KR20190053730A - Moving apparatus for cleaning, charging apparatus and method for controlling thereof - Google Patents

Abstract

The present invention relates to a moving apparatus for cleaning, a charging apparatus and a control method thereof, wherein the moving apparatus for cleaning comprises: a cleaning unit performing cleaning; a driving unit driving the moving apparatus for cleaning; a camera taking a picture of the environment around the moving apparatus for cleaning; and a processor detecting a predetermined pattern from the picture taken by the camera and determining the relative position of the moving apparatus for cleaning with respect to a charging station based on the number of the detected patterns or thickness to control the driving unit such that the movement of the moving apparatus for cleaning can be controlled according to the determined position. Therefore, the present invention determines the relative position of a cleaning robot with respect to the charging station by a simple structure, thereby making it easy to control the movement of a cleaning robot.

Description

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

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning mobile device, a charging device and a control method thereof, and more particularly, to a cleaning mobile device, a charging device and a control method thereof for automatically cleaning a floor while traveling.

A cleaning mobile device such as a cleaning robot is an electronic device having a cleaning module for cleaning a predetermined ground such as a floor surface in a home and a moving module for moving on the ground, .

The cleaning robot is docked to a charging device provided with a charging station that can charge the battery or check its status. The cleaning robot is wirelessly connected to the external power supply or charging station for free running, and is docked to the charging device to charge the internal battery.

The cleaning robot is controlled to move and dock to the position of the charging station when the power of the battery falls below a predetermined value during running and a need for charging occurs or a predetermined cleaning process is completed according to a predetermined algorithm.

Further, the cleaning robot is controlled so as to travel while avoiding collision with the charging station while the cleaning robot is running on the floor surface.

As a method for moving or avoiding the cleaning robot to the position of the charging station, an infrared sensing structure has been proposed.

Specifically, when the charging station emits infrared rays, the light receiving sensor of the cleaning robot senses this and controls the cleaning robot to move or avoid the charging station. To this end, it is necessary to provide a configuration for irradiating infrared rays to the charging station and a configuration for receiving infrared rays to the cleaning robot.

Therefore, this method is complicated in structure at the time of implementation and the manufacturing cost is increased. In addition, such a method is susceptible to interference due to the characteristics of infrared rays, and the range in which the cleaning robot can sense the charging station is relatively short, and the distance of light may vary depending on the installation environment and the quality of parts, There is a possibility that the control of the cleaning robot is not normally performed, for example, the cleaning robot collides with the charging station, or an error such as stopping or switching of the traveling direction at an unexpected position occurs.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cleaning moving device, a charging device, and a control method thereof that can easily control the movement of a cleaning robot by determining a relative position of the cleaning robot to the charging device by a simple structure .

It is another object of the present invention to provide a cleaning mobile device, a charging device, and a control method thereof, which can easily and easily recognize the position of a cleaning robot by a simple method of identifying patterns or colors in an image.

According to an embodiment of the present invention, there is provided a cleaning mobile device including: a cleaning unit that performs cleaning; A traveling section for moving the cleaning moving device; A camera for capturing an ambient environment of the cleaning mobile device; And a controller for determining a relative position of the cleaning mobile device with respect to the charging station based on the number or thickness of the detected patterns and controlling the movement of the cleaning mobile device according to the determined position And a processor for controlling the traveling section. Thus, the movement of the cleaning robot is easily controlled by determining the relative position of the cleaning robot with respect to the filling station by a simple structure.

The relative position may include the degree of approach and direction of approach of the cleaning mobile device to the charging station. Thus, the position accuracy of the cleaning robot is improved.

The pattern includes a first pattern and a second pattern and the processor identifies the filling station by the detected first pattern and determines the degree of approach corresponding to the number or thickness of the detected second patterns, The number or thickness of the second pattern may increase. Accordingly, it is easy to identify other obstacles and the charging device, and convenience is provided for the cleaning robot to be guided to the charging station.

The processor can determine the entry direction based on the color or color combination of the captured image. Therefore, the direction of the cleaning robot can be easily recognized without a complicated image processing process.

The processor may control the drive so that the cleaning mobile device moves to avoid the docking or charging station to the charging station if it is determined that the cleaning mobile device is proximate to the charging station according to the determined relative position. Thus, the docking traveling or avoiding traveling according to the current position of the cleaning robot is controlled to be appropriately performed.

The processor can control the travel section so that the cleaning mobile device is switched to move toward the front of the charging station and moves, if it is determined that the cleaning mobile device enters the direction other than the front of the charging station, depending on the determined relative position . Therefore, accurate docking can be performed irrespective of the position of the cleaning robot when docking.

The processor may control the drive so that the cleaning mobile device approaches the charging station and the cleaning mobile device proximate to the charging station moves in a direction to switch to the front of the charging station, depending on the determined relative position. Thus, even when the cleaning robot does not enter the front of the charging device, the direction is appropriately switched to perform docking.

According to another aspect of the present invention, there is provided a cleaning moving device including: a cleaning unit that performs cleaning; A traveling section for moving the cleaning moving device; A camera for capturing an ambient environment of the cleaning mobile device; And a controller configured to detect a pattern varying from a first view and a second view corresponding to a view angle of the camera from an image picked up by the camera, And a processor for controlling the traveling section so that the movement of the cleaning mobile device is controlled according to the determined position. Thus, the movement of the cleaning robot is easily controlled by determining the relative position of the cleaning robot with respect to the filling station by a simple structure.

According to another aspect of the present invention, there is provided a charging device for a mobile device, comprising: a main body; A charging connector connected to a charging terminal provided in the cleaning mobile device; And a pattern changing member which is provided on at least one surface of the main body and changes the number or thickness of the pattern in the image captured by the camera provided in the cleaning mobile device according to the relative position of the cleaning mobile device to the charging device. The pattern altering member may include at least one plate-like structure that is installed at an angle with respect to at least one side of the body. Thus, by adding a simple structure to the charging device, it is convenient for the positioning process of the cleaning robot.

According to another aspect of the present invention, there is provided a charging apparatus for a mobile device, comprising: a main body; A charging connector connected to a charging terminal provided in the cleaning mobile device; And a pattern changing member which is provided on at least one surface of the main body and has at least one polarizing film which is provided so as to be seen in either the first shape or the second shape corresponding to the angle of view of the camera provided in the cleaning mobile device. Thus, by adding a simple structure to the charging device, it is convenient for the positioning process of the cleaning robot.

