KR20200034011A - Robot cleaner and method for controlling robot cleaner - Google Patents

Abstract

The present specification relates to a robot cleaner that diagnoses an installation state of a charging base based on a result of receiving a detection signal from the charging base while driving in a cleaning area and pre-stored cleaning information, and a method for controlling a robot cleaner.

Description

Robot cleaner and control method of robot cleaner {ROBOT CLEANER AND METHOD FOR CONTROLLING ROBOT CLEANER}

The present invention relates to a robot cleaner for diagnosing the installation state of the charging base and a control method for the robot cleaner.

The present invention relates to a robot cleaner, and a technology that is a specific background relates to a technology for self-diagnosing the installation state of the robot cleaner.

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.

Meanwhile, the robot cleaner performing autonomous driving performs various various functions for performing autonomous driving, and typically has a diagnostic function for performing self-diagnosis of the robot cleaner. The diagnostic function is a function that the robot vacuum cleaner detects / diagnoses the abnormality of the wheel sensor, obstacle sensor, and gyro sensor of the robot to inform the customer of the product's status, and maintains the robot vacuum cleaner that performs autonomous driving through these functions. Repairs may be made. However, in the case of the charging stand, which is an important component of the robot cleaner, even if an abnormality occurs in the installation state, it is impossible to detect the presence or absence of an abnormality through the diagnostic function. Normal / abnormal determination of the IR sensor of the robot during the operation of the diagnostic function of the current robot vacuum cleaner only determines whether or not the charging stand signal is received, and does not check the current state around the charging stand, the installation state of the charging stand, and whether or not it is appropriate.

That is, conventionally, a technique for diagnosing the installation state of the charging base has not been proposed. As described above, in the related art, the installation state of the charging stand is not diagnosed, and the installation state is not diagnosed according to the current surrounding state, and there is a concern that the cleaner is used in a state where the charging stand is installed in an inappropriate position. / Maintenance / repair was difficult to achieve.

The present invention aims to improve the limitations of the prior art as described above.

That is, this specification is intended to provide a robot cleaner and a control method of the robot cleaner that can improve the limitations of the prior art as described above.

Specifically, it is intended to provide a robot cleaner and a control method of the robot cleaner that can diagnose the installation state of the charging base.

In addition, it is intended to provide a robot cleaner and a control method of the robot cleaner that can diagnose the adequacy of the installation state according to the current state of the charging base.

In addition, it is intended to provide a robot vacuum cleaner and a control method of the robot vacuum cleaner that can easily diagnose the installation state of the charging base without providing a means for diagnosing the presence or absence of an abnormality.

In addition, the present invention is to provide a robot cleaner and a control method of the robot cleaner that can specifically and accurately diagnose the installation state of the charging base.

The robot cleaner, the control system of the robot cleaner, and the control method of the robot cleaner according to the present invention for solving the above-described problems are based on the result of receiving the detection signal from the charging base and the pre-stored cleaning information while driving in the cleaning area. It is characterized in that the diagnosis of the installation state of the charging base.

Specifically, the state information of the signal area is determined based on the reception result of receiving the detection signal and the cleaning information, and the installation state is diagnosed based on the state information and a predetermined diagnostic criterion.

That is, the robot cleaner and the method of controlling the robot cleaner according to the present invention determine state information on the current surrounding state of the charging base based on the reception result and the cleaning information, and determine the installation state based on the determined state information Diagnosing the adequacy of is used as a solution.

The control method of the robot cleaner, the robot cleaner and the robot cleaner according to the present invention through such a solution means to diagnose the adequacy of the installation state based on the state information determined according to the current surrounding state of the charging base, thereby The problem as described above is solved.

The above technical features may be applied to a control means for controlling the robot cleaner, a robot cleaner and a method for controlling the robot cleaner, and the present specification is a robot cleaner and a robot using the above technical features as a problem solving means. Provided is an embodiment of a method for controlling a cleaner.

An embodiment of the robot cleaner according to the present invention having the above technical features as a problem solving means is a main body forming an exterior, a signal sensor provided in the main body and receiving a detection signal transmitted from a charging station installed in a cleaning area, the cleaning A storage unit that stores cleaning information including map information of an area and history information on the running history of the cleaning area, and the charging stand based on the result of receiving the detection signal while driving the cleaning area and the cleaning information It includes a control unit for diagnosing the installation state.

In addition, an embodiment of the control method of the robot cleaner according to the present invention having the above technical features as a problem solving means, a signal sensor receiving a detection signal transmitted from a charging station installed in a cleaning area, map information of the cleaning area and the cleaning A control method of a robot cleaner including a storage unit in which cleaning information including history information about a running history of an area is stored, receiving the detection signal while driving in the cleaning area, a result of receiving the detection signal and Determining a signal region of the charging base based on the stored cleaning information, determining status information of the signal region based on the cleaning information, and diagnosing the installation status of the charging base according to the status information. .

Embodiments of the robot cleaner and the method of controlling the robot cleaner according to the present invention as described above, as well as each embodiment can be implemented independently or separately, one or more embodiments may be implemented in combination. In addition, other embodiments of the robot cleaner and the method of controlling the robot cleaner may be implemented in combination with the above-described embodiment.

The method for controlling the robot cleaner and the robot cleaner according to the present invention as described above may be applied to a robot cleaner, a control means for controlling the robot cleaner, a robot cleaning system, and a control method for controlling the robot cleaner. However, the technology disclosed in the present specification is not limited thereto, and may be applied to and implemented in all robot cleaners, robot cleaner systems, and control methods of robot cleaners to which the technical idea of the technology can be applied.

The robot vacuum cleaner and the method of controlling the robot cleaner according to the present invention diagnose a separate installation state by diagnosing the installation state of the charging station based on a result of receiving a detection signal from the charging station while driving in the cleaning area and pre-stored cleaning information. There is an effect that it is possible to simply diagnose the installation state of the charging base without the means for.

In addition, by diagnosing the installation state of the charging base based on a result of receiving a detection signal while driving in the cleaning area and pre-stored cleaning information, while performing a cleaning driving for the cleaning area, the installation state of the charging base is also diagnosed It has the effect of being able to.

In addition, by reflecting the current surrounding state of the signal area of the charging base, the state information of the signal area is determined to diagnose the installation state, so that the installation state can be specifically and accurately diagnosed.

That is, the control method of the robot cleaner and the robot cleaner according to the present invention improves the limitations of the prior art to solve the problems of the present invention, and also has the effect of facilitating the use, maintenance and repair of the robot cleaner and charging base. Thereby, there is an effect of increasing the reliability / efficiency / utility / utility / lifetime of the robot cleaner and charging base.

