KR20200027069A - Robot cleaner and method for controlling the same - Google Patents

Abstract

The present invention relates to a robot cleaner which is autonomously driven, wherein the position of the robot cleaner can be corrected. To this end, the robot cleaner of the present invention comprises: a sensor unit which detects at least one light source from the surrounding environment of a robot cleaner which is autonomously driven; a memory which includes map information of a cleaning space including light source coordinates of the plurality of light sources arranged in the provided cleaning space; a communication unit which transmits control signals corresponding to each of the plurality of light sources; and a control unit which transmits the control signals when the light sources are detected during the autonomous driving, identifies at least one light source on the map information based on the at least one light source controlled by the transmitted control signals, calculates the actual position of the robot cleaner based on the light source coordinate of the identified light source, and corrects the position of the robot cleaner on the map information based on the calculated actual position.

Description

A robot vacuum cleaner and a control method of the robot cleaner {ROBOT CLEANER AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a robot cleaner that autonomously travels, and to correct a position of the robot cleaner that autonomously travels.

In general, the robot cleaner autonomously drives a predetermined cleaning space around the wall surface of the cleaning space and sucks dust to clean. The autonomous driving of the robot cleaner may be achieved by the robot cleaner accurately recognizing its position with respect to the preset cleaning space.

On the other hand, a method in which the robot cleaner recognizes its own position is to use the encoder value of the traveling motor. That is, it maps on the map generated through Simultaneous Localization And Map-Building (SLAM) based on the driving direction and the distance measured using the value of the encoder, thereby recognizing its position in the cleaning space. You can.

However, when the position of the robot cleaner is recognized by using the encoder value as described above, a difference may occur between the actual position and the position on the map recognized by the robot due to errors or errors occurring during the autonomous driving. And this difference can cause serious problems in the autonomous driving. Therefore, a method of correcting a position on the map of the robot cleaner to the actual position of the robot cleaner based on the surrounding environment sensed by the robot cleaner is currently being actively researched.

The present invention aims to solve the above-mentioned problems and other problems, while autonomous driving, identifies at least one light source disposed in the cleaning space, calculates its actual position from the identified light source, and calculates the calculated position Accordingly, a robot cleaner capable of correcting a position on a map and a control method of the robot cleaner are provided.

According to an aspect of the present invention to achieve the above or another object, the robot cleaner according to an embodiment of the present invention, a sensor unit for sensing at least one light source from the environment surrounding the robot cleaner to autonomously drive, a given cleaning A memory including map information of the cleaning space including light source coordinates of a plurality of light sources disposed in a space, a communication unit that transmits control signals corresponding to each of the plurality of light sources, and the control when the light source is detected during autonomous driving Transmit the signals, identify at least one light source on the map information based on at least one light source controlled by the transmitted control signals, and calculate the actual position of the robot cleaner based on the identified light source coordinates of the light source And correct the position of the robot cleaner on the map information based on the calculated actual position. It characterized in that it comprises a control unit.

In one embodiment, when at least one light source is detected during autonomous driving, the control unit sequentially transmits the control signals and detects a light source controlled by the control signal transmitted each time each control signal is transmitted. When the controlled light source is detected, the detected light source is identified as a light source on the map information corresponding to the currently transmitted control signal.

In one embodiment, the control signal is characterized in that the control signal for changing the brightness of any one of the plurality of light sources to a predetermined value.

In one embodiment, the control signal is characterized in that the control signal for changing any one light frequency of the plurality of light sources to a predetermined value.

In one embodiment, the sensor unit further includes a camera for detecting a light source during autonomous driving of the robot cleaner, and the control unit is based on the transmitted control signal based on an image sensed through the camera. And detecting at least one controlled light source.

In one embodiment, the control unit detects a light source according to a preset period during autonomous driving, and corrects the position of the robot cleaner according to the preset period.

In one embodiment, the map information is generated in an autonomous driving process of the robot cleaner through a SLAM (Simultaneous Localization And Map-Building) method, and the light source coordinates are determined by the robot cleaner under the vertical direction of each light source. It characterized in that it is the position information of each light source detected when driving.

