle detecting apparatus, An image input unit for photographing the front or the upper side of the main body to acquire an image; And a map generation unit for generating a map based on the obstacle detected by the obstacle detection unit, the image input from the image input unit, and the position sensed by the position sensing unit.

The map generating unit may include a cleaning map generating unit generating the cleaning map using the obstacle detected by the obstacle sensing unit, the image input from the image input unit, and the position sensed by the position sensing unit. And a user map generating unit for generating a map for the user which can be recognized by the user by correcting the cleaning map generated by the cleaning map generating unit.

The control unit of the present invention controls the driving unit and the cleaning unit to clean the room based on the cleaning map generated by the cleaning map generating unit and displays the user map generated by the user map generating unit To the robot cleaner cleaning management device.

The control unit of the present invention is characterized in that when receiving a re-cleaning command from the robot cleaner cleaning management apparatus, the control unit controls the traveling unit and the cleaning unit based on the cleaning map in accordance with the re-cleaning command to re-clean the room .

The control unit controls the traveling unit and the cleaning unit based on the positional information of the non-cleaned area transmitted from the robot cleaner cleaning management apparatus to clean the room.

The control unit compares the position information of the uncleaned area with the position information matched with the cleaning map to determine whether or not the matching is coincident with the position information of the uncleaned area, And re-cleaning the unused area.

The control unit controls the traveling unit and the cleaning unit based on a cleaning mode for an uncleaned area transmitted from the robot cleaner cleaning management apparatus to clean the room.

The cleaning information according to the present invention is characterized in that the cleaning information includes a movement path of the main body from the start to the end of cleaning.

A robot cleaner cleaning management device according to an aspect of the present invention includes a cleaning state detector for detecting a cleaning state of the robot cleaner using cleaning information and a map for a user; And a control server for detecting the cleaning state of the indoor space through the cleaning state detector when the cleaning information and the user map are received from the robot cleaner.

The cleaning state detector of the present invention includes a zone detector for detecting a zone cleaned by the robot cleaner and an uncleaned zone using cleaning information and a user map, respectively; And a cleaning rate calculating unit for calculating a cleaning rate indicating a ratio of an area of the cleaned area to an area of the cleaning target area of the map for the user as a ratio.

The zone detection unit of the present invention is characterized by detecting the cleaned area by using the cleaning information of the robot cleaner and the cleaning range preset by the robot cleaner.

The zone detection unit may set the cleaning range in a direction perpendicular to the center axis of the moving path of the robot cleaner and accumulate the cleaning range around the moving path of the robot cleaner to detect the cleaned zone , The cleaning area is excluded from the cleaning target area of the map for the user to detect the non-cleaning area.

The cleaning range of the robot cleaner may include at least one of a dust suction range in the width direction of the rotary brush and a width range of the suction port when the rotary brush of the robot cleaner rotates.

The control server of the present invention transmits the cleaning state of the robot cleaner to the user terminal and transmits the cleaning cleaning command to the robot cleaner when the user terminal requests the cleaning of the cleaned area. do.

The control server of the present invention is characterized in that the robot cleaner transmits positional information of the unsaved area to the robot cleaner.

The control server of the present invention transfers the cleaning mode to the robot cleaner for the non-cleaned area.

The robot cleaner and the robot cleaner cleaning management apparatus according to one aspect of the present invention can produce an indoor map based on various sensors, perform cleaning based on the indoor map, and provide a clearance rate based on the indoor map, Manage the cleaning process.

According to another aspect of the present invention, the robot cleaner and the robot cleaner cleaning management apparatus divides the cleaned area and the uncleaned area based on the indoor map, thereby allowing the user to intuitively recognize the uncleaned area.

The robot cleaner and the robot cleaner cleaning management apparatus according to another aspect of the present invention allow a user to easily manage indoor cleaning even from a remote place.

1 is a view conceptually showing the operation of a robot cleaner and a robot cleaner cleaning management apparatus according to an embodiment of the present invention.
2 is a block diagram of a robot cleaner according to an embodiment of the present invention.
3 is a view illustrating an example of information collection for an indoor space according to an embodiment of the present invention.
4 is an exemplary view of a cleaning map according to an embodiment of the present invention.
5 is an exemplary diagram of a user map according to an embodiment of the present invention.
6 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.
7 is a block diagram of a cleaning management server according to an embodiment of the present invention.
FIG. 8 is an exemplary view illustrating a cleaning range of each robot cleaner according to an embodiment of the present invention.
9 is a view showing a clearance rate, a cleaned area, and a non-cleaned area according to an embodiment of the present invention.
10 is an exemplary view of a cleaning mode according to an embodiment of the present invention.
11 is a flowchart of a method for cleaning and cleaning a robot cleaner according to an embodiment of the present invention.

