WO2016028021A1 - Robot de nettoyage et son procédé de commande - Google Patents

Robot de nettoyage et son procédé de commande Download PDF

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Publication number
WO2016028021A1
WO2016028021A1 PCT/KR2015/008353 KR2015008353W WO2016028021A1 WO 2016028021 A1 WO2016028021 A1 WO 2016028021A1 KR 2015008353 W KR2015008353 W KR 2015008353W WO 2016028021 A1 WO2016028021 A1 WO 2016028021A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning robot
obstacle
driving
doorway
Prior art date
Application number
PCT/KR2015/008353
Other languages
English (en)
Korean (ko)
Inventor
김원국
천지원
김신
Original Assignee
삼성전자주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020150111429A external-priority patent/KR102527645B1/ko
Application filed by 삼성전자주식회사 filed Critical 삼성전자주식회사
Priority to EP15833829.3A priority Critical patent/EP3184013B1/fr
Priority to CN201580057197.5A priority patent/CN107072457B/zh
Priority to US15/505,574 priority patent/US10394249B2/en
Priority to AU2015304254A priority patent/AU2015304254B2/en
Publication of WO2016028021A1 publication Critical patent/WO2016028021A1/fr
Priority to AU2018250455A priority patent/AU2018250455B2/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means

Definitions

  • the disclosed invention relates to a cleaning robot and a control method thereof, and more particularly, to a cleaning robot for automatically cleaning the cleaning space while driving the cleaning space and a control method thereof.
  • the cleaning robot is a device that automatically cleans the cleaning space by driving foreign materials such as dust accumulated on the floor while driving the cleaning space without a user's operation. That is, the cleaning robot travels through the cleaning space and cleans the cleaning space.
  • the conventional cleaning robot cleaned the inside of the cleaning space after cleaning the indoor cleaning space.
  • the cleaning robot generates a map of the cleaning space based on the driving record of the cleaning robot after driving all the indoor cleaning spaces, sets the cleaning area according to the generated map, and cleans the set cleaning area.
  • the cleaning robot has to run all the indoor cleaning spaces irrespective of the cleaning operation in order to generate the map of the cleaning spaces.
  • One aspect of the disclosed invention is to provide a cleaning robot and a method for controlling the cleaning robot that set the cleaning area in real time while driving the cleaning space and clean the set cleaning area first.
  • a cleaning robot includes at least one of a plurality of areas included in the cleaning space during cleaning of the main body, a traveling part for moving the main body, a cleaning part for cleaning a cleaning space, and a cleaning area. And a control unit for cleaning the cleaning area when the cleaning area is set.
  • the controller may determine the position of the entrance and exit of the cleaning area while the main body is running, and generate the cleaning area based on the determined position of the entrance and the driving record of the main body.
  • the cleaning robot may further include an obstacle detector configured to detect an obstacle that prevents the movement of the main body, and the controller may control the driving unit so that the main body travels along an outline of the obstacle.
  • the driving record of the main body may include location information on which the main body travels and outline information of the obstacle.
  • the controller may determine the position of the doorway based on the current position of the main body and the driving record while driving along the outline of the obstacle.
  • the controller may control the first position.
  • the position of the doorway may be determined between the convex edge and the second convex edge.
  • the controller may determine the first convex.
  • the position of the entrance and exit may be determined between the edge and the first wall surface.
  • the controller controls the first wall surface. It may be determined between the first convex edge and the position of the doorway.
  • the controller may generate a closed curve by connecting the position of the entrance and the position information of the main body.
  • control unit may simplify the closed curve and rotate the simplified closed curve.
  • the cleaning robot may further include an image acquisition unit configured to acquire images of the front and the upper side of the main body, and the control unit may determine the position of the doorway based on the front image of the main body obtained by the image acquisition unit. Can be.
  • the controller may determine the position of the doorway by extracting the feature point from the front image and comparing the extracted feature point with the shape of the doorway.
  • the controller may set the cleaning area based on the upper image of the main body.
  • the controller may extract a feature point from the upper image and set the cleaning area based on the extracted feature point.
  • the cleaning robot further includes a radar sensor that transmits a radio wave or an optical signal toward the front of the main body and receives a reflected wave or an optical signal reflected from a detection target, and the control unit receives the received reflected wave or an optical signal.
  • the position and the direction of the detection object may be determined based on.
  • the cleaning robot may include various sensors including a radar sensor.
  • the controller may determine the location of the entrance and exit based on the received reflected wave or the optical signal.
  • the controller may set the cleaning area based on the position of the doorway and the driving record of the main body.
  • the cleaning robot may further include a magnetic field detector configured to detect a magnetic field generated by the magnetic band installed at the entrance and exit.
  • the controller may determine the position of the doorway based on a detection result of the magnetic field detector.
  • the controller may set the cleaning area based on the position of the doorway and the driving record of the main body.
  • the cleaning robot may further include a cleaning part for cleaning the cleaning area, and the controller may control the cleaning part to first clean the inside of the set cleaning area.
  • a method of controlling a cleaning robot drives the cleaning robot, sets a cleaning area while the cleaning robot is running, and sets the cleaning area first when the cleaning area is set. It may include cleaning the cleaning area while driving the cleaning area.
  • the setting of the cleaning area may include determining the position of the entrance and exit of the cleaning area while the cleaning robot is running, and generating the cleaning area based on the determined position of the entrance and the driving record of the cleaning robot. It may include.
  • driving the cleaning robot may include driving along an outline of an obstacle that prevents the cleaning robot from moving.
  • the driving record may include position information of the cleaning robot and outline information of the obstacle.
  • determining the position of the doorway may include determining the position of the doorway based on the current position of the cleaning robot and the driving record.
  • Determining the position of the doorway is that the driving record of the current location of the cleaning robot is a first convex corner of the obstacle and the driving record traveling along the second convex corner of the obstacle within a predetermined distance from the current position If present, it may include determining the location of the doorway between the first convex edge and the second convex edge.
  • determining the position of the doorway includes a driving record in which the current position of the cleaning robot travels along the first wall of the obstacle within a predetermined distance from the first convex edge of the obstacle and within a predetermined distance from the current position. If not, it may include determining the position of the doorway between the first convex edge and the first wall surface.
  • determining the position of the doorway includes a driving record in which the current position of the cleaning robot is the first wall surface of the obstacle and travels along the first convex edge of the obstacle within a predetermined distance from the current position. If not, it may include determining the position of the doorway between the first wall surface and the first convex edge.
  • generating the cleaning area may generate the cleaning area based on the position of the doorway and the driving record.
  • the generating of the cleaning area may include generating a closed curve by connecting the position of the doorway and the position information of the cleaning robot, simplifying the closed curve, and rotating the simplified closed curve. .
  • determining the location of the doorway may include determining the location of the doorway based on a front image of the cleaning robot.
  • generating the cleaning area may include generating the cleaning area based on an upper image of the cleaning robot.
  • determining the location of the doorway may include determining the location of the doorway based on a reflected wave reflected from an obstacle that prevents the cleaning robot from running.
  • Determining the location of the doorway may include determining the location of the doorway according to whether the magnetic field generated by the magnetic band installed in the doorway is detected.
  • a cleaning robot includes a main body, a traveling part for moving the main body, a cleaning part performing cleaning, and when an entrance is detected while driving the main body, an area partitioned by the entrance is set as a cleaning area. It may include a control unit for cleaning.
  • the cleaning robot may further include a motion detector configured to obtain a travel record including position information and a travel angle of the main body while the main body travels, and a storage unit that stores the travel record.
  • the controller may control the driving unit to move the main body to a predetermined reference position.
  • the controller may determine whether the main body repeatedly travels the same path based on the position information and the travel angle of the driving record.
  • the controller may control the driving unit to move the main body to the doorway.
  • the controller may control the driving unit so that the main body travels in a predetermined direction.
  • a cleaning robot includes a main body, a moving part for moving the main body, a cleaning part for cleaning a cleaning space including a plurality of areas, and at least one area of the plurality of areas during driving of the main body.
  • the control unit may include a controller configured to clean an area, and reset and clean at least one of the remaining areas to a cleaning area when the cleaning of the at least one area is completed.
  • FIG 1 and 2 briefly illustrate the operation of the cleaning robot according to an embodiment.
  • FIG 3 shows a control configuration of the cleaning robot according to one embodiment.
  • FIG. 4 illustrates an appearance of a cleaning robot according to an embodiment.
  • 5 and 6 show the interior of the cleaning robot according to one embodiment.
  • FIG. 7 illustrates a bottom surface of the cleaning robot according to an embodiment.
  • FIG. 8 and 9 illustrate an example of detecting an obstacle located in front of an obstacle detecting unit included in a cleaning robot according to an embodiment.
  • FIG. 10 illustrates an example in which an obstacle detecting unit included in a cleaning robot detects a side obstacle.
  • FIG. 11 illustrates a method of cleaning a cleaning space by a cleaning robot according to an embodiment.
  • 12 to 14 show an example of cleaning the cleaning space by the cleaning robot according to an embodiment according to the method shown in FIG.
  • FIG. 15 illustrates a method of cleaning the cleaning space by the cleaning robot according to an exemplary embodiment.
  • FIG. 16 and 17 illustrate an example in which the cleaning robot according to the embodiment travels through the cleaning space according to the method illustrated in FIG. 15.
  • FIG. 18 illustrates an example in which a cleaning robot according to an embodiment stores a cleaning record according to the method illustrated in FIG. 15.
  • 19 illustrates a method of setting a cleaning area by a cleaning robot according to an embodiment.
  • FIG. 20 illustrates an example of a method of determining, by a cleaning robot, an entrance and exit of a cleaning area, according to an exemplary embodiment.
  • 21 to 23 illustrate an example of a process in which a cleaning robot determines an entrance and exit of a cleaning area according to the method illustrated in FIG. 20.
  • FIG. 24 illustrates another example of a method of determining, by a cleaning robot, an entrance and exit of a cleaning area, according to an exemplary embodiment.
  • 25 to 27 illustrate an example of a process in which a cleaning robot determines an entrance and exit of a cleaning area according to the method illustrated in FIG. 24.
  • FIG. 28 illustrates a method of setting a cleaning area by a cleaning robot according to an embodiment.
  • 29 to 32 illustrate an example of a process of setting a cleaning area by a cleaning robot according to an embodiment according to the method illustrated in FIG. 28.
  • FIG 33 is a view illustrating a cleaning robot cleaning a cleaning area, according to an exemplary embodiment.
  • 34 to 36 show an example of a process of cleaning the cleaning area by the cleaning robot according to the embodiment shown in FIG. 33.
  • FIG. 37 illustrates a method of cleaning, by the cleaning robot, the uncleaned area according to an embodiment.
  • 38 and 39 illustrate an example of a process of cleaning the uncleaned region by the cleaning robot according to the embodiment shown in FIG. 37.
  • 40 is a diagram illustrating a method of determining whether a cleaning robot repeatedly travels on the same path, according to an exemplary embodiment.
  • 41 and 42 illustrate an example in which the cleaning robot according to an embodiment repeatedly travels on the same path.
  • 43 illustrates an example of a method in which the cleaning robot according to an embodiment deviates from repeated driving.
  • FIG. 44 shows an example in which the cleaning robot travels in accordance with the method illustrated in FIG. 43.
  • 45 is a view illustrating another example of a method in which the cleaning robot according to one embodiment is released from repeated driving.
  • 46 and 47 show an example in which the cleaning robot travels according to the method shown in FIG. 45.
  • 49 to 52 show an example in which the cleaning robot travels according to the method illustrated in FIG. 48.
  • Fig. 53 is a diagram illustrating a control configuration of a cleaning robot according to another embodiment.
  • FIG. 54 is a view illustrating a cleaning robot cleaning a cleaning space according to another embodiment.
  • 55 to 59 illustrate an example in which the cleaning robot according to the embodiment cleans the cleaning space according to the method illustrated in FIG. 54.
  • 60 is a control diagram of the cleaning robot according to another embodiment.
  • 61 is a view illustrating a cleaning robot cleaning a cleaning space, according to another embodiment.