In one embodiment, the map information is generated in an autonomous driving process of the robot cleaner through a SLAM (Simultaneous Localization And Map-Building) method, and the light source coordinates are coordinates designated by a user on the map information. It is characterized by.

In one embodiment, when the at least one light source is detected from an image sensed through the camera, the control unit may detect each of the detected light sources based on depth information for each of the detected at least one light source. Obtaining distance information between the robot cleaners, and calculating at least one flat distance between each at least one light source and the robot cleaner based on the obtained at least one distance information and the height to the ceiling where the light source is disposed, , Based on the calculated at least one plane distance and the coordinates of the light sources on the map information corresponding to the detected at least one light source, to calculate the actual position of the robot cleaner.

In one embodiment, when the control unit detects one light source controlled by a control signal transmitted from the image sensed through the camera, the detected light source is centered between the detected light source and the robot cleaner. It is characterized in that the actual position of the robot cleaner is estimated by an intersection of a circle formed with a radius of a plane distance and a straight line connecting the detected light source and the robot cleaner.

In one embodiment, when the control unit detects two light sources controlled by a control signal transmitted from an image sensed through the camera, centering on each detected light source, the detected light sources and the It is characterized by estimating the actual position of the robot cleaner to a position according to any one of the selected intersection points based on the traveling direction of the robot cleaner, among the intersection points of the circles formed by the radius of the plane distances between the robot cleaners, respectively. .

In one embodiment, when the control unit detects three or more light sources controlled by a control signal transmitted from an image sensed through the camera, the controller may focus on the detected light sources and the detected light sources. It is characterized in that the actual distances of the robot cleaners are calculated as positions corresponding to intersections of circles formed in a radius with each of the plane distances between the robot cleaners.

A control method of a robot cleaner according to an embodiment of the present invention includes detecting a light source from an environment surrounding the robot cleaner during autonomous driving of the robot cleaner, and controlling signals corresponding to each of a plurality of light sources disposed in a given cleaning space. Sequentially transmitting, and detecting the light source controlled by the transmitted control signal each time each control signal is transmitted, and the detected light source, the light source on the map information of the cleaning space corresponding to the transmitted control signal Step of identifying, and calculating the actual position of the robot cleaner based on the coordinates on the map information of the identified light source, and based on the calculated actual position of the robot cleaner, on the map information of the robot cleaner And correcting the position.

The effects of the robot cleaner and its control method according to the present invention are as follows.

According to at least one of the embodiments of the present invention, the present invention can identify the at least one light source by differently controlling the brightness of at least one of the light sources disposed in the cleaning space according to the light source control signal. Therefore, the present invention can obtain the exact actual position of the robot cleaner by calculating the position of the robot cleaner through the identified at least one light source, and correcting the position on the map according to the obtained actual position of the robot cleaner There is an effect that the autonomous driving performance can be greatly improved.

1 is a block diagram illustrating the configuration of a robot cleaner according to an embodiment of the present invention.
2 is a flowchart illustrating an operation process in which the robot cleaner according to an embodiment of the present invention identifies a light source and calculates its own position based on the identified light source.
3 is an exemplary view showing examples of light sources controlled by a robot cleaner according to an embodiment of the present invention.
4 is a diagram illustrating a method in which a robot cleaner according to an embodiment of the present invention calculates an actual position according to the number of identified light sources.
5 illustrates an example in which the robot cleaner according to an embodiment of the present invention calculates a distance on the map from the identified light source to the robot cleaner based on the distance to the ceiling.
6A to 6C show examples in which the robot cleaner according to an embodiment of the present invention calculates an actual position according to the number of identified light sources.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or mixed in consideration of ease of specification, and do not have distinct meanings or roles. In addition, in describing the embodiments disclosed in the present specification, when it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed herein, detailed descriptions thereof will be omitted.

In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed in the specification is not limited by the accompanying drawings, and all modifications included in the spirit and technical scope of the present invention , It should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from other components.