Hereinafter, a robot cleaner and a robot cleaner cleaning management apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is a view conceptually showing the operation of a robot cleaner and a robot cleaner cleaning management apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a robot cleaner 10 according to an embodiment of the present invention is connected to a robot cleaner cleaning management apparatus (a cleaning management server 20 and a user terminal 30) through a wireless communication network.

The robot cleaner 10 collects information on an indoor space such as an obstacle, an image, and a location, generates a map, performs cleaning based on the generated indoor map, and transmits the indoor map to the robot cleaner cleaning management apparatus.

The robot cleaner 10 transmits the cleaning information to the cleaning management server 20 when the cleaning of the indoor space is completed based on the indoor map.

The robot cleaner cleaning management device includes a cleaning management server (20) and a user terminal (30).

The cleaning management server 20 receives the indoor map and the cleaning information from the robot cleaner 10, analyzes the indoor map and the cleaning information, and analyzes the cleaning state of the indoor space.

In this case, the cleaning management server 20 uses the cleaning information to identify a cleaned area and an uncleaned area in the cleaning target area in the indoor map, and determines the area of the uncleaned area with respect to the area of the cleaning target area as a ratio Is calculated.

The cleaning management server 20 then provides the user terminal 30 with the above-described cleaning state, that is, the cleaned area, the uncleaned area, and the cleaning rate.

The user terminal 30 outputs the cleaning state, and when the user inputs a re-cleaning command for the area not cleaned by the user, the user terminal 30 transmits the re-facility command to the cleaning management server 20.

Accordingly, the cleaning management server 20 transmits a re-cleaning command to the robot cleaner 10 centered on the area where cleaning is not performed, and the robot cleaner 10 performs re-cleaning according to the re-cleaning command.

FIG. 2 is a block diagram of a robot cleaner according to an embodiment of the present invention. FIG. 3 is a view illustrating an example of information collection for an indoor space according to an embodiment of the present invention. FIG. FIG. 5 is a view illustrating a map for a user according to an embodiment of the present invention, and FIG. 6 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.

2, a robot cleaner 10 according to an embodiment of the present invention includes a user interface unit 11, an obstacle sensing unit 12, an image input unit 13, a position sensing unit 14, A traveling section 15, a traveling section 16, a cleaning section 17, and a control section 18.

The user interface unit 11 provides a user interface and includes an input unit 111 and an output unit 112.

The input unit 111 receives various control commands related to the operation of the robot cleaner 10 such as a cleaning command, a cleaning stop command, and the like from the user. As the input unit 111, various input devices such as a touch pad type and a button type can be employed.

The output unit 112 outputs an operation state of the robot cleaner 10, for example, whether or not the robot cleaner 10 is operating, an operation error, and a battery state.

The obstacle sensing unit 12 senses obstacles existing on the front or side of the vehicle when the vehicle is traveling. Obstacles may include walls or other objects as well as general objects or furniture on the front or side.

The obstacle sensing unit 12 includes an ultrasonic sensor 121 for sensing an obstacle using ultrasonic waves and an optical sensor 122 for sensing an obstacle using light reflected by the obstacle, . As the obstacle sensing unit 12, various sensors other than the ultrasonic sensor 121 and the optical sensor 122 may be employed.

The image input unit 13 photographs forward, side, upward, and downward at the time of driving the main body, and inputs the photographed image to the control unit 18. In this case, the image input unit 13 may include an upper camera 131 and a lower camera 132. The upper camera 131 and the lower camera 132 may include various positions for measuring the front and side, As shown in FIG. For reference, the upper camera 131 photographs the ceiling and the wall of the room. The image photographed by the upper camera 131 is used to identify a cleaned area and an uncleaned area. The image photographed by the lower camera 132 may be used to measure the mileage or recognize the floor pattern.

In addition, the position of the robot cleaner 10, the indoor structure, the map, and the like can be detected through the image input through the image input unit 13.