Meanwhile, a method of controlling a cleaning mobile device according to an embodiment of the present invention includes: capturing an environment of a cleaning mobile device by a camera; Detecting a predetermined pattern from the captured image; Determining a relative position of the cleaning mobile device to the filling station based on the number or thickness of the detected patterns; And controlling movement of the cleaning mobile device according to the determined location. Thus, the movement of the cleaning robot is easily controlled by determining the relative position of the cleaning robot with respect to the filling station by a simple structure.

The relative position may include the degree of approach and direction of approach of the cleaning mobile device to the charging station. Thus, the position accuracy of the cleaning robot is improved.

Wherein the pattern comprises a first pattern and a second pattern, wherein determining the relative position comprises: identifying the filling station by the detected first pattern; Determining a degree of approach corresponding to the number or thickness of the detected second patterns, wherein the number or thickness of the second patterns may increase as the cleaning mobile device approaches the charging station. Accordingly, it is easy to identify other obstacles and the charging device, and convenience is provided for the cleaning robot to be guided to the charging station.

The step of determining the relative position may include determining an entering direction based on a color or a color combination of the captured image. Therefore, the direction of the cleaning robot can be easily recognized without a complicated image processing process.

Controlling the movement of the cleaning mobile device includes determining that the cleaning mobile device is proximate to the charging station according to the determined relative position; And controlling the cleaning mobile device to move away from the docking or charging station to the charging station. Thus, the docking traveling or avoiding traveling according to the current position of the cleaning robot is controlled to be appropriately performed.

Controlling the movement of the cleaning mobile device is such that if the cleaning mobile device is determined to enter a direction other than the front of the charging station, depending on the determined relative position, the cleaning mobile device is redirected to be positioned at the front of the charging station And controlling the mobile device to move. Therefore, accurate docking can be performed irrespective of the position of the cleaning robot when docking.

Controlling the movement of the cleaning mobile device includes controlling the cleaning mobile device to approach the charging station according to the determined relative location; And controlling the cleaning mobile device in proximity to the charging station to turn and move to be positioned at the front of the charging station. Thus, even when the cleaning robot does not enter the front of the charging device, the direction is appropriately switched to perform docking.

According to another aspect of the present invention, there is provided a method of controlling a cleaning mobile device, comprising: capturing an environment of a cleaning mobile device by a camera; Detecting a pattern that varies from a captured image so as to be viewed as either a first shape or a second shape corresponding to an angle of view of the camera;

Determining a relative position of the cleaning mobile device to the filling station based on the shape of the detected pattern; And controlling movement of the cleaning mobile device according to the determined location. Thus, the movement of the cleaning robot is easily controlled by determining the relative position of the cleaning robot with respect to the filling station by a simple structure.

Meanwhile, in the system including the cleaning mobile device and the charging device according to an embodiment of the present invention, the charging device may include a pattern changing member, which is provided on at least one surface of the main body and is variable in accordance with the relative position of the cleaning mobile device with respect to the charging device, Wherein the cleaning moving device includes: a cleaning unit that performs cleaning; A traveling section for moving the cleaning moving device; A camera for capturing an ambient environment of a cleaning mobile device including a charging device; Detecting a predetermined pattern corresponding to the pattern changing member from the image captured by the camera, determining a relative position of the cleaning moving device with respect to the charging device based on the number of the detected patterns, the thickness or the shape, And a processor for controlling the traveling section such that the movement of the cleaning mobile device is controlled. Thus, the movement of the cleaning robot is easily controlled by determining the relative position of the cleaning robot with respect to the filling station by a simple structure.

According to the cleaning moving device, the charging device, and the control method of the present invention as described above, the movement of the cleaning robot is easily controlled by determining the relative position of the cleaning robot with respect to the filling station by a simple structure.

In particular, the pattern changing member may be provided on the filling apparatus, or the outer surface may be configured to have a different color so that the position of the blue soft button can be easily grasped only by simple information such as the presence or absence of a predetermined pattern, or the number or color.

Further, according to the present invention, the movement of the cleaning robot is appropriately avoided or docked depending on the relative position of the cleaning robot relative to the charging apparatus, thereby improving the convenience of the user in using the cleaning robot.

1 is a view showing an example of a system including a cleaning robot and a charging apparatus according to an embodiment of the present invention.
2 is a block diagram showing the configuration of a cleaning robot according to an embodiment of the present invention.
3 to 5 are views showing a pattern changing member provided in the charging apparatus according to an embodiment of the present invention.
6 to 8 are views showing a pattern changing member provided in a charging apparatus according to another embodiment of the present invention.
9 and 10 are views for explaining a method of determining the position of the cleaning robot according to an embodiment of the present invention.
11 and 12 are views showing that the cleaning robot performs evasive driving according to the embodiment of the present invention.
13 and 14 are diagrams showing that the cleaning robot performs the docking travel according to the embodiment of the present invention.
15 is a flowchart illustrating a control method of a cleaning robot according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

1 is a view showing an example of a system including a cleaning robot and a charging apparatus according to an embodiment of the present invention.

As shown in FIG. 1, a system according to an embodiment of the present invention includes a mobile device that autonomously moves and performs a predetermined task, and a mobile device that is separated from the mobile device and fixedly installed at a predetermined position, And auxiliary devices that assist.

In the embodiment of the present invention shown in Fig. 1, the moving device is a cleaning robot 100 that is a cleaning moving device that automatically travels and cleans a floor surface of a certain area, and the auxiliary device is used to charge the battery of the cleaning robot 100 (Hereinafter, also referred to as a docking station or a base station). However, the implementation method of each of the mobile device and the auxiliary device to which the spirit of the present invention can be applied is not limited, and various types of devices other than the cleaning robot 100 and the charging device 200 may be implemented as a mobile device or an auxiliary device have.

In one embodiment, the cleaning robot 100 is equipped with a camera including an image sensor, and can be implemented as an autonomous travel apparatus capable of recognizing its own position and moving to a destination by a predetermined path.

1, the cleaning robot 100 includes a main body 101 on which an outer shape is formed and all components are installed, a traveling portion 120 for moving the cleaning robot 100 in a predetermined direction, a cleaning robot A cleaning unit 130 for cleaning the bottom surface according to the movement of the cleaning robot 100 and a camera 140 for capturing an ambient environment of the cleaning robot 100. The above components are parts of the entire structure of the cleaning robot 100 that appear outside the main body 101.