When an element is said to be "connected" or "connected" to another component, it is understood that other components may be directly connected to or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprises" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described herein, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

On the other hand, the following drawings are described in clockwise order, starting with the drawing at the top left, the drawing at the top left is' first drawing ', the drawing at the top right is' second drawing', and the drawing at the bottom right is' three The fourth drawing 'and the lower left drawing will be described as' fourth drawing'.

1 is a block diagram for explaining the configuration of the robot cleaner 1 according to an embodiment of the present invention.

Referring to FIG. 1, the robot cleaner 1 according to an embodiment of the present invention includes a control unit 100, a communication unit 110 connected to the control unit 100, a suction unit 120, and a driving unit 130, It may include a sensor unit 140, a memory 150, and a power supply unit 160. The components shown in FIG. 1 are not essential for implementing the robot cleaner 1, so the robot cleaner 1 described on this specification may have more or fewer components than those listed above. have.

First, the communication unit 110 may include at least one module for performing wireless communication with at least one other device around the robot cleaner 1. For example, the communication unit 110 may include at least one of an infrared (IR) module for infrared communication or an ultrasonic communication module, or a short-range communication module such as a WiFi module or a Bluetooth module. In addition, the communication unit 110 may transmit a control signal capable of controlling at least one other device around the robot cleaner 1 using the included module. Of course, it is also possible to receive data from at least one other device in the vicinity.

Here, the at least one device may be at least one light source disposed in the cleaning space given to the robot cleaner 1. In addition, the communication unit 110 may transmit a control signal to at least one light source disposed in the cleaning space under the control of the control unit 100.

Here, the control signal may be a signal for controlling emission of the at least one light source. For example, the control signal may be a control signal for varying the brightness of the at least one light source or differently controlling the optical frequency of the light source. In this case, the light source controlled according to the control signal may be distinguished from other light sources around the light source by changing the brightness or the light frequency with respect to other light sources around it.

Or, at least one other device around the robot cleaner 1 may be a device having an Internet of Things (IOT) function. In this case, the communication unit 110 may receive data transmitted from the at least one other device.

On the other hand, the suction unit 120 may include a suction port, and may include a motor and a rotating blade to generate an air pressure difference for suctioning dust. In addition, it is possible to prevent the dust and the like sucked by including a filter and the like to be discharged back to the outside of the cleaner.

The driving unit 130 may include at least one driving wheel. The driving wheel may be formed to allow the robot cleaner 1 to rotate and go straight under the control of the control unit 100 by a connected driving motor.

In addition, the sensor unit 140 may include a plurality of different sensors. Here, the sensor unit 140 may detect an environment around the robot cleaner. For example, the sensor unit 140 may include a light source detection unit 142 capable of detecting a light source from the environment around the robot cleaner 1. Here, the light source detection unit 142 may detect that the light source is within a predetermined distance when a light level of a predetermined level or more is detected. In addition, a light source controlled according to a control signal transmitted through the communication unit 110 is detected based on at least one light intensity or light intensity change among a plurality of light sources around the robot cleaner 1, that is, a change in brightness or brightness. can do.

For example, the light source sensing unit 142 may be a camera capable of sensing an image. In this case, the controller 100 may detect at least one light source near the robot cleaner 1 based on the image sensed through the camera. In addition, the controller 100 may detect a light source having a change in brightness or a change in optical frequency among the at least one light source based on the sensed image. In addition, when the change in brightness or the change in optical frequency corresponds to a control signal transmitted through the communication unit 110, a light source having a change in brightness or a change in optical frequency may be identified as a light source corresponding to the control signal. You can.

In addition, the sensor unit 140 may include a collision detection unit 144 that detects whether or not a collision occurred while the robot cleaner 1 is driving. For example, the collision detection unit 144 may include a touch sensor, and detect the contact between the main body of the robot cleaner 1 and another object.

In addition, the sensor unit 140 may include a cliff sensing unit 146 for detecting a cliff and a wall sensing unit 148 for sensing a wall surface. Here, the wall surface detector 148 may measure a distance and an angle from an adjacent wall surface. For example, the wall detector 148 may be formed of a plurality of ultrasonic sensors or laser sensors, and may be disposed at regular intervals along the body of the robot cleaner 1.