The position sensing unit 14 detects the current position of the main body. The position sensing unit 14 includes an acceleration sensor 141 for measuring the acceleration of the main body when the main body is traveling and an encoder 161 for detecting the rotation of each of the wheels 162. The acceleration sensor 141 and the left and right wheels 162, (142), and the like. Based on the current position of the main body sensed by the position sensing unit 14, movement information of the main body, for example, the movement direction, the movement speed, and the movement displacement can be detected.

The map generating unit 15 generates a map based on an obstacle sensed by the obstacle sensing unit 12, an image input from the image input unit 13, and a position sensed by the position sensing unit 14 A cleaning map generating unit 151, and a user map generating unit 152. [

Based on the obstacle detected by the obstacle sensing unit 12, the image input from the image input unit 13, and the position sensed by the position sensing unit 14, the cleaning map generating unit 151 generates a cleaning map, And collects various kinds of information about the indoor space.

The cleaning map generation unit 151 then generates the cleaning map data based on the information collected as described above, for example, information about the position of the obstacle, the position of the wall, the ceiling, the floor, and the movement information of the main body, Create a map. The cleaning map is a map generated by the robot cleaner 10 for indoor cleaning.

Here, the cleaning map generating unit 151 generates a map for cleaning based on the information and the movement information of the main body, can be employed if the robot cleaner 10 generates a map for indoor cleaning.

The user map generating unit 152 corrects the cleaning map generated by the cleaning map generating unit 151 to generate a map for the user that the user can recognize. That is, the user map generation unit 152 analyzes the position of the obstacle, the position of the wall, the ceiling, the floor, etc., the movement information of the main body, and the cleaning map, Create a map for connecting users.

Here, the user map may be formed in a form in which the closed curved surfaces are connected as shown in FIG. 5, but architectural design drawings, layout drawings, and the like for the indoor space may be used. In this case, the user map generating unit 152 does not generate the user map in the cleaning map, but instead stores the building design drawing or the layout diagram, for example, a server (not shown) and a database ) Or the like.

The running section 16 includes a running motor 161 and a wheel 162 by running the main body.

The wheels 162 are installed on both sides of the bottom surface of the main body so as to run the main body.

The traveling motor 161 generates a driving force for rotating each of the wheels 162 and independently controls each of the wheels 162 through the traveling motor 161 so that the main body can travel in various directions and speeds .

The traveling unit 16 may further include various devices as long as the traveling unit 16 travels the main body in addition to the traveling motor 161 and the wheels 162 described above.

The cleaning unit 17 includes a rotary brush 171, a rotary brush motor 172, a suction motor 173, and an air inlet 174 to perform indoor cleaning.

The rotary brushes 171 are installed on both sides of the bottom surface of the main body, and rotate in the main body in the direction of the main body, thereby moving the dusts on both sides of the main body to the suction port 174.

The rotary brush motor 172 rotates the rotary brush 171.

The suction port 174 sucks dust or the like into the main body. The suction port 174 is elongated in the width direction of the main body so that dust or the like is sucked when the main body is moved.

The suction motor 173 rotates a suction fan (not shown) so that dust can be sucked through the suction port 174.

The cleaning unit 17 may include all of the devices for sucking and storing dust as well as the rotary brush 171, the rotary brush motor 172, the suction motor 173, and the suction port 174, And the like, and the like.

The control unit 18 controls each of the obstacle sensing unit 12, the video input unit 13 and the position sensing unit 14 and controls the map generating unit 15 to display an obstacle, a front or side light image of the main body, A map for cleaning and a map for user are created.

Thereafter, the control unit 18 controls the traveling unit 16 and the cleaning unit 17 to clean the room, generates cleaning information, and transmits the generated cleaning information to the cleaning management server 20. Thereafter, when the re-cleaning command is received from the cleaning management server 20, the re-cleaning command is executed in accordance with the re-cleaning command.

The operation of the control unit 18 will be described with reference to FIG.

First, the control unit 18 starts cleaning according to a control command input through the user interface unit 11.

In this case, the control unit 18 controls the traveling unit 16 to move the main body. In this process, the control unit 18 controls the cleaning map generation unit 151 so that the position of the obstacle, the position of the wall, the ceiling, And a cleaning map is generated based on the information on the body and the movement information of the body (S100).

For reference, the control unit 18 may use the previously stored cleaning map without creating a new cleaning map if the previous cleaning map is stored.