  • FIG. 62 shows a control configuration of a cleaning robot according to another embodiment.
  • Fig. 63 shows the cleaning space in which the magnetic band is installed.
  • 64 is a view illustrating a cleaning robot cleaning a cleaning space according to another embodiment.
  • 65 to 67 illustrate a process of cleaning the cleaning space by the cleaning robot according to another embodiment according to the cleaning method illustrated in FIG. 64.
  • ⁇ part may refer to a unit for processing at least one function or operation. .
  • it may mean hardware such as software stored in memory, a field-programmable gate array (FPGA), or an application specific integrated circuit (ASIC).
  • FPGA field-programmable gate array
  • ASIC application specific integrated circuit
  • ⁇ part may be components stored in accessible storage media and performed by one or more processors.
  • FIG 1 and 2 briefly illustrate the operation of the cleaning robot according to an embodiment.
  • the cleaning robot 100 may travel the floor of the cleaning space A in the cleaning space A.
  • the cleaning robot 100 may clean the cleaning space A while traveling in the cleaning space A.
  • the cleaning robot 100 located at an arbitrary position of the cleaning space A travels in an arbitrary direction as shown in FIG. 1 and cleans when it encounters an obstacle O such as a wall surface or furniture while driving.
  • the robot 100 may travel along the outline of the obstacle O.
  • the obstacle (O) may correspond to all objects that hinder the running of the cleaning robot (100).
  • an object that obstructs the running of the cleaning robot 100 such as a wall separating the cleaning space A and furniture located in the cleaning space A, may correspond to an obstacle O.
  • the cleaning robot 100 may divide the cleaning space A into a plurality of cleaning areas for quick and efficient cleaning, and the cleaning robot 100 may clean the cleaning area while driving in each divided cleaning area. .
  • the cleaning space A is divided into a plurality of spaces R1, R2, and R3.
  • the cleaning space A may be divided into a first room R1, a second room R2, and a living room R3 as shown in FIG. 1.
  • each cleaning space A is connected to each other by the entrances E1 and E2.
  • the first room R1 and the living room R3 are connected by the first doorway E1
  • the second room R2 and the living room R3 are connected to the second doorway (R1). It can be connected by E2).
  • the cleaning space A can be viewed as a collection of a plurality of regions connected by the entrances E1 and E2.
  • the cleaning robot 100 may set the cleaning area in real time while driving by using the conventional features of the cleaning space A.
  • FIG. 1 is a diagrammatic representation of the cleaning robot 100.
  • the cleaning robot 100 determines an entrance and exit while driving, and sets a cleaning area based on the determined entrance and driving record.
  • the cleaning robot 100 when the cleaning robot 100 traveling along the outline of the obstacle O recognizes the first entrance E1, the cleaning robot 100 recognizes the recognized first entrance E1. ),
  • the first room R1 may be recognized.
  • the cleaning robot 100 may set the first room R1 as the first cleaning area A1, and clean the first cleaning area A1 before other areas of the cleaning space A.
  • the cleaning robot 100 may set the cleaning area based on the entrance and exit while driving, and may preferentially clean the set cleaning area over other areas of the cleaning space A.
  • the cleaning robot 100 sets the cleaning area while driving and first cleans the set cleaning area, the cleaning robot 100 can clean the cleaning space A more quickly and efficiently.
  • FIG. 3 illustrates a control configuration of the cleaning robot according to an embodiment
  • FIG. 4 illustrates an appearance of the cleaning robot according to an embodiment
  • 5 and 6 show the inside of the cleaning robot according to one embodiment
  • FIG. 7 shows the bottom surface of the cleaning robot according to one embodiment.
  • the cleaning robot 100 may include a main body 101 and a sub body 103.
  • the main body 101 may have a substantially semi-cylindrical shape
  • the sub body 103 may have a substantially rectangular parallelepiped shape.
  • component parts for realizing the function of the cleaning robot 100 may be provided inside and outside the main body 101 and the sub body 103.
  • the cleaning robot 100 may detect a user interface 120 that interacts with a user, a motion detector 130 that detects information related to the movement of the cleaning robot 100, and an obstacle O of the cleaning space A.
  • FIG. It includes an obstacle detecting unit 140 for detecting, the driving unit 160 for moving the cleaning robot 100, the cleaning unit 170 for cleaning the cleaning space and the control unit 110 for the overall control of the operation of the cleaning robot 100. can do.
  • the user interface 120 may be provided on an upper surface of the main body 101 of the cleaning robot 100, and the plurality of input buttons 121 and the cleaning robot 100 that receive control commands from the user may be provided. It may include a display 123 for displaying the operation information of the).
  • the plurality of input buttons 121 may include a power button 121a for turning on or off the cleaning robot 100, an operation button 121b for operating or stopping the cleaning robot 100, and a cleaning station 100. It may include a return button (121c) for returning to the (not shown).
  • Each of the buttons included in the plurality of input buttons 121 is a push switch that senses the user's pressure and a membrane switch or a touch switch that senses the contact of the user's body part. Etc. can be employed.
  • the display 123 displays the information of the cleaning robot 100 in response to a control command input by the user.
  • the display 123 may display an operation state of the cleaning robot 100, a power supply state, and a user's selection.
  • the cleaning mode, whether to return to the charging station, etc. can be displayed.
  • the display 123 employs a light emitting diode (LED), an organic light emitting diode (OLED), or a liquid crystal display having a separate light emitting source. can do.
  • LED light emitting diode
  • OLED organic light emitting diode
  • liquid crystal display having a separate light emitting source. can do.
  • the display 123 may adopt a touch screen panel (TSP) that receives a control command from a user and displays operation information corresponding to the received control command.
  • TSP touch screen panel
  • the touch screen panel includes a display that displays motion information and control commands that can be input by the user, a touch panel that detects coordinates of a user's body part, and a touch coordinate that is detected by the touch panel. It may include a touch screen controller for determining the input grant command.
  • the touch screen controller may recognize the control command input by the user by comparing the touch coordinates of the user detected through the touch panel with the coordinates of the control command displayed through the display.
  • the motion detector 130 may detect a movement of the cleaning robot 100 while the cleaning robot 100 travels in the cleaning space A.
  • the motion detector 130 may detect the acceleration, the moving speed, the moving displacement, the moving direction, and the like of the cleaning robot 100 while the cleaning robot 100 linearly moves.
  • the movement detector 130 may detect a rotation speed, a rotation displacement, a rotation radius, and the like of the cleaning robot 100 while the cleaning robot 100 rotates.
  • the motion detector 130 may include an acceleration sensor 131 for detecting linear movement information of the cleaning robot 100 and a gyro sensor 133 for detecting rotation movement information of the cleaning robot 100.
  • the acceleration sensor 131 detects linear movement information of the cleaning robot 100.
  • the acceleration sensor 131 may detect linear acceleration, linear speed, linear displacement, and the like of the cleaning robot 100 using Newton's second law of motion (acceleration law).
  • the acceleration sensor 131 may employ a piezoelectric acceleration sensor, a capacitive acceleration sensor, a strain gauge type acceleration sensor, or the like.
  • the piezoelectric acceleration sensor includes a piezoelectric element that outputs an electrical signal by mechanical deformation, and detects acceleration using the electrical signal output by the piezoelectric element. Specifically, the piezoelectric acceleration sensor detects the electrical signal output from the piezoelectric element according to the deformation of the piezoelectric element due to the acceleration, and calculates the acceleration from the detected electrical signal.
  • the capacitive acceleration sensor In the capacitive acceleration sensor, the distance between structures is changed by inertial force, and the acceleration is detected by changing the capacitance due to the change of the distance.
  • the capacitive acceleration sensor includes a flowable structure and a fixed structure, detects a change in distance between the structures due to inertial force as a change in capacitance, and calculates an acceleration from the detected change in capacitance.
  • the strain gauge type acceleration sensor detects acceleration using a strain gauge that converts electrical resistance by mechanical deformation. Specifically, the strain gauge type acceleration sensor detects the deformation of the structure due to the acceleration as a change in the electrical resistance, and calculates the acceleration from the change in the detected electrical resistance.
  • the acceleration sensor 131 may employ a micro electro mechanical system (MEMS) type sensor that is miniaturized by fusing micromechanical, microelectronic, and semiconductor process technologies.
  • MEMS micro electro mechanical system
  • the gyro sensor 133 is called a gyroscope or an angular velocity sensor and detects rotational movement information of the cleaning robot 100.
  • the gyro sensor 133 may detect the rotational angular velocity and the rotational displacement of the detection target by using the angular momentum conservation law, the Sagnac effect, the Coriolis force, and the like.
  • the gyro sensor 133 may employ a gimbal gyro sensor, an optical gyro sensor, a vibrating gyro sensor, or the like.
  • the gimbal type gyro sensor is a precession motion in which the rotating axis of the rotating object rotates along a constant track by preserving the angular momentum and when an external force is applied to the rotating object to maintain a constant rotation axis that the rotating object is the center of rotation. Use to detect the rotational movement of the object.
  • the optical gyro sensor detects the rotational motion of the object by using the Sagnac Effect in which the time transmitted from the clockwise and counterclockwise directions along the circular light path reaches the origin by the rotation of the object. .
  • the vibratory gyro sensor detects the rotational motion of the object by using Coriolis force generated by the rotation of the object.
  • a rotational motion of the object is detected by using a phenomenon of vibrating in a new direction by Coriolis force.
  • the gyro sensor 133 may also employ a MEMS (Micro Electro Mechanical System) sensor.
  • MEMS Micro Electro Mechanical System
  • the capacitive gyro sensor detects the deformation of the micromechanical structure due to the Coriolis force proportional to the rotational speed as the change in capacitance, and calculates the rotational speed from the change in the capacitance.
  • the motion detector 130 is not limited to the acceleration sensor 131 and the gyro sensor 133.
  • the motion detector 130 may include an encoder (not shown) that detects rotation of the driving wheel 163 of the driving unit 160 to be described later.
  • the encoder may include a light emitting device for transmitting light, a light receiving device for receiving light, an encoder controller for detecting a rotational slit and a fixed slit provided between the light emitting device and the light receiving device, and a rotational speed and rotational displacement of the rotational slit.
  • the rotary slit may be provided to rotate together with the traveling wheel 163, and the fixed slit may be fixed to the main body 101.
  • light transmitted by the light emitting element passes through the rotating slit to reach the light receiving element or is blocked by the rotating slit.
  • the light receiving element receives pulse-shaped light according to the rotation of the rotating slit, and outputs an electrical signal according to the received light.
  • the encoder controller calculates the rotational speed and rotational displacement of the traveling wheel 163 based on the electrical signal output from the light receiving element, and based on the rotational speed and the rotational displacement of the traveling wheel 163.
  • a linear movement speed, a linear movement displacement, a rotation movement speed, a rotation movement displacement, and the like may be calculated and provided to the controller 110 to be described later.
  • the obstacle detecting unit 140 detects an obstacle O that hinders the movement of the cleaning robot 100.
  • the obstacle (O) as described above protrudes from the bottom of the cleaning space (A) to hinder the movement of the cleaning robot 100 or pit from the bottom of the cleaning space (A) to hinder the movement of the cleaning robot (100) It means everything that can be done, and may correspond to an obstacle O such as a table, a furniture such as a sofa, a wall partitioning the cleaning space A, and a porch lower than the floor of the cleaning space A.
  • the obstacle detecting unit 140 includes a front light transmitting module 141 for transmitting light toward the front of the cleaning robot 100, a front light receiving module 143 for receiving light reflected from an obstacle O, and a cleaning robot. It may include a side optical sensor module 145 for transmitting the light toward the side of the (100) and for receiving the light reflected from the obstacle (O).
  • the cleaning robot 100 uses light such as infrared rays in order to detect the obstacle O, but is not limited thereto, and may use laser, ultrasonic waves, or radio waves.
  • the front light transmitting module 141 may include a light source 141a for transmitting light and a wide-angle lens 141b for diffusing the transmitted light in a direction parallel to the cleaning floor, as shown in FIGS. 5 and 6. .