1a and 1b are configuration diagrams 1 and 2. showing the configuration of the robot cleaner according to the present invention.
Figure 2 is an exemplary view showing an example of the position of the signal sensor according to an embodiment of the robot cleaner according to the present invention.
3 is an exemplary view showing an example of map information according to an embodiment of the robot cleaner according to the present invention.
4 is a block diagram showing a specific configuration according to an embodiment of the robot cleaner according to the present invention.
5 is a block diagram showing the configuration of a charging table according to an embodiment of the robot cleaner according to the present invention.
Figure 6 is a block diagram showing a diagnostic process of the installation state according to an embodiment of the robot cleaner according to the present invention.
7 is an exemplary view showing an example of a reception result and a signal area according to an embodiment of the robot cleaner according to the present invention.
8 is an exemplary view showing an example of a determination result of a signal area according to an embodiment of the robot cleaner according to the present invention.
9 is an exemplary view showing an example of status information according to an embodiment of the robot cleaner according to the present invention.
10 is an exemplary view showing an example of status information reflecting a search result according to an embodiment of the robot cleaner according to the present invention.
11 is an exemplary view showing an example of diagnostic information according to an embodiment of the robot cleaner according to the present invention.
12 is a flow chart showing the sequence of the operation process according to a specific application example of the robot cleaner according to the present invention.
13 is a flow chart showing the sequence of the control method of the robot cleaner according to the present invention.
14 is a flowchart illustrating a specific procedure according to an embodiment of a method for controlling a robot cleaner according to the present invention.

Hereinafter, embodiments of the robot cleaner and the control method of the robot cleaner according to the present invention will be described in detail with reference to the accompanying drawings, wherein the same or similar components are assigned the same reference numbers regardless of the reference numerals and overlapped therewith. The description will be omitted.

In addition, in the description of the technology disclosed in the present specification, when it is determined that the detailed description of the related known technology may obscure the gist of the technology disclosed herein, the detailed description will be omitted. In addition, it should be noted that the accompanying drawings are only for facilitating understanding of the spirit of the technology disclosed in this specification, and should not be interpreted as limiting the spirit of the technology by the accompanying drawings.

Hereinafter, for convenience of description, embodiments of the robot cleaner and the control method of the robot cleaner are separately described in order, and overlapping parts in the description of each embodiment are omitted as much as possible.

<Robot cleaner>

First, an embodiment of a robot cleaner (hereinafter referred to as a cleaner) according to the present invention will be described with reference to FIGS. 1 to 10.

[Robot cleaner] according to the present invention may be implemented as a part or combination of the configurations or steps included in the embodiments described below, or may be implemented as a combination of embodiments, and the technical terms used are only to describe a specific embodiment As used, it does not limit the spirit of the technology disclosed herein.

The cleaner may be a cleaning robot that performs cleaning simultaneously with driving.

The cleaner may be a cleaning robot that performs driving and cleaning automatically or by user manipulation.

The cleaner may be a cleaning robot that travels through an area to be cleaned and recognizes a location.

The cleaner may be a cleaning robot that recognizes a location while driving and simultaneously creates a map of an area to be cleaned.

The cleaner may have a plurality of configurations for running and cleaning.

The cleaner 100 may be a cleaner made in the form as shown in FIGS. 1A and 1B.

The cleaner 100, as shown in Figures 1a and 1b, the main body 10 forming the appearance, provided in the main body 10, a signal sensor 20 for receiving a detection signal transmitted from the charging base , A storage unit 30 in which cleaning information including map information of the cleaning area and history information for the running history of the cleaning area is stored, and a result of receiving the detection signal while driving the cleaning area and the cleaning It includes a control unit 40 for diagnosing the installation state of the charging base based on the information.

The cleaner 100 may have a form as shown in FIG. 1A or may have a form as shown in FIG. 1B.

In the cleaner 100, the main body 10 may form an exterior of the cleaner 1 to perform driving and cleaning.

That is, the main body 10 may perform the overall operation of the cleaner 100.

The main body 10 may have a configuration for driving and cleaning the cleaner 100.

The main body 10 is formed in a form that is easy to run and clean to form the exterior of the cleaner 1.

For example, it may be formed in a circular shape, or may be formed of a square with rounded corners.

The main body 10 may be provided with a configuration for running and cleaning the cleaner 1 inside or outside.

For example, a configuration in which a driving operation, a cleaning operation, or sensing is performed may be provided outside, and a configuration in which control of the cleaner 100 is performed may be provided therein.

The signal sensor 20 may be a sensor that receives the detection signal transmitted from the charging base where the power of the cleaner 100 is charged.

The signal sensor 20 may be provided in plural in the main body 10.

The signal sensor 20 may be provided on a plurality of side surfaces of the main body 10.

That is, each of the signal sensors 20 may be provided by being distributed on a plurality of side surfaces of the main body 10.

For example, as shown in FIG. 2, four signal sensors 20a, 20b, 20c, and 20d are provided on the main body 10, and two are distributed on each of the front and rear surfaces of the main body 10. It may be provided.

As described above, the signal sensor 20 provided to be distributed on a plurality of side surfaces of the main body 10 may receive one or more signals transmitted from the outside of the cleaner 100.

The signal sensor 20 may further receive a control signal from an external terminal that remotely controls the cleaner 100.

Here, the control signal may mean a signal for a control command that remotely controls the operation of the cleaner 100.

The control signal may be generated by a user's input at the terminal, and transmitted from the terminal to the main body 10.

The terminal may be a remote control for remotely controlling the cleaner 100, a dedicated controller, or a communication terminal for remote control.

The signal sensor 20 may receive one or more signals transmitted to the main body 10 while the main body 10 is running.

That is, the signal sensor 20 may receive the detection signal transmitted to the main body 10 during the operation of the cleaner 100.

The signal sensor 20 may receive the detection signal to the sensor closest to the charging stand.

That is, the signal sensor 20 may receive the detection signal from the sensor closest to the charging stand while the main body 10 is running.

For example, when the detection signal is transmitted from the rear of the main body 10, among the signal sensors 20, the sensor 20c or 20d provided on the rear side of the main body 10 may receive the detection signal. have.

The signal sensor 20 may receive the detection signal in the vicinity of the charging base where the detection signal is transmitted.

That is, the signal sensor 20 may receive the detection signal when the main body 10 travels around the charging base where the detection signal is transmitted while driving the cleaning area.

The signal sensor 20 may receive the detection signal in real time while driving in the cleaning area.

The signal sensor 20 may receive the detection signal in real time and transmit the reception result to the control unit 30.

The storage unit 30 may be a means for storing information related to the operation and driving of the cleaner 100.

The storage unit 30 may be data storage means provided inside the main body 10.

The storage unit 30 may be various types of memory, such as random access memory (RAM) and read only memory (ROM).

The storage unit 30 may store data generated / processed by the control unit 40 such as cleaning history, cleaning map, cleaning time information, status information, and obstacle information of the cleaner 100.

The storage unit 30 may also store information on the cleaning area.

The storage unit 30 may be controlled by the control unit 40 to store data generated / processed by the control unit 40.