The power supply unit 160 receives external power and internal power under control of the control unit 100 and supplies power required for the operation of each component. The power supply unit 160 may include a battery. The battery may be a built-in battery that is made to be charged, and when the robot cleaner 1 moves to a preset charging position, it may be charged through power supplied from a nearby charging stand.

In addition, the memory 150 may include various data for driving and operating the robot cleaner 1. The memory 150 may include software for the robot cleaner 1 to autonomously drive and various data related thereto. In addition, each data sensed by the sensor unit 140 may be stored, and may include various settings selected by a user, for example, setting information for a cleaning reservation time, a cleaning mode, and the like.

Meanwhile, the memory 150 may include information about a cleaning space currently provided to the robot cleaner 1. For example, the information of the cleaning space may be map information mapped by the robot cleaner 1 itself based on the SLAM method. In addition, the map information, that is, the map (Map) may include information about the position of the light source disposed in the cleaning space.

For example, the robot cleaner 1 according to an embodiment of the present invention may detect a light source sensed through a camera while generating a map for the cleaning space according to the SLAM method. And when driving under the light source, it detects when the robot cleaner 1 is positioned in the vertical direction of the light source based on the image sensed by the camera provided in the sensor unit 140, and detects when Map information including the location of the robot cleaner 1 as coordinates on a map of the light source, that is, a map may be generated.

Meanwhile, information on the location of the light source may be input by a user. As an example, the user may input a layout corresponding to the cleaning space, input information about the cleaning space to the robot cleaner 1, and designate a position (coordinate) of light sources disposed in the cleaning space on the layout. have. In this case, when the lighting layout corresponding to the cleaning space is further input, the position of the lighting corresponding to the lighting layout may be more accurately specified on the map corresponding to the cleaning space.

 Alternatively, the user may designate the positions of the light sources on a map generated by the robot cleaner 1 that does not include location information of the light sources. For example, the robot cleaner 1 may be connected to a user's mobile terminal, a general PC, or a tablet PC through the communication unit 110, and may transmit a map that does not include the location of the light source to the connected device. Then, the map can be displayed on the display of the mobile terminal or the PC or tablet PC, and the user can designate the location of the light sources using the displayed map.

Accordingly, map information of the cleaning space including the positions of light sources disposed in the cleaning space may be stored on the memory 150.

Meanwhile, the controller 100 may control the overall operation of the robot cleaner 1. The control unit 100 may autonomously travel through the cleaning space according to the setting information stored in the memory 150 and clean dust and the like in the cleaning space.

In addition, the robot cleaner 1 according to an embodiment of the present invention may detect a plurality of light sources through the sensor unit 140 during the autonomous driving. In addition, the communication unit 110 may be controlled to transmit a control signal for controlling the detected plurality of light sources.

Here, the control signals may be control signals for controlling each light source disposed in the cleaning space. That is, when the light source is detected, the control unit 100 may sequentially transmit signals for controlling each of the light sources disposed in the cleaning space. In addition, whenever each control signal is transmitted, it is possible to detect whether there is a light source that is controlled according to the transmitted control signal. In addition, when there is a light source under control, the light source may be identified as a light source corresponding to the currently transmitted control signal.

For example, the controller 100 may detect a light source having a changed brightness or optical frequency from an image sensed through a camera. In addition, the light source whose brightness or optical frequency has been changed may be identified as a light source corresponding to the currently transmitted control signal.

Meanwhile, the generation of the light source control signal and transmission of the generated light source control signal may be performed by the light source control unit 102 included in the control unit 100. Here, the light source control unit 102 may be a separate module that may be included in the control unit 100. That is, the light source control unit 102 may be configured in the form of a module that can be mounted on the control unit 100. In this case, the separate module includes the communication unit 110, or is separately capable of transmitting a light source control signal. It may further include a communication unit. As described above, when the light source control unit 102 is implemented as a separate module, the control unit 100 may control the light source control unit 102 to transmit the light source control signal.