On the other hand, as the cleaning map is generated, the control unit 18 corrects the cleaning map through the user map generating unit 152 to generate a user-recognizable user map (S110) To the management server 20 (S120).

In addition, the control unit 18 controls the cleaning unit 17 and the traveling unit 16 based on the cleaning map to perform cleaning (S130). In this process, the control unit 18 continuously stores the cleaning information (S140).

The cleaning information is information for identifying the cleaning state of the robot cleaner 10. The cleaning information is information on the movement path of the main body from the start of cleaning until the cleaning is completed and the identification information of the robot cleaner 10, 10) may be included.

That is, the control unit 18 generates a movement route of the main body until cleaning is completed after the initial cleaning is started, and transmits the movement route of the main body and the identification information of the robot cleaner 10 to the cleaning management server 20 .

The control unit 18 determines whether the cleaning is completed in the process of performing the cleaning and storing the cleaning information as described above (S150). If the cleaning is completed, the controller 18 transmits the cleaning information to the cleaning management server 20 (S160).

Meanwhile, the cleaning management server 20 receives the cleaning information and the user map from the controller 18 of the robot cleaner 10 as described above, and detects the cleaning state using the cleaning information and the user map And transmits the re-cleaning command to the robot cleaner 10 when the re-cleaning command is received from the user terminal 30 after the detected cleaning state is transmitted to the user terminal 30. The re-cleaning command may include location information for the un-cleaned area and cleaning mode of the re-entry request.

When the control unit 18 receives the re-cleaning command from the cleaning management server 20, the control unit 18 performs re-cleaning around the un-cleaned area according to the re-cleaning command.

In this case, the control unit 18 controls the traveling unit 16 and the cleaning unit 17 based on the positional information of the uncleaned area transmitted from the cleaning management server 20, The location information of the unoccupied area is compared with the position information matched with the cleaning map to determine whether or not the unoccupied area is matched, and the non-cleaned area is re-cleaned by following the location information of the unoccluded area.

In addition, the controller 18 cleans the area that has not been cleaned according to the cleaning mode received from the cleaning management server 20. The cleaning mode will be described later.

FIG. 7 is a block diagram of a cleaning management server according to an embodiment of the present invention, FIG. 8 is an exemplary view illustrating a cleaning range of each robot cleaner according to an embodiment of the present invention, FIG. FIG. 10 is a view illustrating an example of a cleaning mode according to an embodiment of the present invention, and FIG. 11 is a diagram illustrating a cleaning mode of the robot cleaner according to an embodiment of the present invention. Management method.

Referring to FIG. 7, the cleaning management server 20 according to an embodiment of the present invention includes a cleaning state detector 21 and a control server 22.

The cleaning state detector 21 detects the cleaning state of the robot cleaner 10 by using the cleaning information and the user map received from the robot cleaner 10. The cleaning state detection unit 21 includes a zone detection unit 211 and a cleaning rate calculation unit 212.

The zone detection unit 211 detects the cleaned area and the uncleaned area using the cleaning information of the robot cleaner 10 and the cleaning range set in the robot cleaner 10.

The cleaning range can be set differently according to the model of the robot cleaner 10, and the case where the rotary brush 171 is provided and the case where the rotary brush 171 is not provided are set different from each other. 8, the cleaning range of the robot cleaner 10 having the rotary brush 171 is a range of the width of the rotary brush 171 to the rotary brushes 171 when the rotary brush 171 is rotated, The cleaning range of the vacuum cleaner is the width of the suction port 174.

The zone detection unit 211 sets the cleaning range in a direction perpendicular to the central axis of the moving path of the robot cleaner 10 as described above, accumulates the cleaning range around the moving path of the robot cleaner 10, Detects an area that has not been cleaned by detecting a cleaned area in the user map, and excludes a cleaned area in the cleaning area of the user map.

The clearance rate calculating unit 212 calculates a clearance rate indicating a ratio of the area of the cleaned area to the area of the area to be cleaned in the user map. That is, the cleaning rate calculating unit 212 calculates the area of the area that is not cleaned in the entire area of the map for the user, and calculates the cleaning rate in comparison with the area of the cleaning area of the user map .

Referring to FIG. 9, a cleaned area and an uncleaned area are shown based on the user map, in which case the clearance rate is shown to be 75%.