The storage unit 30 may also transmit the stored data to the control unit 40 so that the control unit 40 controls the operation of the cleaner 100 based on this.

In the storage unit 30, the cleaning information including map information of the cleaning area, which is a driving target area of the main body 10, and history information on the running history of the cleaning area may be pre-stored.

Accordingly, the control unit 40 may control the driving of the main body 10 based on the cleaning information pre-stored in the storage unit 30.

The cleaning information may include one or more of information about the cleaning area and operation information of the cleaner 100 driving the cleaning area.

The cleaning information may include the map information and the history information.

The map information, as shown in FIG. 3, may be a cleaning map showing the cleaning area as a two-dimensional (X, Y) coordinate map.

The map information may be generated based on the information of the cleaning area collected by the cleaner 100 while driving through the cleaning area.

The map information may include one or more of the structure, terrain, environment, state of the cleaning area, and obstacle information in the cleaning area.

The map information may include location information on which the charging stand is installed on the cleaning area.

The history information may be information in which the history in which the cleaner 100 has traveled through the cleaning area is accumulated.

The history information may include one or more of an event generated while the cleaner 100 is traveling through the cleaning area, operation of the main body 10, and driving result information.

For example, the event may be a collision with an obstacle in the cleaning area, or a slip at a certain point in the cleaning area.

The cleaning information may be processed by the control unit 40 and stored in the storage unit 30.

In the storage unit 30, data processed by the control unit 40 may be stored in real time.

For example, the current location, operation and status information of the main body 10, or real-time status information of the cleaning area is generated / processed by the control unit 40 and can be stored in the storage unit 30.

Information stored in the storage unit 30 may be processed and managed by the control unit 40.

The control unit 40 may be a processing device that controls the operation of the main body 10.

The control unit 40 may be a central processing unit of the cleaner 100.

The control unit 40 may include a plurality of circuit configurations for calculation processing.

The control unit 40 may be connected to other components included in the main body 10 to control various functions of the main body 10 to be performed.

The control unit 40 may drive and control one or more other components included in the main body 10 with power charged by the charging stand, so that various functions of the main body 10 can be performed.

For example, other components included in the main body 10 may be driven and controlled to control movement of the main body 10 including movement and cleaning.

A specific example of the control unit 40 that controls the configuration of the main body 10 and the components included in the main body 10 is as illustrated in FIG. 4.

The main body 10, as shown in Figure 4, the communication unit 21, the photographing unit 22, the input unit 23, the detection unit 24, the cleaning unit 25, the output unit 26, the power supply unit 27 ) And the driving unit 28, and the control unit 40 is connected to each of the components included in the inner and outer parts of the main body 10 to control each of the connected components.

The control unit 40 not only controls the driving and cleaning of the main body 10 through the control of the above-described components, but also drives the main body 10, processes data, and communicates with an external device. Can be controlled.

The communication unit 21 may be a means for communicating with external communication means.

The communication unit 21 may transmit one or more of the cleaning map, time information, status information, and obstacle location information of the cleaner 100 to an external communication means and receive a control signal from the external communication means. have.

Here, the external communication means includes both wired and wireless communication devices capable of mutual communication with the communication unit 22, for example, as well as a server or a computer, a mobile phone, a PDA (Personal Digital Assistants) phone, and a smart phone. It may be an information communication terminal or the like, or it may be another home appliance provided in the area to be cleaned.

The communication unit 21 is controlled by the control unit 40 to transmit information on the operation of the cleaner 100 to the external communication means, or the operation of the cleaner 100 from the external communication means Control information for the control may be received.

The photographing unit 22 may be a means for photographing surrounding images while the cleaner 100 is running.

The photographing unit 22 may be a camera that photographs the surroundings while the cleaner 100 is running.

The photographing unit 22 may be controlled by the control unit 40 to photograph surrounding images.

The photographing unit 22 may also transmit image information captured during driving to the control unit 40 so that the control unit 40 controls the driving and position recognition operation of the main body 10 based on this. You can.

The input unit 23 may be a user manipulation or command input to the cleaner 100.

The input unit 23 may include a plurality of buttons for manipulating the operation of the cleaner 100.

The input unit 23 inputs a confirmation button for inputting a command for confirming a pre-cleaned area and an uncleaned area, a setting button for inputting a setting command, a reset button for inputting a reset command, and a command for deleting the set areas. It may include one or more of the delete button, a cleaning start button for inputting a command to perform a cleaning operation based on the set areas, and a stop button for inputting a command to stop the cleaning operation.

Here, when the output unit 26 has a form of a touch screen capable of both input and output, the function of the input unit 23 may be included in the output unit 26.

When input by the user, the input unit 23 may transmit a signal to the control unit 40 so that the control unit 40 controls the operation of the cleaner 100 based on the signal.

The detection unit 24 may be a means for detecting environmental information around the main body 10 or information related to a cleaning operation of the cleaner 100.

The detection unit 24 may include an obstacle detection sensor that detects an obstacle around the main body 10.

The detection unit 24 detects the position of the obstacle and the distance from the obstacle through the received signal by transmitting signals such as an ultrasonic sensor, an infrared sensor, and an RF frequency sensor. A distance sensor or a collision sensor that detects an obstacle by collision with an obstacle can be used.

The detection unit 24 may be controlled by the control unit 40 to detect obstacles around the main body 10.

The detection unit 24 may also transmit the detected information to the control unit 40 so that the control unit 40 controls the location recognition and map creation operation based on this.

The cleaning unit 25 may be a means for cleaning foreign substances while the cleaner 100 is running.

The cleaning unit 25 may perform a cleaning operation by absorbing foreign substances under the main body 10 while moving or stopping.

The cleaning unit 25 may include an air purification unit that purifies contaminants in the air.

The cleaning unit 25 may be controlled by the control unit 40 to perform a cleaning operation while driving.

The output unit 26 may be provided on an upper surface or a side surface of the main body 10, and may be a means for externally displaying matters of the operation of the cleaner 100.

The output unit 26 may display an operation status of the main body 10 controlled by the control unit 40, such as a cleaning map generated by the control unit 40.

The output unit 26 may further display one or more time information of the cleaning start time, required time, end time, remaining time, estimated time, and current time.

The output unit 26 may further display status information such as the current status of the components included in the main body 10 or the current cleaning status.

The output unit 26 includes a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, or an organic light emitting diode (OLED). It can be formed of any one element.

Here, the output unit 26 may have a form of a touch screen capable of both input and output.

The output unit 26 may be controlled by the control unit 40 and display matters related to the operation of the cleaner 100 to the outside.

The power supply unit 27 may be a means for storing and supplying driving power of the cleaner 100.

That is, the power supply unit 27 may be a battery of the cleaner 100.

The power supply unit 27 may receive and store power from the charging stand.

The power supply unit 27 may be a battery that stores the power charged in the charging stand and supplies the power to one or more components included in the main body 10.