The driving force for all operations of the cleaning robot 100 including the traveling unit 120 and the cleaning unit 130 is provided by a battery 170 (FIG. 2) built in the main body 101, A charging terminal for charging the battery 170 is provided.

The traveling unit 120 includes at least one wheel that basically contacts the bottom surface for movement of the cleaning robot 100, a motor as a driving unit that generates driving force for movement, a link that transmits the driving force of the motor to the wheels, .

The driving unit 120 has a plurality of wheels, and the wheels are individually driven, thereby enabling the cleaning robot 100 to perform various movements such as forward movement, backward movement, rotation movement, and rearward movement. The moving direction and the moving speed of the cleaning robot 100 by the drive unit 120 are determined by the control signal transmitted from the processor (180 in FIG. 2) in the cleaning robot 100 to the motor.

In one embodiment, the traveling unit 120 may further include a steering mechanism physically changing the angle of each of the plurality of wheels by a control signal of the processor 180. [

In another embodiment, the number of revolutions of each of the plurality of wheels constituting the traveling unit 120 is controlled through the control signal of the processor 180, so that the running direction control of the moving cleaning robot 100, that is, have.

The cleaning unit 130 includes a brush for scattering foreign substances such as dust present on the floor surface, a suction module for sucking scattered foreign substances, a storage tank for storing foreign substances to be sucked, and the like. The cleaning unit 130 operates when the cleaning robot 100 is moved by the running unit 120 or when the cleaning robot 100 is stopped, thereby cleaning the bottom surface.

The camera 140 captures or captures the state of the environment of the cleaning robot 100 to generate an image.

The position of the camera 140 in the main body 101 is not limited and in one embodiment the camera 1404 is installed in the main body 101 so as to capture the front of the cleaning robot 100, 101, respectively. In one embodiment, the cleaning robot 100 may be provided with a plurality of cameras.

The camera 140 includes a lens and an image sensor (141 in Fig. 2) through which the sensed image is transmitted. The image sensor 141 may be a complementary metal-oxide semiconductor (CMOS) sensor or a CCD (charge coupled device) sensor. The image sensor 141 captures a front view of the cleaning robot 100 and generates a digital image of the captured result.

In one embodiment, the camera 140 may be provided with various types of optical lenses to capture the ambient environment to a larger extent or to capture with a more precise image.

In addition, the cleaning robot 100 may have various configurations. For example, the cleaning robot 100 may include a user interface unit (not shown) installed in the main body 101 for receiving user input and displaying status information of the cleaning robot 100 2 < / RTI > 150).

The user interface unit 150 includes a power button for turning on and off the power of the cleaning robot 100, an operation toggle button for starting and stopping the operation of the cleaning robot 100, a cleaning robot 100, A return button for returning the cleaning robot 100 to the charging station 200, a display unit for displaying the current state of the cleaning robot 100 and a state according to a user instruction.

The charging device 200 is fixedly installed at a position in the use environment of the cleaning robot 100, and an external power source is connected thereto. The charging apparatus 200 basically charges the battery of the cleaning robot 100 when the cleaning robot 100 is docked and can perform various maintenance operations of the cleaning robot 100 in addition thereto .

As shown in Fig. 1, the charging apparatus 200 includes a main body 201 constituting an external shape and having all components, a charging connector 210 connectable to a charging terminal provided in the cleaning robot 100, And a pattern changing member 220 provided on at least one surface of the substrate 201.

The pattern changing member 220 is provided such that the pattern in the image captured by the camera 140 is changed in accordance with the relative position of the cleaning robot 100 to the charging apparatus 200. [ Specific embodiments of the pattern altering member 220 are described in more detail below with respect to FIGS. 3-8.

In addition, the charging device 200 may have various configurations. For example, the charging device 200 may be installed in the interior of the charging device 200 to convert external power (AC) ) To the charging power supply (DC).

The cleaning robot 100 according to the embodiment of the present invention determines the relative position of the cleaning robot 100 with respect to the charging device 200 using the sensed image, Is controlled. Here, the relative position of the cleaning robot 100 with respect to the charging apparatus 200 includes a distance indicating an approaching degree and an angle indicating an approaching direction.

The cleaning robot 100 may be controlled to move to avoid the docking or charging device 200 to the charging device 200 according to its relative position with respect to the charging device 200. [

Hereinafter, internal configurations of the cleaning robot 100 will be described.

2 is a block diagram showing the configuration of a cleaning robot according to an embodiment of the present invention.

2, the cleaning robot 100 includes a communication unit 110, a traveling unit 120, a cleaning unit 130, a camera 140, a user interface unit 150, a storage unit 160, (170) and a processor (180).

The driving unit 120, the cleaning unit 130, the camera 140, and the user interface unit 150 are the same as those of the embodiment of FIG.

The communication unit 110 includes hardware such as a communication circuit or a communication chip for performing wireless communication based on various wireless protocols with one external device, for example, the charging station 200. Depending on the supported protocol of the communication unit 110, it may be connected to a communication relay device such as an access point to perform communication with the server through the wide area network. Various types of wireless communication protocols supported by the communication unit 110 can be exemplified such as Wi-Fi, Bluetooth, infrared, RF, Zigbee, and Wi-Fi direct.

The storage unit 160 is provided as a place where data storage or loading is performed. The storage unit 160 includes a nonvolatile memory in which data is stored regardless of whether or not the system power is applied, and a volatile memory in which data processed by the processor 180, for example, a control program is temporarily loaded. Nonvolatile memories include flash memories, EPROMs, HDDs, SDDs, and ROMs, and volatile memories include RAMs and buffers.

The storage unit 160 stores various information that the processor 180 refers to for the operation of the cleaning robot 100, for example, positioning and running control.

Specifically, position information corresponding to a pattern detected from the sensed image may be stored in the storage unit 160 as, for example, a lookup table (LUT). The storage unit 160 may further store data such as a control program, an application, an algorithm, and the like for operation of the cleaning robot 100 related to cleaning, charging, and the like.

The battery 170, which supplies power for the operation of the cleaning robot 100, can be reused by charging when the internal power is consumed. The battery 170 provides a predetermined voltage for each component of the cleaning robot 100 according to a control signal from the processor 180. The battery 170 has a terminal for transmitting the power supplied through the charging connector 210 of the charging station 200 to the battery 170 while the cleaning robot 100 is docked to the charging station 200.