  • the light source 141a may employ an LED (Light Emitting Diode) or a laser (Light Amplification by Simulated Emission of Radiation (LASER)) diode that emits light in various directions.
  • LED Light Emitting Diode
  • LASER Simulated Emission of Radiation
  • the wide-angle lens 141b may be formed of a material capable of transmitting light, and diffuses light emitted from the light source 141a in a direction parallel to the cleaning floor by using refraction or total reflection.
  • Light transmitted from the front light transmitting module 141 due to the wide-angle lens 141b may be diffused in a fan shape toward the front of the cleaning robot 100. (In the following, a direction parallel to the cleaning floor may be diffused to form a fan shape. Light having is called plane light.)
  • the front light transmitting module 141 may transmit light toward all directions in front of the cleaning robot 100.
  • the obstacle detecting unit 140 is a plurality of front light transmitting module 141 as shown in Figs. 5 and 6 so that the portion where the plane light transmitted by the front light transmitting module 141 does not reach the minimum. It may include.
  • the front light receiving module 143 may include a reflection mirror 143a for concentrating the light reflected from the obstacle O and an image sensor 143b for receiving the light reflected by the reflection mirror 143a.
  • the image sensor 143b may be provided under the reflection mirror 143a and receive the light reflected by the reflection mirror 143a.
  • the image sensor 143a may acquire a 2D image formed on the reflection mirror 143a by the reflected light reflected by the obstacle O.
  • the image sensor 143a may be configured as a two-dimensional image sensor in which the optical sensor is arranged in two dimensions.
  • the image sensor 143b may employ a complementary metal oxide semiconductor (CMOS) sensor or a charge coupled device (CCD) sensor.
  • CMOS complementary metal oxide semiconductor
  • CCD charge coupled device
  • the image sensor 143b may preferably employ an image sensor 143b capable of receiving light having the same wavelength as that of the light source 143a of the front light transmitting module 141.
  • the image sensor 143b may also employ an image sensor 143b capable of acquiring an image in the infrared region.
  • the front light receiving module 143 may receive the reflected light reflected from all directions in front of the cleaning robot 100.
  • the number of front light receiving module 143 and the front light transmitting module 141 may be provided.
  • the front light transmitting module 141 diffuses the light transmitted from the light source 141a in various directions using the wide-angle lens 141b, and the front light receiving module 143 uses the reflection mirror 143a.
  • the obstacle detecting unit 140 may include a different number of front light transmitting modules 141 and front light receiving modules 143.
  • the front light transmitting module 141 for transmitting light in all directions in front of the cleaning robot 100 and the front light receiving reflection light reflected from all directions in front of the cleaning robot 100 with respect to the obstacle detecting unit 140.
  • the reception module 143 has been described, the front light transmitting module 141 and the front light receiving module 143 are not limited thereto.
  • the obstacle detecting unit 140 transmits light in a straight line toward a specific direction in front of the cleaning robot 100 and detects the position of the obstacle O using the reflected light reflected from the obstacle O. It may also include an optical sensor module.
  • the side light sensor module 145 transmits the light obliquely toward the left side of the cleaning robot 100 and the right side of the cleaning robot 100 and the left light sensor module 145a which receives the light reflected from the obstacle O. It may include a left optical sensor module 145b for transmitting the light obliquely toward and receiving the light reflected from the obstacle (O).
  • the side light sensor module 145 may be used not only for detecting the obstacle O but also for driving the cleaning robot 100.
  • the side light sensor module 145 may be disposed between the side of the cleaning robot 100 and the obstacle O. After detecting the distance, the controller 110 may control the driving unit 160 to maintain the constant distance from the obstacle O based on the detection result of the side light sensor module 145.
  • the side light sensor module 145 is mainly configured to assist the front light transmitting module 141 and the front light receiving module 143 for detecting an obstacle O located in front of the cleaning robot 100. Therefore, the obstacle detecting unit 140 may not include the side light sensor module 145.
  • the driving unit 160 moves the cleaning robot 100 and may include a wheel driving motor 161, a driving wheel 163, and a caster wheel 155 as shown in FIG. 7.
  • the traveling wheels 163 may be provided at both ends of the bottom surface of the main body 101, and the left traveling wheels 163a and the cleaning robots provided on the left side of the cleaning robot 100 based on the front of the cleaning robot 100. It may include a right driving wheel (163b) provided on the right side of the 100.
  • the driving wheel 163 receives the rotational force from the wheel driving motor 161 to move the cleaning robot 100.
  • the wheel drive motor 161 generates a rotational force for rotating the traveling wheel 163, and the right driving motor 161b for rotating the left driving motor 161a for rotating the left driving wheel 163a and the right driving wheel 163b. ).
  • the left driving motor 161a and the right driving motor 161b may operate independently by receiving driving control signals from the controller 110, respectively.
  • the left driving wheel 163a and the right driving wheel 163b may be independently rotated by the left driving motor 161a and the right driving motor 161b.
  • the cleaning robot 100 may perform various driving operations such as forward driving, backward driving, rotary driving, and in-situ rotation.
  • the cleaning robot 100 travels straight forward (forward), and both the left and right travel wheels 163a and 163b rotate in the second direction.
  • the lower body body 101 can travel straight (reverse) backward.
  • the left and right driving wheels 163a and 163b rotate in the same direction, but when rotated at different speeds, the cleaning robot 100 rotates to the right or left.
  • the cleaning robot 100 may rotate in place clockwise or counterclockwise.
  • the caster wheel 165 may be installed on the bottom of the main body 101 so that the rotating shaft of the caster wheel 165 may rotate according to the moving direction of the cleaning robot 100. As such, the caster wheel 165 in which the rotating shaft of the wheel rotates according to the moving direction of the cleaning robot 100 does not interfere with the running of the cleaning robot 100, and the cleaning robot 100 may travel while maintaining a stable posture. To help.
  • the driving unit 160 may include a motor driving circuit (not shown) for supplying a driving current to the wheel driving motor 163 and the rotational force of the wheel driving motor 161 according to the control signal of the controller 110.
  • the power transmission module (not shown) to transmit to the 163, the wheel driving motor 161 or a rotation sensor (not shown) for detecting the rotational displacement and rotation speed of the driving wheel 163 may be further included.
  • the cleaning unit 170 includes a drum brush 173 that scatters dust at the bottom of the cleaning area, a brush drive motor 171 that rotates the drum brush 173, a dust suction fan 177 that sucks scattered dust, and a dust suction unit.
  • the drum brush 173 is provided at the dust suction port 105 formed at the bottom of the sub body 103, and is cleaned while rotating about a rotating shaft provided horizontally with the cleaning floor of the sub body 103. Dust on the floor scatters the dust inlet 105 inside.
  • the brush driving motor 171 is provided adjacent to the drum brush 173 to rotate the drum brush 173 according to the cleaning control signal of the controller 110.
  • the cleaning unit 170 drums the rotational force of the motor driving circuit (not shown) and the brush driving motor 171 to supply the driving current to the brush driving motor 171 according to the control signal of the controller 110.
  • a power transmission module (not shown) for transmitting to the brush 173 may be further included.
  • the dust suction fan 177 is provided in the main body 101 as shown in FIGS. 5 and 6 to suck the dust scattered by the drum brush 173 into the dust box 179.
  • the dust suction motor 175 is provided at a position adjacent to the dust suction fan 177 and rotates the dust suction fan 177 according to a control signal of the controller 110.
  • the cleaning unit 170 dusts the rotational force of the motor driving circuit (not shown) and the dust suction motor 175 to supply a driving current to the dust suction motor 175 according to the control signal of the controller 110.
  • a power transmission module (not shown) for transmitting to the suction fan 177 may be further included.
  • Dust box 179 is provided in the main body 101, as shown in Figure 5 and 6, and stores the dust sucked by the dust suction fan 177.
  • the cleaning unit 170 may include a dust guide tube for guiding the dust sucked through the dust suction port 105 of the service body 103 to the dust box 179 provided in the main body 101.
  • the controller 110 collectively controls the operation of the cleaning robot 100.
  • the controller 110 includes an input / output interface 117 for mediating data entry and exit between various components included in the cleaning robot 100 and the controller 110, a memory 115 for storing programs and data, and an image. It may include a graphics processor 113 for performing processing and a main processor 111 for performing arithmetic operations according to programs and data stored in the memory 113. In addition, the control unit 110 may be provided with a system bus 119 for transmitting and receiving data between the input / output interface 117, the memory 115, the graphic processor 113, and the main processor 111.
  • the input / output interface 117 receives a user command received by the user interface 120, motion information of the cleaning robot 100 detected by the motion detector 130, obstacle location information detected by the obstacle detector 140, and the like. This is transmitted to the main processor 111, the graphics processor 113, the memory 115, and the like through the system bus 119.
  • the input / output interface 117 may transmit various control signals output from the main processor 111 to the user interface 120, the driving unit 160, or the cleaning unit 170.
  • the memory 115 may include a control program and control data for controlling the operation of the cleaning robot 100, a user command received by the user interface 120, motion information detected by the motion detector 130, and an obstacle detector 140.
  • the obstacle position information detected by the controller and various control signals output from the main processor 111 may be temporarily stored.
  • the memory 115 may be a flash memory, a read only memory, an erasable programmable read only memory (EPROM), or an ypyrom, as well as volatile memory such as an S-RAM and a D-RAM. It may include a nonvolatile memory such as Electrically Erasable Programmable Read Only Memory (EEPROM).
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • the nonvolatile memory may semi-permanently store the control program and control data for controlling the operation of the cleaning robot 100, the volatile memory is temporarily stored by loading the control program and control data from the nonvolatile memory, or the user
  • the user command received by the interface 120, the motion information detected by the motion detector 130, the obstacle location information detected by the obstacle detector 140, and various control signals output by the main processor 111 may be temporarily stored. have.
  • the graphic processor 113 converts the reflected light image acquired by the obstacle detecting unit 150 into an image having a resolution that can be processed by the main processor 111 or converts the reflected light image into a format that can be processed by the main processor 111. I can convert it.
  • the main processor 111 processes the data stored in the memory 115 according to the control program stored in the memory 115.
  • the main processor 161 may process the detection result of the motion detector 130 and the obstacle detector 140, and generate a control signal for controlling the driving unit 160 and the cleaning unit 170. .
  • the main processor 111 generates driving record information based on the movement information of the cleaning robot 100 detected by the movement detecting unit 130 and stores the generated driving record information in the memory 115 or the obstacle detecting unit 150.
  • the direction, distance, and size of the obstacle may be calculated based on the reflected light image obtained by).
  • the main processor 111 calculates a driving path for avoiding the obstacle O according to the direction, distance, and size of the obstacle O, and the driving unit to move the cleaning robot 100 along the calculated driving path.
  • the driving control signal to be provided to 160 may be generated.
  • the controller 110 determines the position and movement of the cleaning robot 100 based on the motion information of the motion detector 130, and determines the obstacle O based on the obstacle detection signal of the obstacle detector 140. The location and size can be determined.
  • controller 110 may control the driving unit 160 so that the cleaning robot 100 travels on the cleaning floor, and control the cleaning unit 170 to clean the cleaning floor while the cleaning robot 100 runs.
  • An operation of the cleaning robot 100 to be described below may be interpreted as an operation by a control operation of the controller 110.
  • FIG. 8 and 9 illustrate an example of detecting an obstacle located in front of an obstacle detecting unit included in a cleaning robot according to an embodiment
  • FIG. 10 illustrates a side obstacle of an obstacle detecting unit included in a cleaning robot according to an embodiment. Shows an example of detecting.
  • the obstacle detecting unit 140 may include a front light transmitting module 141, a front light receiving module 143, and a side light sensor module 145.
  • the front light transmitting module 141 included in the obstacle detecting unit 140 may transmit the light toward the front of the cleaning robot 100, and the light transmitted toward the front by the front light transmitting module 141 may be forward. As shown in FIG. 8, it diffuses into a fan shape.
  • the light emitted from the front light transmitting module 141 is advanced toward the front of the cleaning robot 100, and the front light receiving module 143 is an obstacle. It does not receive light reflected from (O).