The power supply unit 27 may receive and store the power at a charging stand in which the main body 10 is docked.

In this case, the main body 10 docks the charging stand so that the charging terminal provided on the exterior is electrically connected to the charging terminal provided on the charging stand, and receives the power through the connected charging terminal to receive the power supply 27 Can be charged in.

The power supply unit 27 may be controlled by the control unit 40 to supply the power to one or more components included in the main body 10.

That is, charging and supply of the power of the power supply unit 27 may be controlled by the control unit 40.

The power supply unit 27 may also transmit status information of the power supply unit 27 to the control unit 40 so that the control unit 40 controls the power supply unit 27 based on this.

For example, the status information of the charging status of the power supply unit 27 and the consumption and supply status of the power supply is transmitted to the control unit 40 so that the control unit 40 charges and supplies the power based on the status information. Can be controlled.

The driving unit 28 may be a wheel that moves the main body 10.

The driving unit 28 may move the main body 10 to move the main body 10.

The driving unit 28 may be controlled by the control unit 40 to drive the main body 10.

That is, the main body 10 may be driven by the control unit 40 controlling the driving unit 28.

The driving unit 28 may be provided on each of left and right sides of the lower surface of the main body 10 in a pair.

The driving unit 28 is provided at each of the left and right sides of the lower portion of the main body 10, and may be provided at positions where the center of gravity can be maintained when the main body 10 is stationary or while driving. You can.

That is, the driving unit 28 is formed in a pair, and is provided on each of the left and right sides of the lower portion of the main body 10, and may be provided at positions where the movement of the main body 10 can be easily performed.

For example, it may be provided on each of the left and right of the central portion of the main body 10.

The control unit 40 has functions such as a movement operation including driving and cleaning of the cleaner 100, location recognition during driving, and map creation by controlling each or a combination of the components of the main body 10 as described above. It can be controlled to be performed.

The control unit 40 not only controls the driving and cleaning of the main body 10 through the control of the above-described components, but also drives the main body 10, processes data, and communicates with an external device. Can be controlled.

The cleaner 100 made of the above-described configuration may charge power at the charging stand and operate with the charged power.

The charging stand means a charging station that the cleaner 100 docks to automatically charge the power.

The charging base 200 may be as illustrated in FIG. 5.

Since the cleaner 100 is wirelessly driven, the driving power must be charged before the driving power is exhausted for continuous operation. In particular, it is preferable that the robot cleaner is automatically (or autonomously) charged as well as cleaned for the convenience of the user.

The appearance of the charging base 200 is formed by the housing 220. The housing 220 is made of a transparent or translucent material. Accordingly, components inside the housing 220 may be visually exposed to the outside through the housing 220. In FIG. 4, the light emitting element fixing member 250 and the absorption pattern 241 are shown as being visually exposed through the housing 220.

The housing 220 has a floor 220a and a wall 220b. The direction in which the floor 220a is formed based on the wall 220b in FIG. 4 corresponds to the front of the charging stand 200, and the opposite side corresponds to the rear.

The charging terminal 230 is exposed to the outside of the housing 220 and is formed to be connected to the charging terminal of the cleaner 100. The charging terminal 230 of the charging base 200 should be installed in a position corresponding to the charging terminal of the cleaner 100. Accordingly, the charging terminal 230 may be installed to be exposed through the floor 220a of the housing 220 or exposed through the boundary between the floor 220a and the wall 220b.

The charging base 200 is connected to a power cable (not shown). When the plug of the power cable is plugged into the outlet, the charging stand 200 is placed in a state capable of charging the cleaner 100.

The preparation process for the vacuum cleaner 100 to be charged by the charging base 200 may be divided into homing and docking. Homing refers to the approaching of the cleaner 100 to the charging base 200. In addition, docking means that the charging terminal of the cleaner 100 approaching the charging stand 200 is in contact with the charging terminal 230 of the charging stand 200. Therefore, the docking takes place after homing in time.

After the docking of the cleaner 100 to the charging stand 200 is completed, the power supply unit 21 of the cleaner 100 through the charging terminal 230 of the charging stand 200 and the charging terminal of the cleaner 100 ) Is automatically charged. The homing, docking, and charging processes can be collectively called automatic charging or autonomous charging.

The charging base 200 having the above-described configuration is provided in a region to be cleaned in which the cleaner 100 is installed, and then the charging base 200 is provided after the cleaner 100 performs cleaning on the region to be cleaned. It may return to and charge the power.

The charging station 200 as shown in FIG. 4 may include a transmitter 210 that generates the detection signal and transmits it to the cleaner 100.

The transmitter 210 may be a means for generating the detection signal and transmitting the detection signal so that at least one of the signal sensors 20 provided in the main body 10 receives it.

Here, the detection signal may be a signal for inducing homing so that the main body 10 recognizes the position of the charging stand 200 and returns to the charging stand 200.

That is, the transmitter 210 transmits the detection signal to the signal sensor 20 of the main body 10, so that the main body 10 receiving the detection signal is based on the detection signal. 200) can be determined.

The detection signal may be an infrared signal.

The transmitter 210 may be formed of a plurality of 210a to 210c.

The transmitter 210 may be provided at different positions of the charging base 200.

The transmitting unit 210, preferably three or more may be provided.

For example, as illustrated in FIG. 5, three transmitters 210a, 210b, and 210c may be disposed on the upper surface of the wall 220b in the order of left, front, and right.

As described above, the transmitter 210 is disposed on each of the left, front, and right sides of the charging base 200, thereby transmitting the detection signals from the left, front, and right sides of the charging base 200, and the main body 10 ) May receive the detection signals from the left, front, and right sides of the charging base 200.

Each of the transmitters 210 may transmit the detection signal in real time.

Each of the transmitters 210 may divide and transmit the detection signal for short-distance / far-distance transmission.

That is, each of the transmitters 210 may divide the sensing signal into a short-range signal and a long-distance signal, respectively, and transmit the signals.

In this case, the short-range signal and the long-distance signal may be generated and transmitted differently in the form of signals, or may be transmitted differently, and accordingly, the cleaner 100 determines whether the received signal is the short-range signal, Alternatively, it may be possible to distinguish whether the signal is remote, and it may be determined whether the charging base 200 is located at a short distance or a long distance.

The cleaner 100 receives the detection signal through the signal sensor 20 while driving the main body 10, and the controller 30 determines the position of the charging base 200 based on the reception result. By judging, it is possible to control the operation so that the main body 10 moves to the charging base 200.

In such a vacuum cleaner 100, the control unit 40 may control the operation of the vacuum cleaner 100 by controlling the travel of the main body 10.

The control unit 40 may control the driving of the main body 10 such that the main body 10 travels along the cleaning area.

The control unit 40 may control the main body 10 to run and clean the cleaning area based on the cleaning information pre-stored in the storage unit 30.

The control unit 40 may control the main body 10 to travel in the cleaning area based on the map information included in the cleaning information.