In addition, the control unit 100 may calculate the actual position of the robot cleaner 1 based on the identified position of the light source. Then, the position on the map of the robot cleaner 1 may be corrected based on the calculated position.

Hereinafter, a method of correcting the position of the robot cleaner 1 that can be implemented in the robot cleaner 1 configured as described above will be described with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention.

2 is a flowchart illustrating an operation process in which the robot cleaner 1 according to an embodiment of the present invention identifies a light source and calculates its own position based on the identified light source. And Figure 3 is an exemplary view showing an example of the light source controlled by the robot cleaner 1 according to an embodiment of the present invention.

First, referring to FIG. 2, the control unit 100 of the robot cleaner 1 according to the exemplary embodiment of the present invention may move according to autonomous driving. In addition, through the sensors provided in the sensor unit 140, a wall surface or obstacles may be recognized, and the recognized obstacles may be avoided to drive (S200).

In addition, the position of the robot cleaner 1 moved according to the autonomous driving may be calculated according to an encoder value of the driving unit 130. And the calculated position of the robot cleaner 1 can be recorded and stored on a pre-stored map corresponding to a given cleaning space (S202).

 Meanwhile, while autonomous driving as described above, the control unit 100 may detect the light source from the environment around the robot cleaner 1 through the light source detection unit 142 (S204). Here, when the light source detection unit 142 is a camera, the control unit 100 may determine whether there is a light source according to whether or not brightness higher than a preset light intensity is detected from an image sensed through the camera.

In addition, when it is determined in step S204 that there is no light source, the controller 100 may move the position of the robot cleaner 1 through autonomous driving (S216). Then, the process proceeds to step S200, and the changed position of the robot cleaner 1 according to the avoidance of the obstacle and the autonomous driving may be recorded on the map. In addition, in step S204, it may be determined whether there is a light source.

Meanwhile, if there is a light source in step S204, the controller 100 may transmit a control signal for controlling the light source (S206). In step S206, the control unit 100 may sequentially transmit control signals corresponding to each light source disposed in a given cleaning space.

Then, when each control signal is transmitted, it is possible to detect whether there is a light source controlled by the control signal (S208). And if there is no controlled light source, the process proceeds to step S216 to move the position of the robot cleaner 1 through autonomous driving. In addition, the processes of steps S200 to S204 may be performed again.

Meanwhile, when the light source controlled by the control signal transmitted in step S208 is detected, the control unit 100 may identify the detected light source based on the currently transmitted control signal (S210).

3 is an exemplary view illustrating an example of transmitting a control signal to the plurality of light sources and identifying the controlled light source when a plurality of light sources are recognized during autonomous driving.

First, referring to the first drawing of FIG. 3, a light source sensing unit 142, for example, shows an example in which a plurality of light sources are detected through a camera.

As shown in the first drawing of FIG. 3, when a light source is detected, the control unit 100 may sequentially transmit control signals corresponding to each of the light sources currently disposed in the cleaning space. For example, if a first light source or a third light source is disposed on a map of a cleaning space stored in the memory 150, the control unit 100 controls a first control signal and a second light source for controlling the first light source. The second control signal for controlling, and a third control signal for controlling the third light source may be sequentially transmitted.

First, when the first control signal is transmitted, a light source corresponding to the first control signal may be controlled. Accordingly, as shown in the second drawing of FIG. 3, the brightness of the first light source 300 among the recognized plurality of light sources may be darker or brighter. In addition, the controller 100 may identify the first light source 300 whose brightness is controlled as a 'first light source' included on the map.

 Here, the control signal may be for changing the brightness or optical frequency of the light source. For example, the control signal may be a control signal that makes the brightness of the light source lighter or darker so that a person cannot recognize it.

On the other hand, if a certain time elapses after the first control signal is transmitted, the control unit 100 may transmit the second control signal. Then, the light source corresponding to the second control signal can be controlled. Therefore, as shown in the third drawing of FIG. 3, the brightness of the second light source 300 among the recognized plurality of light sources can be controlled. In addition, the controller 100 may identify the second light source 310 whose brightness is controlled as a 'second light source' included on the map.