  • the light emitted from the front light transmitting module 141 is reflected at the obstacle O, and the light reflected from the obstacle O is shown in FIG. 9. As reflected, it is reflected in various directions (reflective reflection).
  • some of the reflected light reflected from the obstacle O may be directed to the front light receiving module 143 of the cleaning robot 100.
  • the reflected light directed to the light receiving module 143 is reflected by the reflecting mirror 143a so that its traveling path is directed to the image sensor 143b, and the image sensor 143b receives the reflected light reflected from the reflecting mirror 143a. do.
  • the image sensor 143b may obtain a two-dimensional reflected light image, and the obstacle detecting unit 140 may distance the obstacle O based on the reflected light image. And directions can be calculated.
  • the incident angle at which light reflected from the obstacle O is incident on the reflection mirror 143a varies between the light transmission module 143 and the obstacle O.
  • light incident on the reflection mirror 143a at different incident angles is received at different positions of the image sensor 143b.
  • the position where the image sensor 143b receives the reflected light differs depending on the distance between the light transmitting module 143 and the obstacle O. That is, the reflected light image acquired by the image sensor 143b varies according to the distance between the light transmitting module 143 and the obstacle O.
  • the light reflected from the obstacle O located at a distance from the cleaning robot 100 has a large incident angle incident on the reflection mirror 143a and is reflected at a position far from the vertex of the reflection mirror 143a.
  • the image will be generated.
  • the incident angle at which the light reflected from the obstacle O located at a close distance from the cleaning robot 100 is incident on the reflection mirror 143a is small, and the reflected light image is located at a position close to the vertex of the reflection mirror 143a. Will be generated.
  • the position where the light reflected from the obstacle O is incident on the reflection mirror 143a is different. Also, the reflected light reflected at different positions of the reflection mirror 143a is received at different positions of the image sensor 143b. As a result, the position where the image sensor 143b receives the reflected light differs depending on the direction of the obstacle O. As shown in FIG. That is, the reflected light image acquired by the image sensor 143b varies according to the direction of the obstacle O based on the cleaning robot 100.
  • the cleaning robot 100 may calculate the direction and distance of the obstacle O based on the reflected light image received by the image sensor 143b.
  • the side light sensor module 145 transmits light in a straight line toward the side of the cleaning robot 100 and reflects reflected light from an obstacle O positioned on the side of the cleaning robot 100. Can be received.
  • the side light sensor module 145 may transmit the information related to the received reflected light to the control unit 110, the control unit 110 between the cleaning robot 100 and the obstacle (O) based on the information related to the reflected light. The distance can be calculated.
  • the side light sensor module 145 may transmit the intensity of the received reflected light to the controller 110, and the controller 110 may be configured between the cleaning robot 100 and the obstacle O based on the intensity of the reflected light.
  • the distance of can be calculated.
  • the control unit 110 determines that the distance between the cleaning robot 100 and the obstacle O is shorter as the intensity of the reflected light is stronger, and between the cleaning robot 100 and the obstacle O as the intensity of the reflected light is weaker. It can be judged that the distance of is far.
  • the side light sensor module 145 may transmit a time of fight (TOF) between the emitted outgoing light and the received reflected light to the controller 110, and the controller 110 cleans based on the TOF.
  • TOF time of fight
  • the distance between the robot 100 and the obstacle O may be calculated. Specifically, the controller 110 determines that the shorter the TOF is, the shorter the distance between the cleaning robot 100 and the obstacle O is, and the longer the TOF is, the longer the distance between the cleaning robot 100 and the obstacle O is. You can judge.
  • the side light sensor module 145 may transmit the distance between the transmission position where the light is transmitted and the reception position where the light is received, to the controller 110.
  • the distance between the cleaning robot 100 and the obstacle O may be calculated based on the distance. Specifically, the control unit 110 determines that the distance between the cleaning robot 100 and the obstacle O is shorter as the distance between the light transmitting position and the receiving position is closer, and the distance between the light transmitting position and the receiving position is farther. It may be determined that the distance between the cleaning robot 100 and the obstacle O is farther.
  • FIG. 11 illustrates a method of cleaning a cleaning space by a cleaning robot according to an embodiment
  • FIGS. 12 to 14 illustrate examples of cleaning a cleaning space by a cleaning robot according to the method shown in FIG. 11. Shows.
  • the cleaning robot 100 travels through the cleaning space A (1100).
  • the cleaning robot 100 may travel in any direction from any position.
  • the arbitrary position may be a position where a charging station (not shown) for charging the battery of the cleaning robot 100 is located, or a position where the user places the cleaning robot 100 on the floor of the cleaning space A. FIG. In this way, the position where the cleaning robot 100 starts traveling is not limited.
  • the cleaning robot 100 can travel in any direction at the start of driving.
  • the cleaning robot 100 may travel toward the front at the start of driving.
  • the present invention is not limited thereto, and the cleaning robot 100 may travel after changing the driving direction before starting the driving.
  • the cleaning robot 100 does not change the driving direction until the obstacle O is found.
  • the cleaning robot 100 sets the cleaning area while driving in the cleaning space (1200).
  • the cleaning area means a unit in which the cleaning robot 100 performs cleaning as part of the cleaning space A.
  • the cleaning robot 100 may clean another cleaning area after cleaning one cleaning area.
  • the cleaning area may be set to correspond to one room or living room that is separated from the other area by the wall and connected to the other area by the entrance or the like.
  • the present invention is not limited thereto, and in some cases, a cleaning area may be set by dividing a single room or a living room into a plurality of rooms.
  • the cleaning robot 100 may set a cleaning area before searching all the cleaning spaces A.
  • FIG. Specifically, the cleaning robot 100 determines whether to satisfy the condition for setting the cleaning area in real time while driving the cleaning space A, and if the condition for setting the cleaning area is satisfied, the cleaning robot 100 determines the corresponding area. Can be set as the cleaning area first.
  • the cleaning robot 100 may move the first room R1 to the first cleaning area when the conditions for setting the cleaning area are satisfied even before all the interiors of the cleaning space A are driven.
  • the cleaning robot 100 may store that the cleaning is completed for the cleaning area that has been cleaned.
  • the cleaning robot 100 may store a cleaning record indicating whether cleaning of the cleaning area is completed.
  • the cleaning robot 100 may assign an identification code to the cleaning area when the cleaning area is set, and store the identification code of the cleaned cleaning area in the cleaning record when the cleaning area is completed.
  • the cleaning robot 100 may first clean the first cleaning area A1 before traveling to another area of the cleaning space A.
  • the cleaning robot 100 determines whether all the cleaning areas have been cleaned (1400). In other words, it is determined whether the cleaning robot 100 has cleaned all the areas included in the cleaning space A.
  • the cleaning robot 100 repeats the running of the cleaning space A, the cleaning area setting, and the cleaning area cleaning.
  • the cleaning robot 100 may end the driving and return to the charging station.
  • the cleaning robot 100 may generate a cleaning area corresponding to an area that is not cleaned after driving all of the cleaning space A, and may return to the charging station after cleaning the generated cleaning area.
  • the cleaning robot 100 sets a cleaning area and cleans the set cleaning area.
  • the cleaning robot 100 may set the first room R1 as the first cleaning area A1 according to a preset condition while driving the cleaning space A.
  • FIG. 12 the cleaning robot 100 may set the first room R1 as the first cleaning area A1 according to a preset condition while driving the cleaning space A.
  • the cleaning robot 100 cleans the first cleaning area A1 first.
  • the cleaning robot 100 determines whether all areas of the cleaning space A have been cleaned.
  • the cleaning robot 100 While driving the cleaning space A again, the cleaning robot 100 sets the second room R2 as the second cleaning area A2 according to a preset condition as shown in FIG. 13, and the second cleaning area ( A2) can be cleaned.
  • the cleaning robot 100 determines whether all areas of the cleaning space A have been cleaned.
  • the cleaning robot 100 While driving the cleaning space A again, the cleaning robot 100 reaches the initial travel start position as shown in FIG. 14.
  • the cleaning robot 100 that has reached the initial travel start position may determine that all areas in the cleaning space A have traveled.
  • the cleaning robot 100 which has traveled all the areas in the cleaning space A sets the uncleaned area among the cleaning spaces A as the cleaning area. Specifically, as shown in FIG. 14, the cleaning robot 100 sets the living room R3 as the third cleaning area A3. Thereafter, the cleaning robot 100 cleans the third cleaning area A3.
  • the cleaning robot 100 may determine that all areas included in the cleaning space A have been cleaned, and may return to the charging station for charging the battery.
  • the cleaning robot 100 sets the cleaning areas A1, A2, and A3 while driving the cleaning space A, and immediately after the cleaning areas A1, A2, and A3 are set, the cleaning areas A1, A2, and A3 are set. Clean).
  • the cleaning robot 100 can move the cleaning space A, set the cleaning areas A1, A2, and A3, and clean the set cleaning areas A1, A2, and A3 to clean all the areas of the cleaning space A. Can be cleaned faster and more effectively.
  • the cleaning space driving 1100, the cleaning area setting 1200, the cleaning area cleaning 1300, and the cleaning completion determination 1400 constituting the cleaning operation 1000 of the cleaning robot 100 will be described in detail.
  • FIG. 15 illustrates a method of cleaning the cleaning space by the cleaning robot according to an embodiment
  • FIGS. 16 and 17 illustrate examples of driving the cleaning space by the cleaning robot according to the method shown in FIG. 15.
  • FIG. 18 illustrates an example in which a cleaning robot according to an embodiment stores a cleaning record according to the method shown in FIG. 15.
  • the cleaning robot 100 travels in an arbitrary direction (1110).
  • the cleaning robot 100 may travel in any direction at any position.
  • the cleaning robot 100 may travel forward from a charging station (not shown) as shown in FIG. 16.
  • the present invention is not limited thereto, and the cleaning robot 100 may rotate in an arbitrary direction before driving starts and then travel in an arbitrary direction.
  • the cleaning robot 100 determines whether an obstacle O is detected while driving (1120).
  • the obstacle detecting unit 140 of the cleaning robot 100 transmits light toward the front and side surfaces of the cleaning robot 100, and detects the reflected light reflected from the obstacle O and received.
  • the controller 110 of the cleaning robot 100 may determine whether the obstacle O is present according to whether the reflected light is detected.
  • the cleaning robot 100 continues to travel.
  • the cleaning robot 100 travels along the outline of the obstacle O (1130).
  • the controller 110 of the cleaning robot 100 may distance the obstacle O based on the reflected light. And the direction is determined.
  • the cleaning robot 100 may change the driving direction to travel in parallel with the outline of the obstacle O.
  • the cleaning robot 100 calculates an angle formed between the direction in which the cleaning robot 100 travels and the outline of the obstacle O based on the reflected light detected by the obstacle detecting unit 140, and as much as the calculated angle.
  • the vehicle may travel after rotating in the opposite direction to the obstacle O.
  • the rotation in place means that the cleaning robot 100 rotates using the center of the cleaning robot 100 as the rotation axis.
  • the in-situ rotation means the driving is not the "0" linear speed but "0".
  • the cleaning robot 100 may rotate in a direction opposite to the obstacle O until the distance of the obstacle O reaches a predetermined obstacle following distance.
  • the rotation running means that the cleaning robot 100 rotates a position other than the center of the cleaning robot 100 as the rotation axis and the distance between the center of the cleaning robot 100 and the rotation axis as the rotation radius.
  • Rotational running means driving in which the angular velocity and linear velocity are both not zero.
  • the cleaning robot 100 performs an outline following driving in which the distance with the obstacle O keeps a predetermined obstacle following distance and runs in parallel with the outline of the obstacle O.
  • the cleaning robot 100 may be configured to have an obstacle O when the distance from the obstacle O located on the side of the cleaning robot 100 is smaller than the obstacle tracking distance.
  • the vehicle may travel in a direction away from each other, and may travel in a direction closer to the obstacle O when the distance from the obstacle O positioned on the side of the cleaning robot 100 is greater than the obstacle tracking distance.