In one embodiment, the battery 140 may be provided with a sensor for detecting the remaining charge amount, so that the processor 180 can check the charge remaining amount information of the battery.

The processor 180 controls the operation of the driving unit 120 or the cleaning unit 130 based on the capture result of the camera 140 or the input through the user interface unit 150. [

The processor 180 is a combination of a CPU and a chipset, a microcontroller, or a circuit implemented in SoC. The processor 180 performs an operation and an instruction operation for all operations performed by the cleaning robot 100 according to a control program.

The control program may include program (s) implemented in the form of at least one of BIOS, device driver, operating system, firmware, platform and application (application). In one embodiment, the application program may be installed in the cleaning robot 100 at the time of manufacturing the cleaning robot 100, or may be installed in the cleaning robot 100 based on data of an application program received from the outside at the time of use later . The data of the application program may be downloaded to the cleaning robot 100 from an external server such as an application market. Such an external server is an example of the computer program product of the present invention, but is not limited thereto.

Hereinafter, the pattern changing member 220 provided in the charging station 200 will be described.

3 to 5 are views showing a pattern changing member provided in the charging apparatus according to an embodiment of the present invention.

In the illustrated embodiment, the pattern changing member 220 is in the form of a plate-like structure that is installed at an angle on at least one side of the charging device 200.

3 to 5, the pattern changing member 220 is attached to the outer surface of the main body 101 of the charging apparatus 100 at an angle to the front surface 202 at an angle, for example, And a plurality of plate shapes 221, 222, 223, 224, 225, The color of the pattern changing member 220, that is, the plurality of plate shapes 221, 222, 223, 224, 225, and 226 is different from the color of the outer surface 202 to which the pattern changing member 220 is attached. The angles at which the plurality of plate shapes 221, 222, 223, 224, 225, and 226 are installed may be the same or different from each other, and some of them may be the same and some of them may be implemented in different forms.

The image 400 imaged by the camera 140 of the cleaning robot 100 on the charging apparatus 100 can be displayed on the screen 200 as the pattern changing member 220 is attached to the outer surface 202 having a different color at a predetermined angle. And includes a plurality of patterns 410 in the form of a horizontal line.

The number of patterns 410 included in the image 400 captured by the camera 140 is changed according to the distance between the cleaning robot 100 and the charging device 200. [ Accordingly, the combination of colors of the sensed image 400 also varies depending on the distance between the cleaning robot 100 and the charging device 200.

4A, when the cleaning robot 100 is separated from the charging device 200 by a first distance d1, the cleaning robot 100 is attached to the charging device 100 to constitute the pattern changing member 220 The view angles of the cameras 140 to the plate images 221, 222, 223, 224, 225 and 226 are different from each other so that the plate images 221, 222, 223, 224, 225 , 226) occupies an area.

4 (b), the image 400 captured by the camera 140 of the cleaning robot 100 positioned at the first distance d1 from the charging device 100 is divided into a plate- 221 and the plate-like portion 226 disposed at the lowermost portion occupy a relatively large area, thereby completely covering the front surface 202 of the charging device 200. [

Thus, the image 400 captured at the first distance d1 has a shape that includes five patterns 410. [

When the cleaning robot 100 which has been separated by the first distance d1 as described above is closer to the charging device 200 side and is separated by the second distance d2 as shown in Fig. 5 (a) The view angle of the camera 140 with respect to the plate shapes 221, 222, 223, 224, 225, and 226 constituting the pattern changing member 220 is changed. Therefore, the area occupied by each of the plate images 221, 222, 223, 224, 225, and 226 in the captured image 500 is also changed.

5 (b), the image 500 captured by the camera 140 of the cleaning robot 100 positioned at the second distance d2 from the charging device 100 is transferred to the respective plates 221, 222, 223, 224, 225, 226 are relatively narrower than the case of the first distance d1, the plate-like shape 221 provided on the uppermost part of the charging device 200 and the plate- Is captured in a form that does not completely cover the front surface 202.

Thus, the image 500 captured at the second distance d2 has a shape that includes seven patterns 510, with the number of patterns increasing from the relatively far first distance d1. In addition, the image 500 captured at the second distance d2 as shown in Fig. 5 (b) is a relatively patterned image 500 in comparison with the image 400 captured at the first distance d1 in Fig. 4 (b) 510, that is, a width in a predetermined direction (longitudinal direction).

The number of patterns seen at each of the distances d1 and d2 in FIGS. 4 and 5 is shown by way of example and can be changed in various forms according to the installation angle and number of the pattern changing member 220 . For example, if the pattern is not displayed or only one is displayed at the long distance and the middle distance, and the cleaning robot 100 enters the charging apparatus 200 in a short distance, two patterns may be displayed.

In one embodiment, the storage unit 160 of the cleaning robot 100 may be provided with the camera 140 in correspondence with the approaching distance to the charging apparatus 200, that is, the distances d1, d2, Data on the number or thickness of the patterns 410 and 510 included in the captured images 400 and 500 may be stored. The processor 180 extracts the patterns 410 and 510 from the images 400 and 500 of the charging apparatus 200 and compares the information on the number or thickness of the extracted patterns with the data in the storage unit 160 And determines the relative position of the cleaning robot 100 with respect to the charging apparatus 200 in such a manner.

3 to 5, the pattern changing member 220 has six plate-like structures, but the present invention is not limited thereto. That is, the pattern changing member 220 may be formed of not only six, but also various numbers of structures larger or smaller than that. As an example, the pattern changing member 220 may be made up of a single plate-like structure, in which case the processor 180 is configured to move the cleaning robot 100 to the charging device 200 based on the thickness of the pattern detected from the captured image. Can be determined.

In the present invention, the pattern changing member 220 is installed on at least one surface of the charging device 200 and may be installed at the left and right sides as well as the front surface 202. The shape of the structure constituting the pattern changing member 220 is not necessarily limited to a plate-like shape. The shape of the structure constituting the pattern changing member 220 is not necessarily limited to a plate- The form in which the captured image is changed will be included in the scope of implementation of the present invention.

6 to 8 are views showing a pattern changing member provided in a charging apparatus according to another embodiment of the present invention.

In another illustrated embodiment, the pattern altering member 230 is attached to at least one side of the charging device 200 and is implemented with a polarizing film (or polarizing filter) that is viewed in a different shape depending on the viewing angle. Here, the polarizing film includes, for example, a hologram tape in which a specific shape is displayed when light of a predetermined angle passes.