Subsequently, the control unit 100 may transmit a third control signal. Then, as shown in the fourth drawing of FIG. 3, the brightness of the third light source 320 among the recognized plurality of light sources may be controlled. Therefore, the control unit 100 may identify the third light source 320 as a 'third light source' included on the map.

Meanwhile, in step S210, when a light source controlled according to a control signal is identified, the control unit 100 may calculate the position of the robot cleaner 1 based on the identified light source (S212).

For example, the control unit 100 may detect the distances between the light source sensing unit 142, that is, each light source sensed through the camera and the robot cleaner. Then, the control unit 100 is based on the distances to each of the light sources 300, 310, 320 and the robot cleaner 1 and coordinate information on the map corresponding to each of the light sources 300, 310, 320. By doing so, the position of the robot cleaner 1 can be calculated (S212). To this end, the controller 100 may calculate the position of the robot cleaner 1 using various position measurement methods such as triangulation.

Meanwhile, when the position of the robot cleaner 1 is calculated in step S212, the controller 100 may correct the position of the robot cleaner 1 on the map according to the calculated position (S214). Then, when the position of the robot cleaner 1 is corrected, the controller 100 proceeds to step S216 to move the position of the robot cleaner 1 through autonomous driving. And the process of Figure 2 can be performed again.

On the other hand, in the above-described description, although the robot cleaner 1 proceeds through the following steps according to whether the light source is detected during autonomous driving through the step S204, the position correction of the robot cleaner 1 is preset. Of course, it may be performed according to the cycle. In this case, the step S204 may be a step of detecting whether there is a light source according to whether a predetermined period has expired. In this case, if the preset period has not expired, the control unit 100 proceeds directly from step S202 to step S216 to control the driving unit 130 to autonomously drive without checking whether a light source is detected.

On the other hand, in the above description, it has been mentioned that the position of the robot cleaner can be calculated based on the coordinate information of the light source controlled according to the transmitted control signal and the distance between the controlled light source and the robot cleaner.

4 illustrates an embodiment in which the robot cleaner 1 according to the embodiment of the present invention calculates the actual position according to the number of identified light sources. And FIG. 5 shows an example in which the robot cleaner 1 according to an embodiment of the present invention calculates a map-like distance from the identified light source to the robot cleaner based on the distance to the ceiling. 6A to 6C show examples in which the robot cleaner 1 according to an embodiment of the present invention calculates an actual position according to the number of identified light sources.

First, referring to FIG. 4, the controller 100 may obtain coordinate information of each of at least one light source identified in step S210 of FIG. 2. Here, the coordinate information of the identified light source may be obtained from a map corresponding to the cleaning space. In addition, the control unit 100 may obtain distance information between each of the at least one light source from the robot cleaner 1 (S400). For example, when the light source sensing unit 142 is a camera, depth information of each light source image included in an image sensed by the camera may be distance information between each light source and the robot cleaner 1.

Then, the control unit 100 may calculate a distance on the map between each light source and the robot cleaner 1 from the obtained distance information (S402). Here, the distance between the light source on the map and the robot cleaner 1 may be a distance on the top view between the light source and the robot cleaner 1. And the distance on the map can be calculated by the height to the ceiling where the light source is placed and the distance information obtained from the sensed image. 5 is an exemplary view showing an example of calculating the distance on the map between the light source and the robot cleaner 1 as described above.

Referring to FIG. 5, the robot cleaner 1 may obtain distance information d to the light source 500 based on depth information of the sensed image. Meanwhile, the robot cleaner 1 may detect the height H of the ceiling on which the light source 500 is disposed. Here, the height (H) of the clean may be sensed from the image of the ceiling sensed through the camera. Alternatively, it may be obtained through a distance sensor such as a laser sensor or an ultrasonic sensor.