When the control server 22 receives the cleaning information and the map for the user from the robot cleaner 10, the control server 22 inputs the cleaning information and the user map to the cleaning state detector 21 and transmits the cleaning information and the user map to the robot cleaner 10 In the cleaning state.

At this time, the control server 22 transmits the cleaning state of the robot cleaner 10 to the user terminal 30. Accordingly, the user terminal 30 outputs the cleaning state of the robot cleaner 10. In this case, the user terminal 30 can output the clearance rate, the non-cleaned area, and the cleaned area, as shown in FIG. 9, based on the map for the user.

On the other hand, if the cleaning rate is less than the preset value, the control server 22 requests the user terminal 30 to input a re-cleaning command. If there is a re-cleaning request for the un-cleaned area from the user terminal 30, To the robot cleaner 10, a re-cleaning command for the un-cleaned area, for example, position information on the un-cleaned area and a cleaning mode.

The cleaning mode is the mode of operation to perform when cleaning the un-cleaned area.

The control server 22 selects one of the cleaning modes according to at least one of the area and the shape of the area not cleaned and the frequency of the uncleaned area. Also, the control server 22 may receive the above-described cleaning mode from the user terminal 30.

10, the cleaning mode may include at least one of a meticulous cleaning mode (a), a zigzag cleaning mode (b), an intensive cleaning mode (c), and a cited area cleaning mode (d).

The cleaning mode is a cleaning mode in which the outer surface of the cleaned area is cleaned first by zigzag driving.

Zigzag cleaning mode is a zigzag-driven cleaning mode when there is no obstacle in an uncleaned area.

Intensive cleaning mode is a cleaning mode that concentrates cleaning while rotating in the unscreened area below a predetermined area.

The designated area cleaning mode is a cleaning mode in which a specific area of the un-cleaned area is zigzagged while being cleaned.

The operation of the robot cleaner cleaning management apparatus will be described in detail with reference to FIG.

11, the control server 22 receives the cleaning information and the user map from the robot cleaner 10, respectively (S200 and S210).

Next, the cleaning state detection unit 21 identifies the cleaned area and the uncleaned area by using the cleaning information of the robot cleaner 10 and the predetermined cleaning range of the robot cleaner 10 (S220). In this case, the cleaning range can be set by receiving the model of the robot cleaner.

That is, the cleaning state detecting unit 21 sets a cleaning range in a direction perpendicular to the center axis of the moving path of the robot cleaner 10, accumulates the cleaning range around the moving path of the robot cleaner 10, Detect the cleaned area and exclude the cleaned area in the cleaning area of the user map to detect the uncleaned area.

In addition, the cleaning state detector 21 calculates the area of the area that is not cleaned in the entire area of the map for the user, and calculates the cleaning rate in comparison with the area of the cleaning area of the user map (S230).

Next, the control server 22 transmits the cleaning state of the robot cleaner 10 to the user terminal 30 (S240).

Accordingly, the user terminal 30 outputs the cleaning state of the robot cleaner 10.

The control server 22 requests the user terminal 30 to input a re-cleaning command if the cleaning rate is equal to or less than the predetermined set value, and determines whether or not the re-cleaning command for the un-cleaned area is inputted from the user terminal 30 (S250).

When the re-cleaning command is input in step S250, the control server 22 transmits a re-cleaning command including the location information of the un-cleaned area and the cleaning mode to the robot cleaner 10 (S260) Allow cleaning to be performed.

As described above, the robot cleaner and the robot cleaner cleaning management apparatus according to the embodiment of the present invention produce indoor maps based on various sensors, perform cleaning based on the indoor maps, and provide cleaning rates based on indoor maps, Manage the area to be re-cleaned.

In addition, the robot cleaner and the robot cleaner cleaning management apparatus according to an embodiment of the present invention can intuitively recognize a non-cleaned area by guiding a cleaned area and an uncleaned area based on an indoor map So that the user can easily manage the indoor cleaning from a remote place.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: robot cleaner 11: user interface unit
111: input unit 112: output unit
12: Obstacle detecting unit 121: Ultrasonic sensor
122: optical sensor 13: image input section
131: upper camera 132: lower camera
14: Position sensing unit 141: Acceleration sensor
142: Encoder 15: Map generating unit
151: cleaning map generating unit 152: user map generating unit
16: traveling section 161: traveling motor
162: Wheel 17: Cleaner
171: Rotating brush 172: Rotating brush motor
173: Suction motor 174: Suction port
18: control unit 20: cleaning management server
21: Cleaning state detection unit 211: Zone detection unit
212: clearance calculation unit 22: control server
30: User terminal