In one embodiment, the image of the charging device 200 with the pattern altering member 230 attached thereto is at least one of a first shape and a second shape that varies to be seen in either a first shape or a second shape corresponding to the angle of view of the camera 140 Pattern.

6 to 8, the pattern changing member 230 includes a plurality of films 231 attached to the outer surface of the charging apparatus 100, for example, a front surface 202 and both sides 203 and 204 , 232, 233).

Since the pattern changing member 230 is attached to the outer surfaces 202, 203 and 204 so as to be arranged in the longitudinal direction, the image 700 of the charging device 100 taken by the camera 140 of the cleaning robot 100 For example, a plurality of patterns 710, 720, 730 in the form of a line.

At least one of the patterns 710, 720, and 730 including the image 700 captured by the camera 140 is changed in accordance with the distance between the cleaning robot 100 and the charging device 200.

7 (a), when the cleaning robot 100 is separated from the charging device 200 by the first distance d1, the cleaning robot 100 is attached to the charging device 100 to constitute the pattern changing member 230 A predetermined shape can be displayed on at least one of the films 231, 232, and 233 of the captured image 400 because the view angle of the camera 140 with respect to each of the films 231, 232, have.

7 (b), the image 700 captured by the camera 140 of the cleaning robot 100 located at the first distance d1 from the charging apparatus 100 is transferred to the upper films d1 The pattern 730 corresponding to the lowermost film may have a specific shape corresponding to the angle of view thereof, for example, a circular shape arranged in the transverse direction, Shape. Here, the second shape may be circular, for example, and the present invention may be applied to a case where the first shape and the second shape are changed so as to be changed in accordance with the change of the angle of view. That is, the patterns displayed on the patterns 710, 720, and 730 may be different from each other depending on the angle of view change, and may be displayed in a combination of various shapes.

Therefore, the image 700 captured at the first distance d1 has a shape in which the second shape is displayed in one pattern 730. [

When the cleaning robot 100 which has been separated by the first distance d1 as described above is closer to the charging device 200 side and is separated by the second distance d2 as shown in Fig. 8 (a) The view angle of the camera 140 with respect to each of the films 231, 232, and 233 constituting the pattern changing member 230 is changed. Thus, in the captured image 800, the second shape is changed to be displayed in the two patterns 820 and 830 corresponding to the lower two films 232 and 233.

Thus, the image 800 captured at the second distance d2 has a shape that changes in a greater number of patterns 820, 830 compared to the relatively far first distance d1, Shape.

In one embodiment, the storage unit 160 of the cleaning robot 100 as described above is provided with a storage unit 160, which is captured by the camera 140 in correspondence with the degree of approach to the charging apparatus 200, that is, distances d1, d2, Data on the number of patterns 730, 820, 830 represented by the second shape in the patterns included in the images 700, 800 may be stored. The processor 180 extracts the patterns 710, 720, 730, 810, 820, 830 from the images 700, 800 of the charging device 200 and displays the second one of the extracted patterns The relative position of the cleaning robot 100 with respect to the charging device 200 is determined by comparing the number information of the patterns 730, 820, and 830 with the data stored in the storage unit 160.

In FIGS. 6 to 8, the case where the pattern changing member 230 is three polarizing films is shown, but the present invention is not limited thereto. That is, the pattern changing member 230 may be composed of not only three, but also a greater or lesser number of films. As the number of the pattern changing members 230 increases, the accuracy of distance determination between the cleaning robot 100 and the charging device 200 can be enhanced.

Also, in the present invention, the pattern changing member 230 is installed on at least one surface of the charging device 200, and may be installed only on the front surface 202. It should be noted that the film constituting the pattern changing member 230 is not limited to the hologram tape but may be a film that is captured in accordance with the angle of view change of the camera 140 caused by the distance difference between the charging device 200 and the cleaning robot 100 Any form that can display different shapes in an image will be included in the scope of the present invention.

3 to 5 illustrate the case where the plate shapes 221, 222, 223, 224, 225, and 226 constituting the pattern changing member 220 are arranged in the longitudinal direction , The filling apparatus 200 of the present invention can be realized in a form including a structure in which the pattern changing member is disposed in the lateral direction.

In this case, the captured image includes a pattern in the form of a vertical line, and the processor 180 determines whether or not the cleaning robot 100 (100) for the charging device 200 is on the basis of the number or the thickness ), That is, the angle, can be further determined.

In addition, the charging apparatus 200 of the embodiment of FIGS. 3 to 5 or the other embodiment of FIGS. 6 to 8 may further include a structure arranged in the lateral direction as described above, It may be possible to implement both the access degree and the approach direction as a relative position of the mobile terminal 100.

In yet another embodiment, the charging device 200 is configured such that the exterior surfaces of the body 101, i.e., the front surface 202, the left side 203, and the right side 204, To determine the approach direction of the cleaning robot 100 to the charging apparatus 200 based on the color information of the image picked up by the cleaning robot 200. [

Here, the charging device 200 of the embodiment shown in FIGS. 3 to 5 or the charging device 200 according to another embodiment shown in FIGS. 6 to 8 is configured such that the outer surfaces thereof have different colors, It may be possible to implement both the access degree and the approach direction as the relative positions of the robot 100. [

Hereinafter, an embodiment will be described in which the degree of approach and the direction of entry are determined as the relative positions of the cleaning robot 100 with respect to the charging apparatus 200 through the captured image.

9 and 10 are views for explaining a method of determining the position of the cleaning robot according to an embodiment of the present invention.

9 shows captured images corresponding respectively to the relative positions of the cleaning robot 100 determined with respect to the filling apparatus 200, and Fig. 10 is a view showing some of the images of Fig. 9, Reflecting the relative size between the images.

The charging apparatus 200 of the present embodiment is configured such that the plate-like pattern changing member 220 described in the embodiments of Figs. 3 to 5 is attached to the outer surfaces of the charging apparatus 200, that is, the front surface 202, the left surface 203, The front side 202, the left side 203 and the right side 204 are provided so as to have different colors, that is, the first color, the second color and the third color, while being installed at a predetermined angle on the right side face 204 do. Here, the pattern changing member 220 has a first color of the front face 202 of the charging device 200, a second color of the left side 203, and a fourth color different from the third color of the right side 204.

In the present embodiment, the captured image 900, 1000 includes a first pattern 910, 1010 and a second pattern 920, 1020.