On the other hand, when the height (H) of the ceiling is obtained, the control unit 100 to the robot cleaner 1 and the light source 500 based on the distance d to the light source 500 and the height H of the ceiling. It is possible to obtain the distance (M) on the floor plan. As an example, the distance d to the light source 500 corresponds to a bevel of a right-angled triangle with the height H of the ceiling as the base, and thus can be calculated as in Equation 1 below.

[Equation 1]

In addition, the distance M on the plan view may be a distance on the map between the robot cleaner 1 and the light source 500.

On the other hand, if the distance on the map between the robot cleaners 1 from the identified light sources is calculated, the control unit 100 may calculate the positions of the robot cleaners in different ways according to the number of currently identified light sources ( S404).

For example, when the number of the identified light sources is one, the control unit 100 may estimate the current position of the robot cleaner 1 based on the identified coordinates of the light sources and the distance on the map to the light sources (S410).

In this case, as shown in FIG. 6A, the control unit 100 may form a circle 612 having a radius M1 on the calculated map. And it can be determined that the robot cleaner 1 is actually located on the formed circle 612. In addition, the control unit 100 may generate a straight line 602 connecting the position of the robot cleaner 1 on the map and the identified first light source 610. In addition, the intersection point 600 at which the straight line 602 and the circle 612 intersect may be determined as the position of the actual robot cleaner 1. Then, the control unit 100 may correct the position on the map of the robot cleaner 1 with the coordinates of the intersection point 600 in step S214 of FIG. 2.

Meanwhile, when the number of identified light sources is two, the controller 100 may estimate the current position of the robot cleaner 1 based on the two coordinates of the identified light sources and the distances on the map to each light source (S420). ).

In this case, as shown in FIG. 6B, the control unit 100 may form the first circle 612 and the second circle 622 with the calculated distances M1 and M2 on each map as a radius. In addition, the formed first circle 612 and second circle 622 may form two intersections 670 and 672.

Then, the controller 100 may select any one of the intersection points 670 and 672 based on the positions of the light sources included in the currently sensed image. For example, as illustrated in FIG. 6B, if the driving direction 660 of the robot cleaner 1 is north, the control unit 100 may select the first intersection 670. In the case of the second intersection 672, since the identified light sources 610 and 620 are located behind the robot cleaner 1, the identification is performed through a camera sensing an image in the front direction of the robot cleaner 1 This is because the light sources 610 and 620 cannot be sensed.

Therefore, in step S214 of FIG. 2, the control unit 100 may correct the position on the map of the robot cleaner 1 with the coordinates of the second intersection 670 currently selected.

On the other hand, when the number of identified light sources is three or more, the controller 100 may estimate the current position of the robot cleaner 1 based on the coordinates of each of the identified light sources and distances on the map to each light source ( S430).

For example, if the number of identified light sources is three, the control unit 100, as shown in Figure 6c, the first circle 612, the distances (M1, M2, M3) on each map calculated as a radius, The second circle 622 and the third circle 632 may be formed. And based on the triangulation method, the intersection 680 of the formed first circle 612, second circle 622, and third circle 632 may be calculated as the actual position of the robot cleaner 1. Therefore, in step S214 of FIG. 2, the controller 100 maps the robot cleaner 1 to the coordinates of the intersection 680 of the first circle 612, the second circle 622, and the third circle 632. The image position can be corrected.

Meanwhile, in the above description of the present invention, specific embodiments have been described, but various modifications can be made without departing from the scope of the present invention.

The above-described present invention can be embodied as computer readable codes on a medium on which a program is recorded. The computer-readable medium includes any kind of recording device in which data readable by a computer system is stored. Examples of computer-readable media include a hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. This includes, and is also implemented in the form of a carrier wave (eg, transmission over the Internet). In addition, the computer may include a control unit of the terminal. Accordingly, the above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

Claims (13)