The control unit 40 controlling the operation of the cleaner 100 by controlling the driving of the main body 10 as described above is based on the result of receiving the detection signal while driving the cleaning area and the cleaning information. The installation state of the charging base 200 is diagnosed.

Here, the diagnosis of the installation state may mean diagnosing the appropriateness of the position where the charging base 200 is installed.

That is, the control unit 40 may diagnose whether the installation position of the charging stand 200 is appropriate.

Diagnosis of the installation state may be performed by determining information on a state in which the charging base 200 is installed and quantifying the determined information.

For example, according to the result of determining the information of the state where the charging base 200 is installed, the state in which the charging base 200 is installed is numerically scored according to a specific criterion, and the appropriateness of the state in which the charging base 200 is installed according to the numerical score Can be judged.

For a specific example, the state in which the charging base 200 is installed is digitized to a score of 0 to 100, and when the digitized score is equal to or greater than a certain standard, the installation state may be determined to be appropriate.

That is, the control unit 40 displays the result of receiving the detection signal from the signal sensor 20 and the pre-stored cleaning information in the storage unit 30 while the main body 10 is traveling through the cleaning area. On the basis of this, it may be possible to diagnose the appropriateness of the installation state of the charging base 200.

The process of diagnosing the installation state based on the result of the control unit 40 receiving the detection signal and the cleaning information may be performed as shown in FIG. 6.

The control unit 40 determines the signal area B2 of the charging base 200 based on the reception result B1 of the detection signal and the map information, and based on the signal area B2, the installation state Can diagnose (B4).

Here, the meaning of determining may mean that the control unit 40 processes, calculates, or generates data or information.

For example, the determination of the signal area B2 may mean processing, calculating, or generating data or information for the signal area B2.

The control unit 40, while the main body 10 is driving around the location of the charging base 200 is installed while driving the cleaning area, the signal sensor 20 is transmitted from the charging base 200 By receiving the detection signal, the signal area B2 may be determined based on the reception result B1 and the map information.

The reception result B1 is a result of the signal sensor 20 receiving the detection signal while driving in the cleaning area, and may be a result received during a portion of the entire driving of the cleaning area.

The signal area B2 may mean a reception area of the detection signal transmitted from the charging base 200.

The signal area B2 may be an area corresponding to a transmission range of the detection signal.

The signal area B2 is transmitted from the charging stand 200 by the signal sensor 20 while driving around the position where the charging stand 200 is installed while the main body 10 is driving in the cleaning area. It may be an area that has received the detected signal.

That is, the signal area B2 may be a periphery of the charging stand 200 on the cleaning area, that is, an area of the charging stand 200.

The signal region B2 may be formed in a region within a predetermined range based on the charging base 200.

That is, the signal sensor 20 receives the detection signal in the signal region B2, and the control unit 40 receives the detection signal B1 receiving the detection signal in the signal region B2. ), The signal area B2 may be determined.

The control unit 40 determines the location and size of the detection signal received on the cleaning area based on the reception result B1 and the map information, and determines the signal area B2 based on the determined result can do.

The control unit 40 determines the location and size of the received detection signal according to the reception result B1 on the map information as shown in FIG. 3, and based on the determined result, the signal on the map information The region corresponding to the region B2 can be determined.

An example of the signal region B2 determined according to the reception result B1 may be as illustrated in FIG. 7.

7 is an exemplary view showing an example in which the signal area B2 is determined according to the reception result B1, and the signal area B2 may be formed in a different form from that shown in FIG. 7.

As illustrated in FIG. 7, a difference in reception sensitivity may occur depending on a distance or a location from the charging base 200, so that the detection signal may be received differently depending on a location to be received.

For example, a location close to the charging base 200 may receive a large magnitude of the detection signal, and a location away from the charging base 200 may receive a small magnitude of the detection signal.

That is, the signal sensor 20, the detection signal may be received differently according to the position.

As described above, the reception result B1 is different in size depending on the distance from the charging base 200, that is, the location where the detection signal is received, so that the reception area of the detection signal is divided. It becomes possible.

Accordingly, the control unit 40 may determine the location and size of the received detection signal based on the reception result B1, and determine the signal area B2 according to the determined result.

The controller 40 may store the reception result B1 in the storage unit 30 when the detection signal is received while driving in the cleaning area.

For example, when the detection signal is received while cleaning the cleaning area, the reception result B1 may be dataized and stored in the storage unit 30.

In this case, the control unit 40 determines the location and size of the received detection signal based on the reception result B1, determines the coordinates on the map information according to the reception location, and stores the storage unit 30. ).

As described above, the result of determining the signal area B2 based on the reception result B1 and the map information may be as illustrated in FIG. 8.

The control unit 40 that determines the signal area B2 based on the reception result B1 and the map information, as shown in FIG. 8, corresponds to the reception result B1 on the map information. The region may be determined, and the determined corresponding region may be determined as the signal region B2.

As shown in FIG. 8, the control unit 40 determining the signal area B2 determines the state information B3 of the signal area B2 based on the cleaning information, and the state information B3. According to this, the installation state can be diagnosed (B4).

The status information B3 may be information about a specific status of the signal region B2.

For example, it may be information about one or more states of structure, terrain, state, environment, and obstacle information of the signal area B2.

That is, the control unit 40 determines the signal area B2 based on the reception result B1, determines the state information B3 for the state of the signal area B2, and determines the state. According to the information B3, the installation state may be diagnosed (B4).

The control unit 40 determines one or more of obstacle information in the signal area B2 and event information generated in the signal area B2 based on the cleaning information, and the status information ( B3) can be judged.

The control unit 40 is one of obstacle information in the signal area B2 and event information generated in the signal area B2 based on a part (information) corresponding to the signal area B2 among the cleaning information. By determining the abnormality, the status information B3 may be determined based on the determined information.

That is, the control unit 40 determines one or more of the obstacle information and the event information corresponding to the signal area B2 based on one or more of the map information and the history information, and the signal area B2 ) May determine the state information B3 for a specific state.

Accordingly, the status information B3 may include one or more of the obstacle information and the event information in the signal area B2.

That is, one or more of the obstacle information and the event information of the signal area B2 may be reflected in the status information B3.

The controller 40 may determine the obstacle information in the signal area B2 based on the map information, and determine the status information B3 based on the obstacle information.

Accordingly, as illustrated in FIG. 9, information on an obstacle existing in the signal area B2 may be reflected in the status information B3.

The control unit 40 may determine the event information generated in the signal region B2 based on the history information, and reflect the event information in the status information B3.

The control unit 40 determines the obstacle information in the signal area B2 based on the map information, determines the status information B3 based on the obstacle information, and based on the history information The event information generated in the signal area B2 may be determined, and the event information may be reflected in the status information B3 determined based on the obstacle information.

Here, when an event corresponding to the obstacle information among the event information exists, a specific diagnostic criterion may be applied to the obstacle corresponding to the event when diagnosing the installation state (B4).