The first patterns 910 and 1010 are marks for identifying the charging device 200 and may have a plurality of vertical lines as shown in Figs. 9 and 10, for example. In one embodiment, the first pattern 910, 1010 is displayed in the second pattern 920, 1020.

The processor 180 of the cleaning robot 100 can recognize that the images 900 and 1000 are the charging apparatus 200 when the first patterns 910 and 1010 are detected from the captured images 900 and 1000 have.

The second patterns 920 and 1020 may have a plurality of horizontal line shapes displayed by the pattern changing member 220 described with reference to FIGS.

The processor 180 of the cleaning robot 100 detects the second patterns 920 and 1020 from the sensed images 900 and 1000 and detects the number of the second patterns 920 and 1020 based on the number of the detected second patterns 920 and 1020, The distance (approaching degree) can be determined as the relative position of the cleaning robot 100 to the cleaning robot 100. [

9 and 10, the processor 180 can determine the distance between the charging device 200 and the cleaning robot 100 through one of the captured images 900 and 1000 to be one of a distance, a middle distance, and a close distance have. Here, the short distance corresponds to a so-called safe area, which is an area close to the charging apparatus 200, when the cleaning robot 100 is located within a predetermined distance T from the charging apparatus 200, for example, 30 cm. The middle distance and the long distance are separated by a predetermined distance (U).

In one embodiment, distances T and U, which are distance, distance, and distance criteria, can be determined as shown in FIGS. 11 and 12, which will be described later.

The processor 180 controls the driving unit 120 to dock the charging device 200 to the avoiding or charging device 200 according to the operation mode when it is determined that the cleaning robot 100 has reached the safe area. When the cleaning robot 100 docks the charging apparatus 200, the processor 180 can control the traveling unit 120 so that the cleaning robot 100 travels at a low speed.

Specifically, the processor 180 determines that the cleaning robot 100 is located at a remote location when one of the second patterns 920, 1020 is detected from the captured image 900, 1000. The processor 180 determines that the cleaning robot 100 is located at a medium distance when two or three second patterns 920 and 1020 are detected from the captured images 900 and 1000. [ The processor 180 determines that the cleaning robot 100 is located at a remote location when four second patterns 920 and 1020 are detected from the captured images 900 and 1000. [

The distance classification is one example, and the cleaning robot 100 according to the embodiment of the present invention can be implemented in various ways that can divide the distance of two or more steps through the number of the second patterns 900 and 1000.

9, the processor 180 determines the entering direction of the cleaning robot 100 for the charging apparatus 200 through the captured image 900 as the left side, the left side diagonal, the front side, the right side diagonal, It can be decided as one.

The processor 180 determines that the cleaning robot 100 enters a direction other than the front and when the cleaning robot 100 desires to perform docking for charging in accordance with the operation mode, And controls the traveling unit 120 to move to the front side of the apparatus 200. [

Specifically, the processor 180 determines that the cleaning robot 100 is located at the front when the captured image 900 is made of the first color. The processor 180 determines that the cleaning robot 100 is located on the left side when the captured image 900 is made of the second color. The processor 180 determines that the cleaning robot 100 is located on the right side when the captured image 900 is made of the third color.

The processor 180 determines that the cleaning robot 100 is located at the left diagonal when the captured image 900 is made of a combination of the first color and the second color. The processor 180 determines that the cleaning robot 100 is located at the right diagonal when the captured image 900 is made of a combination of the first color and the second color.

The cleaning robot 100 according to the embodiment of the present invention can detect the direction of the robot 100 in various ways that can be divided into a front face and at least one other direction through colors or color combinations of the sensed images 900 and 1000 Lt; / RTI >

As described above, the information for identifying the access degree and the approach direction of the cleaning robot 100 is stored in the storage unit 160 as a lookup table (LUT).

Accordingly, the processor 180 compares the number of second patterns detected from the image captured through the camera 140 at the current position with the look-up table to determine the degree of access of the cleaning robot 100 to the charging apparatus 200 And compares the color or color combination of the captured image with the lookup table to determine the entering direction of the cleaning robot 100 for the charging apparatus 200. [ In another embodiment, the processor 180 may compare the width of the second pattern detected from the captured image with a look-up table so that the degree of approach is determined.

Hereinafter, embodiments in which the cleaning robot 100 according to the embodiment of the present invention determines the relative position with respect to the charging apparatus 200 and the movement thereof is controlled according to the determined position will be described.

The cleaning robot 100 according to the present embodiment avoids the charging device 200 according to its operation mode or moves into the charging device 200 so as to charge the battery 170 by docking the charging device 200 You can drive.

11 and 12 are views showing that the cleaning robot performs evasive driving according to the embodiment of the present invention.

The evasive running is performed in a cleaning mode in which the cleaning robot 100 moves while cleaning the floor surface. The processor 180 of the cleaning robot 100 enters a cleaning mode in which a cleaning instruction is inputted from the user through the user interface unit 150 or reaches a preset time so as to perform cleaning according to a predetermined schedule .

11, the processor 180 of the cleaning robot 100 operating in the cleaning mode detects the first pattern 1110 from the captured image 1100 through the camera 140, And identifies that the obstacle is the charging device 200.

The processor 180 determines that the approach direction of the cleaning robot 100 to the charging apparatus 200 is the left side of the charging apparatus 200 because the captured image 1100 is of the first color.

As shown in Fig. 11A, the processor 180 detects a second pattern from the captured image 1100, and based on the number of detected second patterns, the cleaning robot for the charging device 200 100, i.e., the degree of approach is remote. The processor 180 continues to determine whether the degree of approach of the cleaning robot 100 to the charging device 200 in response to the change in the number of the second patterns as shown in Figs. 11 (b) and 11 (c) And confirms that the cleaning robot 100 gradually comes close to the charging apparatus 200.

12, when the captured image 1200 is made of the first color and the number of the detected second patterns 1220 reaches four, the processor 180 determines whether the captured image 1200 is the first color, Is located near the left side of the charging apparatus 200. [

Since the cleaning robot 100 located at the close range on the left side operates in the cleaning mode, the processor 180 controls the traveling robot 120 such that the cleaning robot 100 avoids the charging device 200, . 12D, the cleaning robot 100 avoids the safe area 205 of the charging device 200 and continues the cleaning while moving the traveling part 120 and cleaning (130).