  • the cleaning robot 100 is a right following driving (a left-hand drive in which the obstacle is located on the left side of the cleaning robot) running along the outline of the obstacle O on the right side of the obstacle O or an obstacle on the left side of the obstacle O. It is possible to perform a left following run (an excellent run where an obstacle is located on the right side of the cleaning robot) that runs along the outline of (O). In this case, the cleaning robot 100 may be performed by selecting any one of the right following driving or the left following driving. In the following description, it is assumed that the cleaning robot 100 performs a left following driving (excellent driving) that runs on the left side of the obstacle O to assist the following.
  • the cleaning robot 100 may travel along the outline of the obstacle O as shown in FIG. 17.
  • the cleaning robot 100 may travel along the wall surface of the cleaning space O.
  • the cleaning robot 100 stores the driving record of the cleaning robot 100 during the outline following driving (1140).
  • the cleaning robot 100 may include position information indicating the position of the cleaning robot 100 at each predetermined time interval, driving information including the driving speed information of the cleaning robot 100, driving direction information, and the like, and the cleaning robot 100. ) May store the outline information including the features of the outline of the obstacle (O).
  • the location information may include the location coordinates of the cleaning robot 100.
  • the cleaning robot 100 may generate an xy coordinate system with the origin as the starting point of travel.
  • the y-axis corresponds to the front direction of the cleaning robot
  • the x-axis corresponds to the direction perpendicular to the y-axis.
  • the cleaning robot 100 may calculate the current position coordinates of the cleaning robot 100 by integrating the traveling speed according to the traveling direction detected using the motion detector 130.
  • the position information that the cleaning robot 100 has traveled has a form of a discontinuous point as shown in FIG. 18.
  • the traveling route on which) traveled is generated.
  • the driving information may include a driving speed, a driving direction (driving angle), and a driving distance that the cleaning robot 100 travels.
  • the cleaning robot 100 may detect the travel speed, the travel direction (driving angle), and the travel distance by using the motion detector 130.
  • the driving direction may be expressed as an angle between the direction in which the cleaning robot 100 runs and the reference direction with respect to the reference direction. For example, if the cleaning robot 100 is defined as a reference direction when the cleaning robot 100 first starts, when the cleaning robot 100 rotates 90 degrees counterclockwise (or to the left), the driving direction (angle) is '+'. 90 degrees', and when the cleaning robot 100 rotates 90 degrees clockwise (or rightward), the driving direction (angle) may be '-90 degrees'.
  • the driving direction may include an instantaneous driving direction (angle) indicating the driving direction (angle) of the cleaning robot 100 and a cumulative driving direction (angle) in which the driving direction (angle) of the cleaning robot 100 is accumulated. have.
  • the instantaneous travel direction (angle) and the accumulated travel direction (angle) become the mode '0 degree'.
  • the cleaning robot 100 rotates one turn counterclockwise in place, the instantaneous driving direction (angle) becomes '0 degree' but the cumulative driving direction (angle) becomes '+360' degree.
  • the cleaning robot 100 rotates one turn clockwise in place, the instantaneous traveling direction (angle) becomes '0 degree', but the accumulated traveling direction (angle) becomes '-360 degree'.
  • the running speed may include line speed and angular speed.
  • the linear speed when the cleaning robot 100 travels linearly, the linear speed may be a traveling speed of the cleaning robot 100 and each speed may be '0'.
  • the linear speed when the cleaning robot 100 rotates in place, the linear speed may be '0' and each speed may be a rotation speed of the cleaning robot 100.
  • the travel distance can be calculated by integrating the line speed among the travel speeds.
  • the outline information may include an outline shape of an obstacle O that the cleaning robot 100 follows.
  • the cleaning robot 100 may determine whether the outline of the obstacle O is straight, convex or concave. For example, the cleaning robot 100 may estimate the shape of the outline based on the driving information or the location information of the cleaning robot 100.
  • the cleaning robot 100 may divide the outline shape of the obstacle O adjacent to the cleaning robot 100 into a wall, a convex edge, and a concave edge, based on the determined outline of the obstacle O.
  • FIG. If the outline of the obstacle O is straight, the cleaning robot 100 may divide the outline of the obstacle O into a wall. If the outline of the obstacle O is convex, the cleaning robot 100 may be the obstacle O. The outline shape of can be divided into convex edges. In addition, when the outline of the obstacle O is concave, the cleaning robot 100 may divide the outline of the obstacle O into a concave edge.
  • the cleaning robot 100 may store the outline shapes of the obstacles O thus divided as outline information.
  • the cleaning robot 100 may store any one of a wall surface, a convex edge, or a concave edge according to the outline shape of the obstacle O as the outline information.
  • the cleaning robot 100 may store a wall surface with respect to the outline information of the first point P1.
  • the cleaning robot 100 rotates in the direction (right direction) in which the obstacle O is located at the second point P2, so that the cleaning robot 100 is convex with respect to the outline formation information of the second point P1. You can save corners.
  • the cleaning robot 100 may store a wall surface with respect to the outline information of the third point P3.
  • the cleaning robot 100 may store a wall surface with respect to the outline information of the fourth point P4.
  • the cleaning robot 100 rotates in a direction opposite to the direction in which the obstacle O is located (left direction), so that the cleaning robot 100 may move to the outline information of the fifth point P5 of the cleaning robot 100. Concave corners can be saved.
  • the cleaning robot 100 may store a wall surface with respect to the outline information of the third point P3.
  • the cleaning robot 100 may travel in an arbitrary direction until the obstacle O is detected at an arbitrary position.
  • the cleaning robot 100 follows the outline along the outline of the obstacle O. Perform the drive.
  • the cleaning robot 100 stores a driving record including driving information and position information of the cleaning robot 100 and outline information of the obstacle O while driving.
  • 19 illustrates a method of setting a cleaning area by a cleaning robot according to an embodiment.
  • a cleaning area setting 1200 of the cleaning robot 100 will be described with reference to FIG. 19.
  • the cleaning robot 100 determines a doorway during the cleaning space driving 1100 described above (1210).
  • the doorway corresponds to a passage connecting the area separated by the wall. That is, the cleaning space A can be partitioned into a plurality of areas (rooms or living rooms) by the wall, and the doorway connects between the plurality of partitioned areas.
  • the plurality of cleaning areas are connected through the doorway, and both sides of the doorway may set different cleaning areas.
  • the entrance and exit may be a reference for setting the cleaning area. That is, when the doorway is determined, the cleaning space A may be divided into a plurality of cleaning areas based on the doorway.
  • a closed curve is formed by connecting the wall surface and the doorway forming the room, and the cleaning robot 100 may set the inside of the closed curve formed as a cleaning area.
  • a closed curve is formed by connecting two or more doorways and the wall surface forming the living room, and the cleaning robot 100 may set the inside of the formed closed curve as the cleaning area.
  • the cleaning robot 100 determines the position of the doorway.
  • the cleaning robot 100 continues the outline following driving.
  • the cleaning robot 100 sets a cleaning area based on the driving record of the cleaning robot 100 (1220).
  • the cleaning robot 100 may set the cleaning area based on the wall outline information and the location of the doorway.
  • the cleaning robot 100 performs an outline following driving that travels along the outline of the obstacle O such as the wall surface of the cleaning space A before setting the cleaning area.
  • the cleaning robot 100 stores the driving record including the position information of the cleaning robot 100, the driving information of the cleaning robot 100, and the outline forming information of the obstacle O during the outline following driving.
  • the cleaning robot 100 since the cleaning robot 100 stores the driving record during the following-following operation of traveling along the outline of the obstacle O, the cleaning robot 100 may estimate the outline of the obstacle O from the driving record.
  • the cleaning robot 100 that performs the outline following driving along the inner wall of the room may estimate the shape of the inner wall of the room based on the position information of the cleaning robot 100 in the driving record.
  • the cleaning robot 100 may set the cleaning area based on the position information of the previously detected entrance and exit information of the inner wall acquired by the cleaning robot 100 during the contour following driving. That is, the cleaning robot 100 may set a room or a living room separated from the other area by the wall and the entrance as one cleaning area.
  • the cleaning robot 100 may determine the location of the doorway and set the cleaning area based on the location of the doorway and the driving record of the cleaning robot 100.
  • the cleaning space A may be divided into a plurality of regions partitioned by a wall and connected by an entrance.
  • a closed curve is formed by connecting the door and the outline of the wall surface, the cleaning robot 100 may set the cleaning area of the inside of the closed curve connected to the door and the wall outline.
  • the doorway may be formed between one end of the inner wall projecting from the outer wall of the cleaning space into the cleaning space and one end of the other inner wall, or may be formed between the wall surface of the inner wall (or the wall surface of the outer wall) and one end of the other inner wall.
  • the wall between the wall of the inner wall and the wall of the inner wall typically corresponds to a passageway and not an entrance.
  • an entrance is not formed at the inner side of the curved wall, that is, the concave edge of the inner wall (or the outer wall).
  • the obstacles O at both ends of the doorway may be formed with convex edges, or the obstacles O at one end of the doorway may be configured with convex edges, and the other obstacles O may be formed as walls. In other words, at least one of both ends of the doorway has a convex edge.
  • the doorway may be approximately 80cm to 110cm in width so that the user can easily enter and exit.
  • the running direction of the cleaning robot 100 is perpendicular to the doorway. That is, a straight line connecting both ends of the entrance and exit is perpendicular to the running direction of the cleaning robot 100.
  • At least one of both ends of the doorway has convex edges, 2) the width of the doorway is within a predetermined reference distance range, and 3) the doorway is perpendicular to the running direction of the cleaning robot 100 passing through the doorway.
  • the cleaning robot 100 may determine the corresponding position as the doorway.
  • the position at which the driving record of the cleaning robot 100 is recorded corresponds to the outline of the obstacle O.
  • the cleaning robot 100 may grasp the shape and the position of the obstacle O based on the driving record of the cleaning robot 100, and may determine the entrance and exit based on the driving record.
  • FIG. 20 is a view illustrating an example of a method of determining, by a cleaning robot, a cleaning area according to an embodiment, and FIGS. 21 through 23 illustrate cleaning areas of a cleaning robot according to an embodiment according to the method illustrated in FIG. 20.
  • the cleaning robot 100 determines whether the cleaning robot 100 rotates along the convex edge of the obstacle O in operation 1510.
  • the cleaning robot 100 stores the driving record while driving, and the driving record includes driving information and position information of the cleaning robot 100 and outline information of the obstacle O.
  • the cleaning robot 100 may determine whether the cleaning robot 100 rotates along the convex edge of the obstacle O based on the outline information of the obstacle O in the driving record. In addition, the cleaning robot 100 may determine that the outline of the obstacle O is a convex edge when the cleaning robot 100 rotates in the direction in which the obstacle O is located.
  • the cleaning robot 100 travels the first point P1 and the second point P2, the cleaning robot 100 travels in a straight line. It is judged not to drive along the convex edge of (O).
  • the cleaning robot 100 travels the third point, since the cleaning robot 100 rotates in the direction in which the obstacle O is located, the cleaning robot 100 travels along the convex edge of the obstacle O. I judge it.
  • the cleaning robot 100 travels in a straight line. It is determined that the vehicle does not travel along the convex edge of the obstacle O.
  • the cleaning robot 100 rotates in the direction in which the obstacle O is located. The cleaning robot 100 determines that the vehicle runs along the convex edge of the obstacle O.
  • the cleaning robot 100 searches for the driving record recorded within the reference distance range (1520).
  • the doorway may be formed between one end of the inner wall and the other end or between one end of the inner wall and the wall surface of the other inner wall, and one end of the inner wall may include a convex edge.
  • the cleaning robot 100 determines whether the convex edge corresponds to one end of the inner wall forming the doorway as described below.
  • the cleaning robot 100 compares the position information of the cleaning robot 100 included in the driving record with the current position of the cleaning robot 100 to record the driving within a range of a reference distance from the current position of the cleaning robot 100. It can be determined whether this has been recorded.