The specific diagnostic criterion may be a criterion for assigning weights at the time of diagnosis (B4) of the installation state.

For example, when there is an event that collides with the X obstacle existing in the signal area B2 while the main body 10 moves to the charging base 200, the weight is applied to the X obstacle to install the weight. The condition may be diagnosed (B4).

Accordingly, the controller 40 may diagnose (B4) the appropriateness of the installation state according to one or more of the obstacle information and the event information reflected in the state information B3.

For example, the greater the proportion of the obstacle information and the event information included in the state information B3, the lower the appropriateness of the installation state can be diagnosed (B4), and the less the proportion of the obstacle information and the event information is included. The more appropriate the diagnosis of the installation state (B4) can be.

As described above, the appropriateness of the installation state can be accurately diagnosed by diagnosing the appropriateness of the installation state (B4) according to the state information B3 including the obstacle information and the event information.

The control unit 40 also acquires photographing information photographing the periphery of the signal area B2 from the photographing unit 22 provided in the main body 10, and reflects the photographing information to reflect the status information B3. ).

The photographing information may be information obtained by photographing the periphery of the signal area B2, that is, the periphery of the charging stand 200, with the photographing unit 22 while the main body 10 is running.

The photographing information may be image / image information (data) taken by the photographing unit 22 around the signal region B2, that is, the periphery of the charging base 200 while the main body 10 is driving. .

The photographing information may be information photographing the front or the top of the main body 10.

That is, the photographing information may be information photographed by a camera photographing the front or the top of the main body 10.

The photographing information may be information photographing a current state of the signal region B2 and photographing a current environment around the signal region B2.

For example, one or more of obstacles, structures, terrains, and environments that currently exist around the signal area B2 may be photographed.

Here, as the photographing information, a factor influencing the reception of the detection signal may be photographed from among information on the environment around the signal area B2.

For example, one or more of lights, mirrors, and windows around the signal area B2 may be photographed.

In this case, the controller 40 analyzes the current illuminance or light source of the signal area B2 based on one or more of the lighting, mirror, and window photographed in the shooting information, and reflects the analysis result to reflect the state Information B3 may be determined.

Accordingly, the controller 40 may determine the state information B3 according to the current state of the signal area B2.

When the state information B3 is determined according to the current state of the signal area B2, the control unit 40 analyzes the current illuminance or the light source of the signal area B2. In response to the signal area B2, the state information B3 may be determined according to the signal area B2 reflecting the analysis result.

When the detection signal is an infrared signal, the signal size may be changed by the light source of the current environment in which the detection signal is received, so that the signal area B2 and the actual signal determined based on the reception result B1 Differences may occur in the area.

As described above, the control unit 40 analyzes the current illuminance or light source of the signal area B2, and reflects the analysis result to determine the status information B3, thereby setting the status information B3 to the current status. Therefore, it can be judged accurately.

The control unit 40 also controls the driving of the main body 10 to search for the periphery of the signal area B2 after determining the signal area B2, and reflects the driving result to reflect the state information ( B3) can be judged.

That is, the control unit 40 controls the main body 10 to travel along the signal area B2 to search for the periphery of the signal area B2, thereby determining the search result of the status information B3 It can be reflected in.

The search result may be a result of intensively searching the surrounding state of the signal area B2 while driving according to the signal area B2.

That is, the search result may be a result of intensively searching the current surrounding state of the signal area B2.

Accordingly, the control unit 40 controls to search the periphery of the signal area B2, and when determining the state information B3 by reflecting the search result, determines the current peripheral state of the signal area B2. The status information B3 may be determined according to the result of intensive search.

In this way, the control unit 40 controls the main body 10 to intensively search the current surrounding state of the signal area B2, and reflects the result of the intensive search to determine the state information B3. As shown in 10, the state information B3 may be accurately determined according to the current state.

Accordingly, the controller 40 may accurately diagnose (B4) the adequacy of the installation state through the state information B3 according to the current surrounding state.

The control unit 40 determining the status information B3 may compare the status information B3 with a predetermined diagnostic criterion, and diagnose the installation status according to the comparison result (B4).

The controller 40 may analyze and quantify the status information B3 according to a specific criterion, compare the digitized results with the diagnostic criteria, and diagnose (B4) the installation status according to the comparison result. .

The specific criterion may be a criterion for converting the status information B3 into an evaluation score for diagnosing the installation status B4.

The specific criterion may be a criterion for assigning a specific weight to the state information B3.

For example, it may be a criterion for converting the obstacle information or the event information reflected in the status information B3 into the evaluation score.

The control unit 40 analyzes the status information B3 according to the specific criterion and compares the evaluation score quantified with the diagnostic criterion, and diagnoses the adequacy of the installation status according to the comparison result (B4). You can.

The diagnostic criterion may be a criterion that quantifies the appropriateness of the installation state according to the state of the signal region B2.

The diagnostic criterion may include a criterion quantifying the adequacy for each of the one or more pieces of information included in the status information B3.

For example, a criterion for adequacy of at least one of the sensitivity of the detection signal, the range of the signal area B2, the presence of an obstacle in the signal area B2, and the occurrence of an event in the signal area B2 is included. Each of the information included in the status information B3 may be compared.

The controller 40 compares the status information B3 with the diagnostic criteria, and when the status information B3 is greater than or equal to the diagnostic criteria, the installation status is diagnosed as appropriate (B4), and the status When the information B3 is less than the diagnostic criteria, the installation state may be diagnosed as inappropriate (B4).

For example, when the evaluation score of the status information B3 is 80 points and the diagnosis criterion is 70 points, the installation state may be diagnosed as appropriate (B4).

The controller 40 for diagnosing the installation state (B4) may control the diagnosis result of diagnosing the installation state (B4) to be displayed externally.

The controller 40 may generate diagnostic information on the diagnosis result, and control the diagnostic information to be displayed externally.

The diagnostic information may be information representing the state information B3 as an image on a coordinate map, as shown in FIG. 11.

The diagnosis information may also include information on the status information B3 and the diagnosis result on a coordinate map as shown in FIG. 11.

The control unit 40 may output the diagnosis result to the output unit 26 or the terminal so that the diagnosis result is displayed on the output unit 26 or displayed on the terminal.

For example, the output unit 26 may be controlled such that the diagnosis result is displayed on the output unit 26, or the communication unit 21 may be controlled to transmit the diagnostic information to the terminal.

In this case, the control unit 40 may generate request information for a request for correction of the signal area B2 according to the diagnosis result, and control the display to be displayed outside the cleaner 100.

For example, when the installation state is diagnosed as inappropriate, it may be controlled such that the request information for the movement of the charging base 200 or the removal of an obstacle in the signal area B2 is displayed on the outside of the cleaner 100. have.

The control unit 40 may store the diagnostic information in the storage unit 30.

The control unit 40 may reflect the diagnostic information on the cleaning information and store it in the storage unit 30.