13 and 14 are diagrams showing that the cleaning robot performs the docking travel according to the embodiment of the present invention.

The cleaning robot 100 may sense a return event to the charging station 200. [ For example, when the residual amount of the battery 170 of the cleaning robot 100 falls below a predetermined value, charging is required, a return instruction is inputted from the user through the user interface 150, Or a time set in advance to return to the charging station 200 according to the set schedule.

The processor 180 controls the docking mode to be switched to the docking mode in which the returning and charging connector 210 is docked to the charging station 200 when a return event occurs while the cleaning robot 100 is operating in the cleaning mode.

13, the processor 180 of the cleaning robot 100 operating in the docking mode detects the first pattern 1310 from the captured image 1300 through the camera 140, And identifies that the obstacle is the charging device 200.

The processor 180 determines that the entering direction of the cleaning robot 100 for the charging apparatus 200 is the left diagonal because the captured image is composed of the combination of the first color and the second color.

As shown in FIG. 13 (a), the processor 180 detects the second pattern 1320 from the captured image 1300 and, based on the number of the detected second patterns 1320, That is, the approaching degree of the cleaning robot 100 to the cleaning robot 100 is a long distance.

The processor 180 recognizes the first pattern 1310 located in the center of the captured image 1300 as the position of the charging device 200 so that the cleaning robot 100 gradually moves the charging device 200) of the driving part (120). Here, the first pattern 1310 serves to guide the cleaning robot 100 to dock the charging device 200.

13B and 13C by using the number of the second patterns 1320 detected from the captured image 1300 in this process. And controls the traveling unit 120 so that the cleaning robot 100 moves until it is located near the charging device 200.

14C, the processor 180 determines whether the captured image 1300 is a combination of the first color and the second color and the number of the detected second patterns 1310 is four It is determined that the cleaning robot 100 is positioned at the left diagonal close position of the charging apparatus 200. [

The docking mode of the cleaning robot 100 located at the left diagonal close to the left side of the processor 180 is the same as the docking mode of the cleaning robot 100. That is, 200) front side, that is, the center, so as to switch the traveling direction to the right. In this process, the processor 180 can control the traveling unit 120 so that the cleaning robot 100 moves after the rotation for turning the direction. The cleaning robot 100 thus rotated and moved is aligned on the front face of the charging apparatus 200, i.e., in the center.

The processor 180 can confirm that the cleaning robot 100 is positioned at the front of the charging apparatus 200 because the captured image 1400 is made of the first color. 14 (e), since the number of the second patterns 1420 is two, the processor 180 determines that the cleaning robot 100 is in a straight line And controls the driving unit 120 to move.

The processor 180 determines that the number of the second patterns 1420 is four while the image 1400 picked up by the cleaning robot 100 linearly moved is of the first color, It is determined that it is located near the front of the mobile terminal 200.

The processor 180 controls the traveling unit 120 so that the cleaning robot 100 passes through the safe area 205 and docks to the charging station 200. Here, the processor 180 may control the traveling unit 120 to travel at a relatively low speed in comparison with the general traveling speed of the cleaning robot 100 so as to perform docking.

14, when the cleaning robot 100 located in the remote diagonal direction of the charging device 200 operates in the docking mode, the robot 100 reaches the nearest position while maintaining its entering direction and then moves to the front by rotation However, in the present invention, docking control by various paths is implemented. For example, the cleaning robot 100 positioned in the long diagonal direction can be controlled so that access to the charging device 200 can be performed simultaneously with its gradual movement of the entering angle. Alternatively, the cleaning robot 100 located in the remote diagonal direction of the charging apparatus 200 is moved to the far front, and then docked to the charging apparatus 200 in the far front.

That is, according to the present invention, by using the number or thickness of the pattern using the pattern changing member provided on at least one side of the filling apparatus 200 and the color or color combination of the outer surfaces 202, 203, 204 of the filling apparatus 200, The relative position of the cleaning robot 100 to the charging device 200 is determined and the cleaning robot 100 is cleaned by various routes for avoiding or docking the charging device 200 in accordance with the operation mode of the cleaning robot 100, And may be implemented to control the movement of the robot 100.

Hereinafter, a control method of the cleaning robot according to the present embodiment will be described with reference to the drawings.

15 is a flowchart illustrating a control method of a cleaning robot according to an embodiment of the present invention.

As shown in FIG. 15, the cleaning robot 100 according to the embodiment of the present invention images the surrounding environment by the camera 140 (S1501).

The processor 180 detects a predetermined pattern from the captured image (S1503). The processor 180 may include a first pattern provided as a mark for identifying the charging device 200 and a second pattern provided on at least one side of the charging device 200 for the pattern changing member 220, The second pattern displayed by the change in the angle of view can be detected.

Meanwhile, the processor 180 recognizes the color information of the sensed image (S1505). Here, the color information of the image includes a color or a color combination corresponding to the outer surface of the charging apparatus 200, that is, the front surface 202, the left surface 203, and the right surface 204, respectively.

The processor 180 determines the relative position of the cleaning robot 100 to the charging apparatus 200 based on the pattern detected in step S1503 and the color information recognized in step S1505 (S1507). Here, the relative position includes the approaching direction and the approach direction of the cleaning robot 100 to the charging apparatus 200. The processor 180 may determine the access degree using the number or thickness information of the pattern detected in step S1503 and may determine the approach direction using the color information identified in step S1505.

Then, the processor 180 controls the travel unit 120 so that the movement of the cleaning robot 100 is controlled according to the position determined in step S1507 (S1509). Here, the movement of the cleaning robot 100 can be controlled so as to avoid the charging apparatus 200 or to dock the charging apparatus 200 according to the operation mode.

The processor 180 performs the positioning process of the image pick-up, pattern detection, color information, and cleaning robot 100 in steps S1501 to S1507 in the movement control process of the cleaning robot 100, The floor surface is cleaned while appropriately avoiding the filling apparatus 200, or control is performed so that the filling apparatus 200 is successfully docked.

According to various embodiments of the present invention as described above, the present invention can be applied to a robot apparatus 200 that does not need to be provided with an arrangement such as an infrared circuit for inducing or avoiding docking in the charging apparatus 200, By using the image, it is possible to easily grasp the relative position, that is, the access degree and the entry direction.

A pattern changing member for facilitating relative position detection may be provided in the charging apparatus 200 or a configuration may be adopted in which the outer surfaces 202, 203 and 204 of the main body 201 have different colors, The position of the cleaning robot 100 is easily determined only by simple information such as thickness, color, or color combination, so that complicated software algorithms for recognizing the captured image and high-level hardware or storage space are not required.