  • the doorway may have a width of about 80 cm to about 110 cm. Therefore, if there is a driving record of the cleaning robot 100 traveling within the reference distance range from the current position of the cleaning robot 100, the cleaning robot 100 may be within a range of 80 cm to 110 cm from the convex edge of the obstacle O following. It may be determined that another obstacle O exists.
  • the reference distance range may be a distance range obtained by subtracting the width of the cleaning robot 100 from approximately 80cm to 110cm. For example, if the width of the cleaning robot 100 is 30cm, the reference distance range may be 50cm to 80cm.
  • the driving record recorded within the reference distance may be stored in the doorway candidate list to determine the doorway.
  • the cleaning robot 100 when the cleaning robot 100 is located at the third point P3 as shown in FIG. 21, the cleaning robot 100 is located at the first point P1 within a reference distance range. And store the second point P2 in the doorway candidate list.
  • the cleaning robot 100 when the cleaning robot 100 is located at the seventh point P7, as shown in FIG. 22, the cleaning robot 100 may include a fourth point P4 located within a reference distance range, The fifth point P5 and the sixth point P6 may be stored as a doorway candidate list.
  • the cleaning robot 100 determines whether the searched driving record is recorded on the side opposite to the obstacle O (1530).
  • the driving record stored immediately before the first point P1 and the second point P2 of FIG. 21 may be located within a reference distance range.
  • the traveling record stored across the obstacle O may be within a reference distance range.
  • the obstacles (O) forming the doorway is a different obstacle (O) respectively located on both sides of the cleaning robot 100
  • the driving record recorded within the reference distance range is running along the different obstacle (O)
  • the driving record recorded while driving is running along the same obstacle (O).
  • the driving record recorded while traveling along the same obstacle (O) is generally located at the rear of the cleaning robot 100 or in the same direction as the obstacle (O).
  • the position where the driving record is recorded is opposite to the obstacle O. Determine if it is located in.
  • the cleaning robot 100 Excludes the driving record located behind the cleaning robot 100 or recorded on the side such as the obstacle O from the doorway candidate list.
  • the first point P1 and the second point P2 may have a reference distance from the cleaning robot 100. It is located within the range, but since it is located on the same side as the obstacle O, the driving record of the first point P1 and the second point P2 is excluded from the door candidate list.
  • the fourth point P4, the fifth point P5, and the sixth point P6 may be the cleaning robot (
  • the driving record of the fourth point P4, the fifth point P5, and the sixth point P6 is not excluded from the door candidate list because it is located within the reference distance range from 100 and opposite the obstacle O.
  • the cleaning robot 100 determines whether the outline information of the driving record is a wall or a convex edge (1540).
  • the doorway may be formed between one end of the inner wall and the other end or between one end of the inner wall and the wall surface of the other inner wall, and one end of the inner wall may include a convex edge.
  • the cleaning robot 100 travels along the convex edge of the obstacle O in step 1510, the edge of the obstacle O that is opposite to the obstacle O currently being tracked by the cleaning robot 100 is convex. Or determine whether it is a wall. In other words, it is determined whether the cleaning robot 100 travels between the convex edge and the convex edge or between the wall and the convex edge.
  • the cleaning robot 100 determines whether the driving record is a driving record recorded while driving along the convex edge of the obstacle O or the wall surface of the obstacle O based on the outline information of the driving record stored in the doorway candidate list. You can judge. In addition, the driving record not recorded while driving along the wall or convex edge of the obstacle O is excluded from the doorway candidate list.
  • the driving of the fourth point P4, the fifth point P5, and the sixth point P6 is performed. All of the records were recorded while the cleaning robot 100 was traveling along the wall surface of the obstacle O. Therefore, the driving record of the fourth point P4, the fifth point P5, and the sixth point P6 is not excluded from the doorway candidate list.
  • the cleaning robot 1000 determines whether the driving record is recorded at a position perpendicular to the current driving direction of the cleaning robot 100 (1550). .
  • the doorway is located perpendicular to the driving direction of the cleaning robot 100 passing through the doorway.
  • the traveling direction of the cleaning robot 100 and the straight lines connecting both ends of the doorway are perpendicular to each other.
  • a pair of obstacles O forming the doorway in a direction perpendicular to the running direction of the cleaning robot 100 is located.
  • One of the pair of obstacles (O) forming the doorway is an obstacle that the cleaning robot 100 follows the outline, and the other obstacle (O) is opposite to the obstacle (O) that the cleaning robot 100 follows.
  • the cleaning robot 100 may determine the presence of the other one of the obstacles O forming the doorway through the driving record. In detail, the cleaning robot 100 may determine whether the driving record is recorded at a position perpendicular to the current driving direction of the cleaning robot 100.
  • the cleaning robot 100 may determine a position where the searched driving record is recorded (determined based on the position information) and the cleaning robot ( It may be determined that the doorway exists between the current positions of 100).
  • the fifth point P5 is located in a direction perpendicular to the running direction of the cleaning robot 100.
  • the fourth point P4 and the sixth point P6 are not. Accordingly, the driving record recorded at the fourth point P4 and the sixth point P6 is excluded from the entrance candidate record, and the cleaning robot 100 enters and exits between the seventh point P7 and the fifth point P5. It can be determined that is formed.
  • the cleaning robot 100 moves to the position where the detected traveling record is recorded (1560).
  • the cleaning robot 100 travels along the convex edge of the obstacle O, the convex edge or wall surface of another obstacle O exists within a reference distance from the convex edge of the obstacle O, and the cleaning robot 100 is If the vehicle runs vertically between the obstacle O and the obstacle O, the cleaning robot 100 may determine that the cleaning robot 100 passes through the entrance and exit of the cleaning space A.
  • the cleaning robot 100 travels at the seventh point P7, the cleaning robot 100 rotates along the convex edge of the obstacle O, and the cleaning robot 100 rotates.
  • the fifth point P5 is located within the reference distance range from the 100, and the fifth point P5 is located in a direction perpendicular to the traveling direction of the cleaning robot 100, so that the cleaning robot 100 is located at the seventh point ( It may be determined that the doorway is formed between P7) and the fifth point P5.
  • the cleaning robot 100 moves to a point forming the doorway together with the current position of the cleaning robot 100.
  • the cleaning robot 100 may move to the fifth point P5 that is determined to form the doorway.
  • the cleaning robot 100 stores the driving record of the cleaning robot 100 while moving to the fifth point P5.
  • the cleaning robot 100 determines whether 1 the cleaning robot 100 moves along the convex corner, 2 searches whether there is a driving record within a reference distance, and 3 retrieves the searched driving record. It is determined whether it is recorded while driving along the wall or convex edge, and 4 it is determined whether the searched driving record is located in a direction perpendicular to the current driving direction of the cleaning robot 100.
  • the determination order of each condition for the entrance determination may be different.
  • the cleaning robot 100 determines whether 1 the cleaning robot 100 moves along the convex edge, 2 searches whether there is a driving record within a reference distance, and 4 the searched driving record is determined by the cleaning robot 100. It may be determined whether the vehicle is located in a direction perpendicular to the current driving direction, and whether the searched driving record is recorded while driving along the wall or convex edge.
  • FIG. 24 is a view illustrating another example of a method of determining, by a cleaning robot, an entrance and exit of a cleaning area
  • FIGS. 25 to 27 illustrate cleaning of a cleaning robot according to one embodiment according to the method shown in FIG. 24.
  • An example of a process of determining an entrance and exit area is shown.
  • the entrance / exit determination method 1600 of the cleaning robot 100 is demonstrated.
  • the cleaning robot 100 determines whether the cleaning robot 100 linearly travels along the wall surface of the obstacle O in operation 1610.
  • the cleaning robot 100 stores the driving record while driving, and the driving record includes driving information and position information of the cleaning robot 100 and outline information of the obstacle O.
  • the cleaning robot 100 may determine whether the cleaning robot 100 travels along the wall surface of the obstacle O based on the outline information of the obstacle O in the driving record. In addition, the cleaning robot 100 may determine that the outline of the obstacle O is a wall surface when the cleaning robot 100 runs straight.
  • the cleaning robot 100 travels the first point P1
  • the cleaning robot 100 travels in a straight line, so the cleaning robot 100 follows the wall of the obstacle O. Judging by the driving.
  • the cleaning robot 100 travels the second point P2
  • the cleaning robot 100 since the cleaning robot 100 travels in rotation, the cleaning robot 100 determines that the cleaning robot 100 does not travel along the wall surface of the obstacle O.
  • the cleaning robot 100 since the cleaning robot 100 travels in a straight line when the cleaning robot 100 travels the third point P3, the cleaning robot 100 determines that the cleaning robot 100 travels along the wall surface of the obstacle O.
  • the cleaning robot 100 when the cleaning robot 100 travels the sixth point, the cleaning robot 100 travels in rotation so that the cleaning robot 100 does not travel along the wall surface of the obstacle O. To judge. In addition, when the cleaning robot 100 travels the fifth point P7, the sixth point P6, and the seventh point P7, the cleaning robot 100 travels in a straight line. It is judged to drive along the wall surface.
  • the cleaning robot 100 searches for the driving record recorded within the reference distance range (1620).
  • the doorway may be formed between one end of the inner wall and the other end or between one end of the inner wall and the wall surface of the other inner wall.
  • the cleaning robot 100 determines whether the corresponding wall surface corresponds to the wall surface of the inner wall forming the entrance as described below.
  • the cleaning robot 100 records the driving within the reference distance range from the current position of the cleaning robot 100 by comparing the position information of the cleaning robot 100 included in the driving record with the current position of the cleaning robot 100. It can be determined whether this has been recorded.
  • the doorway may have a width of about 80 cm to about 110 cm. Therefore, if there is a driving record of the cleaning robot 100 traveling within the reference distance range from the position of the cleaning robot 100 at present, the cleaning robot 100 may be different from the wall surface of the obstacle O following the cleaning robot 100 within a range of 80 cm to 110 cm. It may be determined that the obstacle O exists.
  • the reference distance range may be a distance range obtained by subtracting the width of the cleaning robot 100 from approximately 80cm to 110cm. For example, if the width of the cleaning robot 100 is 30cm, the reference distance range may be 50cm to 80cm.
  • the driving record recorded within the reference distance may be stored in the doorway candidate list to determine the doorway.
  • the cleaning robot 100 when the cleaning robot 100 is located at the third point P3 as shown in FIG. 25, the cleaning robot 100 is located at a first point P1 within a reference distance range. And store the second point P2 in the doorway candidate list.
  • the cleaning robot 100 when the cleaning robot 100 is located at the seventh point P7, as shown in FIG. 26, the cleaning robot 100 may include a fourth point P4 located within a reference distance range, The fifth point P5 and the sixth point P6 may be stored as a doorway candidate list.
  • the cleaning robot 100 determines whether the searched driving record is recorded from the side opposite to the obstacle O (1630).
  • the driving record stored immediately before the first point P1 and the second point P2 of FIG. 21 may be located within a reference distance range.
  • the traveling record stored across the obstacle O may be within a reference distance range.
  • the obstacles (O) forming the doorway is a different obstacle (O) respectively located on both sides of the cleaning robot 100
  • the driving record recorded within the reference distance range is running along the different obstacle (O)
  • the driving record recorded while driving is running along the same obstacle (O).
  • the driving record recorded while traveling along the same obstacle (O) is generally located at the rear of the cleaning robot 100 or in the same direction as the obstacle (O).
  • the position where the driving record is recorded is opposite to the obstacle O. Determine if it is located in.
  • the cleaning robot 100 Excludes the driving record located behind the cleaning robot 100 or recorded on the side such as the obstacle O from the doorway candidate list.
  • the first point P1 and the second point P2 may have a reference distance from the cleaning robot 100. Although located within the range, the driving record of the first point P1 and the second point P2 is excluded from the doorway candidate list because it is located behind the cleaning robot 100 or on the same side as the obstacle O.
  • the fourth point P4 when the cleaning robot 100 travels at the seventh point P7, the fourth point P4 is located within a reference distance range from the cleaning robot 100, and the obstacle O Since it is located on the opposite side, the driving record of the fourth point P4 is not excluded from the doorway candidate list.