In the robot cleaner,
A sensor unit that senses at least one light source from an environment around the robot cleaner that autonomously travels;
A memory including map information of the cleaning space including light source coordinates of a plurality of light sources disposed in a given cleaning space;
A communication unit transmitting control signals corresponding to each of the plurality of light sources; And,
When the light source is detected during autonomous driving, the control signals are transmitted, and at least one light source on the map information is identified based on at least one light source controlled by the transmitted control signals, and the light source coordinates of the identified light source are determined. And a controller configured to calculate an actual position of the robot cleaner based on the basis, and to correct the position of the robot cleaner on the map information based on the calculated actual position. The method of claim 1, wherein the control unit,
When at least one light source is detected during autonomous driving, the control signals are sequentially transmitted, and light sources controlled by the transmitted control signal are detected each time each control signal is transmitted. A robot cleaner characterized in that the light source is identified as a light source on map information corresponding to the currently transmitted control signal. The method of claim 2, wherein the control signal,
A robot cleaner characterized in that it is a control signal for changing the brightness of any one of the plurality of light sources to a preset value. The method of claim 2, wherein the control signal,
A robot cleaner, characterized in that it is a control signal for changing the optical frequency of any one of the plurality of light sources to a preset value. According to claim 1,
The sensor unit,
Further comprising a camera for detecting a light source during autonomous driving of the robot cleaner,
The control unit,
A robot cleaner characterized by detecting at least one light source controlled according to the transmitted control signal, based on an image sensed through the camera. The method of claim 1, wherein the control unit,
A robot cleaner characterized in that, during the autonomous driving, a light source is sensed according to a preset cycle, and the position of the robot cleaner is corrected according to the preset cycle. According to claim 1,
The map information,
It is generated during the autonomous driving process of the robot cleaner through the SLAM (Simultaneous Localization And Map-Building) method,
The light source coordinates,
The robot cleaner is a robot cleaner, characterized in that the position information of each light source detected when driving down the vertical direction of each light source. According to claim 1,
The map information,
It is generated during the autonomous driving process of the robot cleaner through the SLAM (Simultaneous Localization And Map-Building) method,
The light source coordinates,
Robot cleaners characterized in that the coordinates specified by the user on the map information. The method of claim 5, wherein the control unit,
When the at least one light source is detected from the image sensed through the camera, distance information between each of the detected light sources and the robot cleaner is obtained based on depth information for each of the detected at least one light source, ,
At least one flat distance between the at least one light source and the robot cleaner is calculated based on the obtained at least one distance information and the height to the ceiling where the light source is disposed,
And a robot cleaner based on the calculated at least one plane distance and the coordinates of the light source on the map information corresponding to the detected at least one light source, respectively. The method of claim 9, wherein the control unit,
When one light source controlled by the control signal transmitted from the image sensed through the camera is detected,
With respect to the detected light source, a circle formed by a radius of a plane distance between the detected light source and the robot cleaner, and an intersection of a straight line connecting the detected light source and the robot cleaner to determine the actual position of the robot cleaner. Robot cleaner characterized in that the estimation. The method of claim 9, wherein the control unit,
When two light sources controlled by a control signal transmitted from an image sensed through the camera are detected,
With respect to each of the detected light sources, among the intersections of circles formed in a radius, the plane distances between the detected light sources and the robot cleaner are respectively at one intersection selected based on the driving direction of the robot cleaner. Robot cleaner, characterized in that to estimate the actual position of the robot cleaner according to the position. The method of claim 9, wherein the control unit,
When three or more light sources controlled by a control signal transmitted from an image sensed through the camera are detected,
A robot cleaner characterized in that, with respect to each detected light source, the actual distances of the robot cleaner are calculated to a position according to an intersection of circles formed in a radius of plane distances between the detected light sources and the robot cleaner, respectively. . In the control method of the robot cleaner,
During autonomous driving, detecting a light source from the surrounding environment of the robot cleaner;
Sequentially transmitting control signals corresponding to each of a plurality of light sources disposed in a given cleaning space;
Detecting a light source controlled by the transmitted control signal each time each control signal is transmitted;
Identifying the detected light source as a light source on map information of the cleaning space corresponding to the transmitted control signal;
Calculating an actual position of the robot cleaner based on coordinates on the map information of the identified light source; And,
And correcting the position on the map information of the robot cleaner, based on the calculated actual position of the robot cleaner.

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