Claims (17)

A cleaning unit for cleaning the room;
A running section for running the main body according to the created cleaning map;
A position sensing unit for sensing a position of the main body; And
And a controller for controlling the traveling unit and the cleaning unit according to the position information of the main body sensed by the position sensing unit to generate cleaning information while cleaning the room and transmitting the cleaning information to the robot cleaner cleaning management apparatus vacuum cleaner.
The method according to claim 1,
An obstacle detecting unit for detecting an obstacle;
An image input unit for photographing the front or the upper side of the main body to acquire an image; And
Further comprising a map generator for generating a map based on an obstacle detected by the obstacle sensing unit, an image input from the image input unit, and a position sensed by the position sensing unit.
3. The apparatus of claim 2, wherein the map generation unit
A cleaning map generating unit for generating the cleaning map using an obstacle detected by the obstacle sensing unit, an image input from the image input unit, and a position sensed by the position sensing unit; And
Further comprising a user map generation unit for generating a map for the user that the user can recognize by correcting the cleaning map generated by the cleaning map generation unit.
4. The apparatus of claim 3, wherein the control unit
The robot cleaner cleaning management apparatus comprising: a robot cleaner cleaning management unit configured to clean the room by controlling the traveling unit and the cleaning unit based on the cleaning map generated by the cleaning map generation unit, To the robot cleaner.
The apparatus of claim 1, wherein the control unit
And when the robot cleaner cleaning management apparatus receives the re-cleaning command from the robot cleaner cleaning management apparatus, controls the traveling unit and the cleaning unit based on the cleaning map in accordance with the re-cleaning command to re-clean the room.
6. The apparatus of claim 5, wherein the control unit
Wherein the robot cleaner controls the traveling unit and the cleaner unit based on positional information of an uncleaned area transmitted from the robot cleaner cleaning management apparatus to clean the room.
7. The apparatus of claim 6, wherein the control unit
Comparing the positional information of the non-cleaned area with the positional information matched with the cleaning map, and determining whether or not the unoccupied area matches the location information of the non-cleaned area, And a robot cleaner for cleaning the robot cleaner.
6. The apparatus of claim 5, wherein the control unit
Wherein the control unit controls the traveling unit and the cleaning unit based on a cleaning mode for an uncleaned area transmitted from the robot cleaner cleaning management apparatus to clean the room.
The method of claim 1,
And a movement path of the main body from the start of cleaning until the end of cleaning.
A cleaning state detector for detecting a cleaning state of the robot cleaner by using cleaning information and a map for a user; And
And a control server for detecting the cleaning state of the indoor space through the cleaning state detector when receiving the cleaning information and the user map from the robot cleaner.
11. The washing machine according to claim 10, wherein the cleaning state detector
A zone detector for detecting a zone cleaned by the robot cleaner and an unclean zone using cleaning information and a user map; And
And a cleaning rate calculating unit for calculating a cleaning rate in proportion to an area of the cleaned area with respect to an area of the cleaning target area of the map for the user.
12. The apparatus of claim 11, wherein the zone detector
Wherein the robot cleaner is configured to detect the cleaned area using the cleaning information of the robot cleaner and a predetermined cleaning range of the robot cleaner.
13. The apparatus of claim 12, wherein the zone detector
Wherein the robot cleaner sets the cleaning range in a direction perpendicular to the center axis of the robot cleaner, detects the cleaned area by accumulating the cleaning range around the moving path of the robot cleaner, Wherein the robot cleaner is configured to detect the uncleaned area by excluding the cleaned area from the target area.
13. The method of claim 12,
Wherein the robot cleaner includes at least one of a dust suction range in a width direction of the rotary brush when the rotary brush of the robot cleaner rotates, and a width range of the suction port.
12. The system of claim 11, wherein the control server
And transmits the cleaning command to the robot cleaner when the cleaning state of the robot cleaner is transmitted to the user terminal and the user terminal is requested to clean the cleaned area.
16. The system of claim 15, wherein the control server
And transmits the position information of the non-cleaned area to the robot cleaner by the robot cleaner.
16. The system of claim 15, wherein the control server
And transmits a cleaning mode for the unsaved area to the robot cleaner.

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