  • the fifth point P5 and the sixth point P6 are located within the reference distance range from the cleaning robot 100, the fifth point P5 and the sixth point P6 are located at the rear of the cleaning robot 100.
  • the driving record of P6) is excluded from the exit candidate list.
  • the cleaning robot 100 determines whether the outline information of the driving record is a convex edge (1640).
  • the doorway may be formed between one end of the inner wall and the other end or between one end of the inner wall and the wall surface of the other inner wall, and one end of the inner wall may include a convex edge.
  • the cleaning robot 100 since the cleaning robot 100 travels along the wall surface of the obstacle O in step 1510, whether the outline of the obstacle O that is opposite to the currently obstructed obstacle O of the cleaning robot 100 is a convex edge. Judge. In other words, it is determined whether the cleaning robot 100 travels between the wall surface and the convex edge.
  • the cleaning robot 100 may determine whether the driving record is a driving record recorded while driving along the convex edge of the obstacle O based on the outline information of the driving record stored in the doorway candidate list. In addition, the driving record not recorded while driving along the convex edge of the obstacle O is excluded from the doorway candidate list.
  • the driving record of the fourth point P4 may indicate that the cleaning robot 100 is convex of the obstacle O. FIG. It was recorded while driving along the edge. Therefore, the driving record of the fourth point P4 is not excluded from the doorway candidate list.
  • the cleaning robot 1000 determines whether the driving record is recorded at a position perpendicular to the current driving direction of the cleaning robot 100 (1650).
  • the doorway is located perpendicular to the driving direction of the cleaning robot 100 passing through the doorway.
  • the traveling direction of the cleaning robot 100 and the straight lines connecting both ends of the doorway are perpendicular to each other.
  • a pair of obstacles O forming the doorway in a direction perpendicular to the running direction of the cleaning robot 100 is located.
  • One of the pair of obstacles (O) forming the doorway is an obstacle that the cleaning robot 100 follows the outline, and the other obstacle (O) is opposite to the obstacle (O) that the cleaning robot 100 follows.
  • the cleaning robot 100 may determine the presence of the other one of the obstacles O forming the doorway through the driving record. In detail, the cleaning robot 100 may determine whether the driving record is recorded at a position perpendicular to the current driving direction of the cleaning robot 100.
  • the cleaning robot 100 may determine a position where the searched driving record is recorded (determined based on the position information) and the cleaning robot ( It may be determined that the doorway exists between the current positions of 100).
  • the cleaning robot 100 when the cleaning robot 100 is located at the seventh point P7, the fourth point P4 is located in a direction perpendicular to the running direction of the cleaning robot 100. . Therefore, the cleaning robot 100 may determine that an entrance is formed between the seventh point P7 and the fourth point P4.
  • the cleaning robot 100 moves to the position where the detected traveling record is recorded (1660).
  • the cleaning robot 100 travels along the wall of the obstacle O, a convex edge of another obstacle O exists within a reference distance range from the wall of the obstacle O, and the cleaning robot 100 is the obstacle O. If the vehicle is running vertically between the obstacle O and the cleaning robot 100 may be determined to pass through the entrance and exit of the cleaning space (A).
  • the cleaning robot 100 when the cleaning robot 100 is traveling at the seventh point P7, the cleaning robot 100 is currently rotating along the convex edge of the obstacle O, and is cleaned. Since the fourth point P4 is located within a reference distance range from the robot 100, and the fourth point P4 is located in a direction perpendicular to the running direction of the cleaning robot 100, the cleaning robot 100 is located at a seventh point. It may be determined that the doorway is formed between P7 and the fourth point P4.
  • the cleaning robot 100 moves to a point forming the doorway together with the current position of the cleaning robot 100.
  • the cleaning robot 100 may move to the fourth point P4 determined to form an entrance.
  • the cleaning robot 100 stores the driving record of the cleaning robot 100 while moving to the fourth point P4.
  • the cleaning robot 100 determines whether the cleaning robot 100 moves along the wall surface, searches whether there is a driving record within a reference distance, and It is determined whether the driving record is recorded along the convex edge, and whether the searched driving record is located in a direction perpendicular to the current driving direction of the cleaning robot 100.
  • the determination order of each condition for the entrance determination may be different.
  • the cleaning robot 100 determines whether the cleaning robot 100 moves along the wall surface, and searches for whether there is a driving record within a reference distance, and the searched driving record is the current of the cleaning robot 100. It may be determined whether it is located in a direction perpendicular to the driving direction, and 3 it may be determined whether the searched driving record is recorded while driving along the convex edge.
  • the cleaning robot 100 determines the position of the doorway based on the current driving information and the past stored driving record. Specifically, the cleaning robot 100 determines in real time whether the cleaning robot 100 passes through the current entrance or exit based on the current driving information and the past stored driving record.
  • FIG. 28 illustrates a method of setting a cleaning area by a cleaning robot according to an embodiment
  • FIGS. 29 to 32 illustrate a process of setting a cleaning area by a cleaning robot according to the method shown in FIG. 28. An example is shown.
  • the cleaning robot 100 determines whether the current position is the same as the previously traveled position (1710).
  • the cleaning robot 100 may determine whether the current position is the same as the previously traveled position based on the position information included in the driving record.
  • the cleaning robot 100 may determine the entrance and exit, and may travel from one end of the determined entrance to the other end. As a result, as shown in FIG. 29, the traveling route on which the cleaning robot 100 has traveled forms a closed curve CL.
  • the cleaning robot 100 linearly models the closed curve CL based on the driving record (1720). .
  • the points indicated by the position information of the plurality of travel records are connected to each other in the travel order.
  • the cleaning robot 100 connects the respective points so that the traveling path formed by connecting the respective points becomes flat.
  • the cleaning robot 100 may connect each point so that the angle between the line segments connecting the respective points is equal to or greater than a predetermined angle.
  • a plurality of driving records are recorded at a first point P1, a second point P2, a third point P3, a fourth point P4, and a fifth point P5.
  • the cleaning robot 100 connects the first point P1 to the fifth point P5 in order to generate a driving path of the cleaning robot 100.
  • the cleaning robot 100 connects the first point P1 and the second point P2.
  • the cleaning robot 100 has an angle ⁇ 3 between a line segment connecting the second point P2 and the third point P3 and a line segment connecting the first point P1 and the second point P2. It is determined whether or not the predetermined reference angle or more. As shown in FIG. 30A, when the corresponding angle ⁇ 3 is greater than or equal to the reference angle, the cleaning robot 100 connects the second point P2 and the third point P3.
  • the cleaning robot 100 has an angle ⁇ 4 between a line segment connecting the third point P3 and the fourth point P4 and a line segment connecting the second point P2 and the third point P3. Determine whether the reference angle or more. As shown in FIG. 30B, when the corresponding angle ⁇ 4 is smaller than the reference angle, the cleaning robot 100 does not connect the third point P3 with the fourth point P4.
  • the cleaning robot 100 has an angle ⁇ 5 between a line segment connecting the third point P3 and the fifth point P5 and a line segment connecting the second point P2 and the third point P3. Determine whether the reference angle or more. As shown in FIG. 30C, when the angle ⁇ 5 is greater than or equal to the reference angle, the cleaning robot 100 connects the third point P3 and the fifth point P5.
  • the cleaning robot 100 may connect the points indicated by the respective driving records to generate a driving route on which the cleaning robot 100 travels.
  • the cleaning robot 100 connects a straight line between the first point where the linear driving is first performed and the second point where the linear driving is last performed, and the third point between the first point and the second point is a straight line. If the deviation from the error exceeds the error range, the first point and the third point may be connected in a straight line, and the third point and the second point may be connected in a straight line.
  • each of the points may be connected as it is to generate a driving route driven by the sweeping robot 100.
  • the cleaning robot 100 simplifies the closed curve CL (1730).
  • the cleaning robot 100 may simplify some areas when some areas of the straight line modeled closed curve CL deviate from the other areas by more than a reference value.
  • the first path L1, the second path L2, and the third path L3 included in the closed curve CL may be more complicated than other paths. It became.
  • the cleaning robot 100 may simplify the first path L1, the second path L2, and the third path L3, which are complicatedly generated.
  • the cleaning robot 100 may store the intersections of the lines forming the closed curve CL as singularities and finally store the position information of the convex and concave edges using the vector component of each line. .
  • the cleaning robot 100 rotates the closed curve CL in operation 1740.
  • the cleaning robot 100 stores the driving record with the initial driving position as the origin, and sets the cleaning area based on the stored position information of the driving record.
  • the cleaning robot 100 when the vehicle starts traveling obliquely from one side of the living room R1 (see FIG. 1), the first corresponding to the first room R1 (see FIG. 1) of the cleaning robot 100 is performed.
  • the cleaning area A1 is set as shown in Fig. 32A.
  • the cleaning robot 100 generates a closed curve CL having a rhombus shape corresponding to the rectangular first room R1 (see FIG. 1) according to the direction of the xy coordinate system generated at the start of driving.
  • the cleaning robot 100 rotates the closed curve CL to further simplify the closed curve CL of the rhombus shape.
  • the cleaning robot 100 obtains an angle between the lines forming the closed curve CL and the x-axis shown in (a) of FIG. 32. At this time, the cleaning robot 100 may divide the xy coordinate system generated at the start of driving into a plurality of angle regions r1 to r12 according to the angle as shown in FIG. 32 (a).
  • the cleaning robot 100 includes the first line l1 and the third line l3 of the closed curve CL belonging to the fourth angle region r4 and the second line.
  • the line l2 and the fourth line l4 may be determined to belong to the tenth angular region r10.
  • the cleaning robot 100 calculates the sum of the lengths of the lines belonging to the same angle region for each angle region.
  • the cleaning robot 100 selects the angular region having the largest sum of the lengths of the lines belonging to the same angular region as the main angular region.
  • the cleaning robot 100 After selecting the main angular region, the cleaning robot 100 calculates the sum of the lengths of the lines belonging to the angular region perpendicular to the main angular region, and determines whether the sum is greater than or equal to a predetermined reference value.
  • the scavenging robot 100 determines that the scavenging robot 100 has the second largest sum of the lengths of the lines belonging to the same angular region. Can be reselected as the main angle.
  • the cleaning robot 100 again calculates the sum of the lengths of the lines belonging to the angular area perpendicular to the main angular area, and determines whether the sum is greater than or equal to a predetermined reference value.
  • the angular region perpendicular to the angular region is taken into consideration so that an excessively narrow cleaning region is not formed.
  • the sum of the lengths of the first line l1 and the third line l3 belonging to the fourth angle region r4 is the largest.
  • the sum of the second line l2 and the fourth line l4 belonging to the tenth angle area r10 perpendicular to the fourth angle area r4 is equal to or greater than the reference value.
  • the cleaning robot 100 may select the fourth angle region r4 as the main angle region.
  • the cleaning robot 100 rotates the closed curve CL by the center angle of the main angle region.
  • the cleaning robot 100 may rotate and convert the closed curve CL illustrated in FIG. 32A by the center angle (52.5 degrees) of the fourth angle region r4 that is the main angle region.
  • the first cleaning area A1 is converted into a rectangular shape as shown in Fig. 32B.
  • the cleaning robot 100 calculates the maximum value and the minimum value in the x-axis direction, the maximum value and the minimum value in the y-axis direction of the cleaning area that has been rotated. In addition, the cleaning robot 100 sets a rectangular final cleaning area based on the maximum value and minimum value of the x-axis direction and the maximum value and minimum value of the y-axis direction.
  • the cleaning robot 100 may set the closed curve shown in FIG. 32B as the first cleaning area A1.
  • the cleaning robot 100 simplifies the closed curve CL generated by the running of the cleaning robot 100 in order to set the simplified cleaning area, and then the cleaning robot 100 performs the simplified closed curve CL. ) Is set to the cleaning area A1.
  • the cleaning robot 100 cleans the inside of the set cleaning area A1.