That is, the control unit 40 may update the cleaning information based on the diagnostic information.

Accordingly, the diagnostic information is stored as the history information, and may be based on driving control of the main body 10 in the future.

As described above, specific installation state diagnosis of the cleaner 100 for diagnosing the installation state may be performed in the order shown in FIG. 12.

12 shows an example of an operation process of the cleaner 100 for diagnosing the installation state, and the operation of the cleaner 100 may be performed in a different process from that shown in FIG. 12.

When the cleaning of the cleaning area starts (S1), the cleaner 100 may run the cleaning area according to the map information (S2) until the cleaning is completed (S3). While driving in the cleaning area, when it approaches the signal area of the charging base 200, the detection signal is received (S4), and the location and size at which the detection signal is received are stored as coordinates on the map information (S5). ), The cleaning area may be driven (S2) until the cleaning is completed (S3). When the cleaning is completed (S3), the signal area of the charging base 200 is determined based on the reception result of the stored detection signal (S6), and the cleaning information and the signal area stored in the storage unit 30 are determined. As a result, the state information of the signal region may be determined (S7). Thereafter, the state information is compared with the predetermined diagnostic criteria to diagnose the installation state (S8), to display the diagnosis result to the outside, or to transmit to the terminal remotely controlling the cleaner 100 (S9). Can be.

<Robot cleaner control method>

Hereinafter, an exemplary embodiment of a control method (hereinafter, referred to as a control method) of the robot cleaner according to the present invention will be described with reference to FIGS. 13 and 14, but the contents described in the robot cleaner described above and parts that are common / duplicate are omitted as much as possible. A description will be given of an embodiment of the control method.

[Method of controlling a robot cleaner] disclosed in the present specification may be implemented as a part or a combination of the configurations or steps included in the above-described or below-described embodiments, or may be implemented as a combination of the embodiments, and the technical terms used are merely specific Used to describe the embodiment, it does not limit the spirit of the technology disclosed herein.

The control method may be a control method of a robot cleaner that performs cleaning simultaneously with driving.

The control method may be a control method of a robot cleaner that performs driving and cleaning automatically or by a user's manipulation.

The control method may be a control method of a robot cleaner that recognizes a location while driving and simultaneously creates a map of an area to be cleaned.

The control method may be a control method included in the above-described robot cleaner, or a control method applied to control means including the same.

The control method may be a control method of the robot cleaner as described above, specifically, a control method for diagnosing the installation state of the charging base.

That is, the control method may be a method of diagnosing the installation state of the charging base.

The control method may be a control method of a diagnostic mode for diagnosing the installation state of the charging stand, or a method of performing a diagnostic mode.

The control method may be a control method performed in real time while the robot cleaner is running, and may be performed until the driving is finished.

The control method may be a control method of the cleaner described above.

The control method is an embodiment applied to the cleaner, and a specific embodiment of the control method may be applied and applied to the cleaner described above.

The control method, as shown in Figures 1a and 1b, the signal sensor 20 for receiving a detection signal transmitted from the charging base 200 installed in the cleaning area, map information of the cleaning area and the cleaning area group As a control method of the robot cleaner 100 including a storage unit 30 in which cleaning information including history information about the driving history is stored, as illustrated in FIG. 13, the detection signal during driving of the cleaning area is The receiving step (S10), determining the signal area of the charging base based on the reception result of the detection signal and pre-stored cleaning information (S20), and determining the state information of the signal area based on the cleaning information And (S40) and diagnosing an installation state of the charging base 200 according to the state information (S40).

That is, in the control method, the detection signal is received (S10), the signal region of the charging base is determined based on the reception result (S20), and the status information of the signal region is determined based on the cleaning information ( S30), the installation state of the charging base 200 according to the state information may be diagnosed (S40).

Accordingly, in the control method, the detection signal is received (S10), the signal region of the charging base is determined (S20), and the status information of the signal region is determined (S30), and the charging base ( It may be a method of controlling the cleaner 100 to diagnose the installation state of 200) (S40).

In step S10 in which the detection signal is received, the cleaner 100 is located in the vicinity of the charging base 200 while driving the cleaning area according to the map information, so that the signal sensor 20 The detection signal may be received.

In the determining of the signal region (S20), the region corresponding to the reception result may be determined on the map information, and the determined corresponding region may be determined as the signal region.

In the determining of the signal area (S20), the location and size of the detection signal received on the cleaning area are determined based on the reception result and the map information, and the signal area is determined based on the determined result. You can.

In the determining of the status information (S30), one or more of obstacle information in the signal region and event information generated in the signal region is determined based on the cleaning information, and the status information is determined based on the determined information. can do.

The step of determining the state information (S30), as shown in Figure 14, determining the obstacle information in the signal area based on the map information (S31), based on the history information in the signal area Determining the event information generated in step (S32), obtaining the shooting information of the surrounding area of the signal region from the photographing unit 22 provided in the cleaner 100 (S33) and the obstacle information, the event And determining the status information based on at least one of information and the photographing information (S34).

In the determining of the status information based on one or more of the obstacle information, the event information, and the shooting information (S34), the obstacle information in the signal area is determined based on the map information (S31), and the The status information may be determined based on obstacle information.

Determining the status information based on one or more of the obstacle information, the event information, and the shooting information (S34), the obstacle information in the signal area is determined based on the map information (S31), and the The event information generated in the signal area may be determined based on history information (S32), and the status information may be determined by reflecting the event information in the obstacle information (S34).

Determining the status information based on one or more of the obstacle information, the event information, and the shooting information (S34), the obstacle information in the signal area is determined based on the map information (S31), and the The event information generated in the signal region is determined based on the history information (S32), and the photographing unit 22 acquires photographing information photographing the periphery of the signal region (S33), and the obstacle information The status information may be determined by reflecting the event information and the shooting information.

In the determining of the state information (S30), after determining the signal area, the driving of the cleaner 100 is controlled to search for the periphery of the signal area, and the state information is determined by reflecting the driving result. You may.

That is, in the determining of the status information (S30), the cleaner 100 controls to search for the periphery of the signal region by traveling according to the signal region, so that the search result is reflected in the determination of the status information. You can.

Accordingly, in the determining of the status information (S30), the status information is determined by reflecting a result of controlling to search for the periphery of the signal region, and the current periphery of the signal region is determined according to the result of intensive search. Status information may be determined.

In the diagnosing step (S40), the installation state may be diagnosed according to the comparison result by comparing the state information with a predetermined diagnosis criterion.

In the diagnosing step (S40), the state information may be analyzed and quantified according to a specific criterion, and the digitized result may be compared with the diagnostic criterion to diagnose the installation state according to the comparison result.

In the diagnosing step (S40), the evaluation score quantified by analyzing the state information according to the specific criterion may be compared with the diagnosis criterion, and the appropriateness of the installation state may be diagnosed according to the comparison result.