The movement of the cleaning robot 100 is controlled so as to appropriately avoid or dock the charging apparatus 200 depending on the position relative to the charging apparatus 200. [

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

100: Cleaning robot 101: Main body
110: communication unit 120:
130: Cleaning section 140: Camera
141: Image sensor 150: User interface part
160: Storage unit 170: Battery
180: processor 200: charging device
201: main body 210: charging connector

Claims (20)

A cleaning mobile device comprising:
A cleaning part performing cleaning;
A traveling part for moving the cleaning moving device;
A camera for capturing an ambient environment of the cleaning mobile device; And
The method comprising the steps of: detecting a predetermined pattern from an image captured by the camera; determining a relative position of the cleaning mobile device to the charging station based on the number or thickness of the detected pattern; And controlling the traveling section such that the traveling is controlled. The method according to claim 1,
Wherein the relative position includes an approaching direction and an approaching direction of the cleaning mobile device to the charging station. 3. The method of claim 2,
Wherein the pattern comprises a first pattern and a second pattern,
Wherein the processor identifies the charging station by the first pattern detected and determines the degree of approach corresponding to the number or thickness of the second pattern detected,
Wherein the number or thickness of the second pattern increases as the cleaning mobile device approaches the charging station. 3. The method of claim 2,
Wherein the processor determines the entry direction based on a color or a color combination of the captured image. 5. The method according to any one of claims 1 to 4,
Wherein the processor is further configured to perform a cleaning movement to control the traveling unit such that the cleaning mobile unit moves to avoid docking or the charging station to the charging station if it is determined that the cleaning mobile unit is close to the charging station according to the determined relative position, Device. 5. The method according to any one of claims 1 to 4,
The processor is configured to cause the cleaning mobile device to move in a direction that is located at the front of the charging station and to move when the cleaning mobile device is determined to enter in a direction other than the front of the charging station according to the determined relative position And controls the traveling portion. 5. The method according to any one of claims 1 to 4,
Wherein the processor is configured to cause the cleaning mobile device to approach the charging station according to the determined relative position and to move the cleaning mobile device proximate to the charging station to change direction to be positioned at the front of the charging station. And a traveling section for controlling the traveling section. A cleaning mobile device comprising:
A cleaning part performing cleaning;
A traveling part for moving the cleaning moving device;
A camera for capturing an ambient environment of the cleaning mobile device; And
Detecting a pattern that varies from an image picked up by the camera to be viewed in either a first shape or a second shape corresponding to an angle of view of the camera, And a processor for determining the relative position of the apparatus and controlling the traveling unit so that the movement of the cleaning mobile unit is controlled according to the determined position. A charging device for a cleaning mobile device,
main body;
A charging connector connected to a charging terminal provided in the cleaning moving device; And
A pattern changing member which is provided on at least one surface of the main body and changes the number or the thickness of the pattern in the image captured by the camera provided in the cleaning moving device in accordance with the relative position of the cleaning moving device with respect to the charging device / RTI > 10. The method of claim 9,
Wherein the pattern changing member comprises at least one plate-like structure provided at an angle to at least one side of the body. A charging device for a cleaning mobile device,
main body;
A charging connector connected to a charging terminal provided in the cleaning moving device; And
And a pattern changing member which is provided on at least one surface of the main body and has at least one polarizing film which is changed to be seen in either the first shape or the second shape corresponding to the angle of view of the camera provided in the cleaning mobile device, . A control method for a cleaning mobile device,
Imaging an ambient environment of the cleaning mobile device by a camera;
Detecting a predetermined pattern from the captured image;
Determining a relative position of the cleaning mobile device to the filling station based on the number or thickness of the detected patterns; And
And controlling the movement of the cleaning mobile device according to the determined position. 13. The method of claim 12,
Wherein the relative position includes an approaching direction and an approaching direction of the cleaning mobile device to the charging station. 14. The method of claim 13,
Wherein the pattern comprises a first pattern and a second pattern,
Wherein determining the relative position comprises:
Identifying the charging station by the detected first pattern;
Determining the approach degree corresponding to the number or thickness of the second pattern detected,
Wherein the number or thickness of the second pattern increases when the cleaning mobile device approaches the charging station. 14. The method of claim 13,
Wherein determining the relative position comprises:
And determining the entry direction based on a color or a color combination of the captured image. 16. The method according to any one of claims 12 to 15,
Wherein controlling the movement of the cleaning mobile device comprises:
Determining that the cleaning mobile device is proximate to the charging station according to the determined relative position; And
And controlling the cleaning mobile device to dock to the charging station or move away from the charging station. 16. The method according to any one of claims 12 to 15,
Wherein controlling the movement of the cleaning mobile device comprises:
And controlling the cleaning mobile device to switch the direction to be positioned at the front of the charging station when it is determined that the cleaning mobile device moves in a direction other than the front of the charging station according to the determined relative position And a control unit for controlling the cleaning device. 16. The method according to any one of claims 12 to 15,
Wherein controlling the movement of the cleaning mobile device comprises:
Controlling the cleaning mobile device to approach the charging station according to the determined relative position; And
And controlling the movement of the cleaning mobile device in proximity to the charging station so that the mobile device moves in a direction to be positioned at the front of the charging station. A control method for a cleaning mobile device,
Imaging an ambient environment of the cleaning mobile device by a camera;
Detecting a pattern varying from the captured image so as to be viewed as either a first shape or a second shape corresponding to an angle of view of the camera;
Determining a relative position of the cleaning mobile device to a filling station based on the shape of the detected pattern; And
And controlling the movement of the cleaning mobile device according to the determined position. A system comprising a cleaning mobile device and a charging device,
Wherein the charging device includes a pattern changing member which is provided on at least one surface of the main body and is variable in accordance with a relative position of the cleaning moving device with respect to the charging device,
The cleaning mobile device includes:
A cleaning part performing cleaning;
A traveling part for moving the cleaning moving device;
A camera for capturing an ambient environment of the cleaning mobile device including the charging device; And
Detecting a predetermined pattern corresponding to the pattern changing member from an image captured by the camera and determining a relative position of the cleaning moving device with respect to the charging device based on the number, And controlling the traveling section so that the movement of the cleaning mobile device is controlled according to the determined position.

Images