In the diagnosing step S40, when the status information is compared with the diagnostic criterion, if the status information is greater than or equal to the diagnostic criterion, the installation status may be diagnosed as appropriate.

In the diagnosing step (S40), when the status information is compared with the diagnostic criterion, if the status information is less than the diagnostic criterion, the installation status may be diagnosed as inappropriate.

The control method for diagnosing the installation state in this order may further include controlling the diagnosis result of the installation state to be displayed on the outside of the cleaner 100 (S50).

In the controlling step (S50), the diagnosis result may be controlled to be displayed on the output unit 26 provided in the cleaner 100.

The control method may further include the step of generating information on the diagnosis result of the installation state and transmitting the cleaner 100 to an external terminal remotely controlling (S60).

In the step of transmitting (S60), diagnostic information for the diagnostic result may be generated and the diagnostic information may be transmitted to the terminal so that the diagnostic result is provided to the terminal.

In the step of transmitting (S60), diagnostic information on the diagnostic result may be generated so that the diagnostic result is provided to the terminal, and the diagnostic information may be transmitted to the terminal.

The control method may also generate the diagnostic information for the diagnostic result so that the diagnostic result is provided to the terminal, and store the diagnostic information in the storage unit 30.

Embodiments of the robot cleaner and the method of controlling the robot cleaner as described above may be applied to all cleaning robots, automatic cleaners, and control methods thereof to which the technical idea of the above technology can be applied.

The control method of the robot cleaner and the robot cleaner according to the present invention through the above-described embodiments is based on the result of receiving the detection signal from the charging base while driving through the cleaning area and the pre-stored cleaning information. By diagnosing, the installation state of the charging base can be simply diagnosed without providing a means for diagnosing a separate installation state.

In addition, by diagnosing the installation state of the charging base based on a result of receiving a detection signal while driving in the cleaning area and pre-stored cleaning information, while performing a cleaning driving for the cleaning area, the installation state of the charging base is also diagnosed. Can be done.

In addition, the installation state may be diagnosed in detail by accurately determining the installation state by determining the state information of the signal area by reflecting the current peripheral state of the signal area of the charging base.

Accordingly, the robot cleaner and the control method of the robot cleaner according to the present invention improve the limitations of the prior art to solve the problems of the present invention, and also facilitate the use, maintenance and repair of the robot cleaner and charging base. Thereby, it is possible to increase the reliability / efficiency / utility / utility / lifetime of the robot cleaner and charging base.

Although specific embodiments of the present invention have been described so far, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the scope of the following claims, but also by the claims and equivalents.

As described above, although the present invention has been described by limited embodiments and drawings, the present invention is not limited to the above embodiments, and various modifications and modifications from these descriptions will be made by those skilled in the art to which the present invention pertains. Deformation is possible. Accordingly, the spirit of the present invention should be understood only by the claims set forth below, and all equivalents or equivalent modifications thereof will be said to fall within the scope of the spirit of the present invention.

10: main body 20 (a to d): signal sensor
30; Storage unit 40: control unit
100: robot cleaner 200: charging base
210 (a to c): transmitter

Claims (20)

A body forming an appearance;
A signal sensor provided in the main body and receiving a detection signal transmitted from a charging station installed in a cleaning area;
A storage unit in which cleaning information including map information of the cleaning area and history information of the running history of the cleaning area is stored; And
And a control unit for diagnosing the installation state of the charging base based on a result of receiving the detection signal while driving in the cleaning area and the cleaning information. According to claim 1,
The signal sensor,
A robot cleaner, characterized in that, while driving in the cleaning area, receives the detection signal in real time. According to claim 1,
The map information,
And a structure, terrain, environment, state of the cleaning area, and obstacle information in the cleaning area. The method of claim 3,
The map information,
A robot cleaner comprising the location information of the charging base on the cleaning area. According to claim 1,
The history information,
A robot cleaner comprising at least one of an event occurring during the driving, the operation of the main body, and driving result information. According to claim 1,
The control unit,
A robot cleaner characterized by determining a signal area of the charging base based on a result of receiving the detection signal and the map information, and diagnosing the installation state based on the signal area. The method of claim 6,
The control unit,
A robot cleaner characterized by determining a location and a size of the received detection signal on the cleaning area based on the reception result and the map information, and determining the signal area according to the determined result. The method of claim 7,
The control unit,
A robot cleaner characterized in that, based on the cleaning information, state information of the signal area is determined and the installation state is diagnosed according to the determined state information. The method of claim 8,
The control unit,
A robot cleaner characterized by determining at least one of obstacle information in the signal area and event information generated in the signal area based on the cleaning information, and determining the state information based on the determined information. The method of claim 9,
The control unit,
A robot cleaner, characterized in that, by acquiring photographing information of a periphery of the signal area from the photographing unit provided in the main body, the photographing information is reflected to determine the status information. The method of claim 9,
The control unit,
The robot cleaner characterized in that by controlling the driving of the main body to search for the periphery of the signal area, the state information is determined by reflecting the driving result. The method of claim 8,
The control unit,
And comparing the state information with a predetermined diagnostic criterion, and diagnosing the installation state according to the comparison result. The method of claim 12,
The diagnostic criteria,
A robot cleaner, characterized in that it is a standard for quantifying the appropriateness of the installation state according to the state of the signal area. The method of claim 8,
The control unit,
A robot cleaner, characterized in that the diagnostic result of diagnosing the installation state is controlled to be displayed on the outside. A signal sensor for receiving a detection signal transmitted from a charging station installed in the cleaning area; And
In the control method of the robot cleaner comprising a; storage unit for storing the cleaning information, including the history information for the driving history of the map and the cleaning area of the cleaning area, comprising:
Receiving the detection signal while driving in the cleaning area;
Determining a signal region of the charging base based on a result of receiving the detection signal and pre-stored cleaning information;
Determining state information of the signal area based on the cleaning information; And
Diagnosing the installation state of the charging base according to the status information; Control method of a robot cleaner comprising a. The method of claim 15,
Determining the signal region,
The control method of the robot cleaner, characterized in that, based on the received result and the map information, determines the location and size of the received detection signal on the cleaning area, and determines the signal area based on the determined result. The method of claim 15,
The step of determining the status information,
Determining obstacle information in the signal area based on the map information;
Determining event information generated in the signal region based on the history information;
Acquiring photographing information photographing a periphery of the signal area from a photographing unit provided in the cleaner; And
And determining the status information based on at least one of the obstacle information, the event information, and the shooting information. The method of claim 15,
The diagnosis step,
A control method of a robot cleaner characterized by comparing the status information with a predetermined diagnostic criterion and diagnosing the installation status according to the comparison result. The method of claim 15,
And controlling a diagnosis result of the installation state to be displayed on the outside of the robot cleaner. The method of claim 15,
And generating information on the diagnosis result of the installation state and transmitting the robot cleaner to an external terminal that is remotely controlled.

Images