  • FIG. 33 illustrates a method of cleaning the cleaning area by the cleaning robot according to an embodiment
  • FIGS. 34 to 36 illustrate a process of cleaning the cleaning area by the cleaning robot according to the method shown in FIG. 33. An example is shown.
  • the cleaning robot 100 cleans while driving inside the cleaning area A1 (1310).
  • the cleaning robot 100 may clean the inside of the cleaning area A1 in various ways.
  • the cleaning robot 100 may clean the cleaning area A1 while performing zigzag driving as shown in FIG. 34.
  • the cleaning robot 100 may perform zigzag driving using the x axis of the cleaning area A1 as the main axis.
  • the cleaning robot 100 travels in the x-axis direction (or -x-axis direction) at one concave edge included in the cleaning area A1, and encounters the obstacle O in the y-axis direction (or- in the y-axis direction) to move along the outline of the obstacle (O). Thereafter, the cleaning robot 100 may travel in the -x axis direction (or the x axis direction), and move along the outline of the obstacle O in the y axis direction (or the -y axis direction) when it encounters the obstacle O. have.
  • the cleaning robot 100 may clean the cleaning area A1 while traveling in any direction as shown in FIG. 35.
  • the cleaning robot 100 may travel in an arbitrary direction at an arbitrary position inside the cleaning area A1, and may travel after being rotated by an arbitrary angle in an arbitrary direction when facing the obstacle O.
  • the cleaning robot 100 determines whether the cleaning of the cleaning area is completed (1320).
  • the cleaning robot 100 when the cleaning robot 100 zigzags the cleaning area A1 as shown in FIG. 34, when the cleaning robot 100 travels all areas inside the cleaning area A1, the cleaning area A1 may be used. ), It can be determined that the cleaning for the
  • the cleaning robot 100 determines that the cleaning of the cleaning area A1 is completed when a predetermined cleaning time elapses. can do.
  • the cleaning robot 100 If it is determined that the cleaning of the cleaning area is not completed (NO in 1320), the cleaning robot 100 continues the cleaning of the cleaning area. In addition, when it is determined that the cleaning of the cleaning area is completed (YES in 1320), the cleaning robot 100 stores the cleaning completion area (1330).
  • the cleaning robot 100 may separately store the cleaning area A1 of which cleaning is completed in the cleaning space A.
  • the cleaning robot 100 cleans the cleaning area A1
  • the cleaning robot 100 moves to the position where the entrance of the first room R1 is detected as shown in FIG. 36. You can move to point P7.
  • the cleaning robot 100 moved to the seventh point P7 may again perform an outline following driving that travels along the outline of the obstacle O.
  • the cleaning robot 100 may clean the cleaning area A1 immediately after setting the cleaning area A1, and continue to run the cleaning space A.
  • FIG. 37 illustrates a method of cleaning the uncleaned area by the cleaning robot according to an embodiment
  • FIGS. 38 and 39 illustrate a method of cleaning the uncleaned area by the cleaning robot according to the method shown in FIG. 37. An example of the process is shown.
  • the cleaning robot 100 determines whether the current position is a position at which the outline tracking operation is started (1410).
  • the cleaning robot 100 may determine whether the current position is the same as the position at which the outline following driving starts based on the position information included in the driving record.
  • the cleaning robot 100 may determine that all areas included in the cleaning space A have traveled.
  • the cleaning robot 100 may determine that the cleaning robot 100 travels along all the outlines of the cleaning space A.
  • the cleaning robot 100 determines an uncleaned area (1420).
  • the cleaning robot 100 sets the cleaning areas A1 and A2 in real time while driving the cleaning space A, and first cleans the set cleaning areas A1 and A2.
  • the cleaning robot 100 determines the entrance and exit, generates a closed curve CL connecting the entrance and the outside of the obstacle O forming the cleaning areas A1 and A2, and generates the generated closed curve CN.
  • the cleaning areas A1 and A2 are set as a basis.
  • the cleaning robot 100 first cleans the cleaning areas A1 and A2 before the other area runs, and stores the cleaning areas A1 and A2 where the cleaning is completed.
  • the cleaning area is not set in the area
  • the cleaning robot 100 may determine that the cleaning robot 100 is an uncleaned area except for the area in which the cleaning is completed.
  • the cleaning robot 100 when the cleaning robot 100 starts the outline following driving in the living room R3, the cleaning robot 100 runs along the outline of the obstacle O while in the first room.
  • the first cleaning area A1 and the second cleaning area A2 are set for the R1 and the second room R2, and the first cleaning area A1 and the second cleaning area A2 are cleaned.
  • the cleaning robot 100 may reach a position at which the first outline following driving starts.
  • the cleaning robot 100 includes a first cleaning area A1, a second cleaning area A3, and a closed curve CL corresponding to the outline of the living room R3.
  • the map of the cleaning space A is stored.
  • the cleaning robot 100 may determine the inside of the closed curve CL as an area in which cleaning is not completed.
  • the cleaning robot 100 After determining the uncleaned area, the cleaning robot 100 sets a cleaning area corresponding to the uncleaned area (1430).
  • the cleaning robot 100 linearly models, simplifies, and rotates the closed curve CL corresponding to the uncleaned area as described above.
  • the cleaning robot 100 After setting the cleaning area, the cleaning robot 100 cleans the inside of the set cleaning area (1430).
  • the cleaning robot 100 may clean the inside of the cleaning area A3 in various ways.
  • the cleaning robot 100 may clean the cleaning area A3 while performing zigzag driving as shown in FIG. 39.
  • the cleaning robot 100 determines whether the cleaning robot 100 has completed the cleaning of the cleaning area (1450).
  • the cleaning robot 100 when the cleaning robot 100 zigzags the cleaning area A3, when the cleaning robot 100 travels all areas inside the cleaning area A3, the cleaning area A3 may be used. ), It can be determined that the cleaning for the
  • the cleaning robot 100 continues the cleaning of the cleaning area.
  • the cleaning robot 100 returns to the charging station (1460).
  • the cleaning robot 100 may determine that all areas inside the cleaning space A have been cleaned.
  • the cleaning robot 100 may return to the charging station for charging the battery.
  • the cleaning robot 100 sets the non-cleaned area as the cleaning area after driving all the cleaning spaces A, and returns to the charging station after cleaning all the cleaning areas.
  • the cleaning robot 100 travels along the outline of the cleaning space A using the obstacle detecting unit 140, and when an entrance is found while driving, the cleaning robot 100 sets the cleaning area based on the driving record, and sets the cleaning area.
  • the cleaning method was described.
  • the cleaning robot 100 is not limited to using the obstacle detecting unit 140 to find an entrance and set a cleaning area while driving.
  • FIGS. 41 and 42 illustrate examples of repeatedly cleaning the same path by the cleaning robot according to an embodiment.
  • the cleaning robot 100 determines whether the cleaning robot 100 repeatedly runs the same path while driving (3010).
  • the cleaning robot 100 may repeatedly travel the same path for various reasons. For example, when the cleaning robot 100 detects the obstacle O1 located in the middle of the cleaning space A, the cleaning robot 100 may repeatedly travel along the outer edge of the obstacle O1.
  • the cleaning space A formed by the outer wall OW may be divided into the first room R1 and the second room R2 by the inner wall IW.
  • the cleaning robot 100 may discover the first doorway E1 according to the cleaning operation 1000 (see FIG. 11) shown in FIG. 11, and may first clean the first room R1.
  • the cleaning robot 100 may discover the second obstacle O2 that is movable while moving along the outer wall OW, and may move along the outline of the second obstacle O2.
  • the first obstacle O1 that is fixed while moving along the outline of the second obstacle O2 may be found and moved along the outline of the first obstacle O1.
  • the cleaning robot 100 may remove the outline of the first obstacle O1. Drive along. In other words, the cleaning robot 100 does not escape from the first obstacle O1.
  • the cleaning robot 100 may consume all the energy stored in the power supply unit (not shown). Until the vehicle only travels along the outline of the obstacle O1, the cleaning space A may not be cleaned.
  • the cleaning robot 100 determines whether the cleaning robot 100 repeatedly runs the same path.
  • the cleaning robot 100 obtains the current position information of the cleaning robot 100 through the motion detector 130, and the cleaning robot 100 repeats the same path based on the currently acquired position information and the position information of the driving record. You can determine if you are driving.
  • the cleaning robot 100 stores the driving record of the cleaning robot 100 while driving.
  • the cleaning robot 100 includes position information indicating the position of the cleaning robot 100 at each predetermined time interval, driving information indicating the traveling speed of the cleaning robot 100, the driving direction, and the like, followed by the cleaning robot 100.
  • the outline information indicating the characteristic of the outline of the obstacle O can be stored.
  • the cleaning robot 100 may compare the currently acquired position information with the position information of the driving record, and determine whether the cleaning robot 100 repeatedly runs the same path based on the comparison result. For example, the cleaning robot 100 searches the driving record based on the currently acquired location information, and if the same location information as the currently acquired location information is found, the cleaning robot 100 determines that the same route is repeatedly traveled. If the same location information as the currently acquired location information is not found, the cleaning robot 100 may determine that the same path is not repeatedly driven.
  • the cleaning robot 100 continues to travel.
  • the cleaning robot 100 moves to a predetermined reference position (3020).
  • the cleaning robot 100 may move to a position before the cleaning robot 100 repeatedly travels the same path. For example, as shown in FIG. 42, when the cleaning robot 100 repeatedly runs the same path after cleaning the first room R1, the cleaning robot 100 may perform the first operation of the first room R1. It can move to one end P1 of the entrance E1.
  • the reference position to which the cleaning robot 100 will move may vary as the cleaning robot 100 travels.
  • the reference position before the cleaning robot 100 cleans the first room R1 and the reference position after the cleaning robot 100 cleans the first room R1 may be different.
  • the cleaning robot 100 After moving to the reference position, the cleaning robot 100 again runs from the reference position (3030).
  • the cleaning robot 100 may travel along an outline of an obstacle or a wall from a reference position.
  • the cleaning robot 100 may delete the driving record during the repeated driving. For example, as shown in FIG. 42, when the cleaning robot 100 repeatedly runs along the outline of the first obstacle O1, the cleaning robot 100 is driving along the outline of the first obstacle O1. You can delete the saved driving record.
  • the cleaning robot 100 may determine whether the same route is repeatedly traveled, and if the cleaning robot 100 is determined to be repeatedly traveling, the cleaning robot 100 may move to a predetermined reference position. In this way, by moving to the predetermined reference position, the cleaning robot 100 can escape from repeatedly traveling the same path.
  • FIG. 43 illustrates an example of a method in which the cleaning robot deviates from repeated driving
  • FIG. 44 illustrates an example in which the cleaning robot travels according to the method illustrated in FIG. 43.
  • the cleaning robot 100 determines whether the current position of the cleaning robot 100 is the same as the position previously driven by the cleaning robot 100 (3110).
  • the cleaning robot 100 obtains the current position information of the cleaning robot 100 through the motion detector 130 and searches the driving record based on the currently obtained position information. If the same location information as the currently acquired position information is found in the driving record, the cleaning robot 100 may determine that the current position information and the position information of the driving record are the same.
  • the cleaning robot 100 continues the current driving.
  • the cleaning robot 100 determines the absolute value of the difference between the current driving angle (direction) and the previous driving angle (direction) in advance. It is determined whether the angle is greater than 3120.
  • the cleaning robot 100 does not necessarily travel the same path repeatedly. For example, when the cleaning robot 100 crosses a path that has already traveled, the cleaning robot 100 travels the same position again, but the cleaning robot 100 does not repeatedly travel the same path.
  • the cleaning robot 100 calculates a difference between the current driving angle (indicative of the driving direction) and the previous traveling angle (indicative of the driving direction), The absolute value of the calculated difference is compared with a predetermined angle.
  • the predetermined angle may be determined as 360 degrees, 720 degrees, 1080 degrees, or the like.
  • the control unit 110 of the cleaning robot 100 receives the cumulative running angle from the motion detector 130.
  • the cleaning robot 100 may store the instantaneous travel angle and the accumulated travel angle while traveling through the motion detector 130.
  • the controller 110 may obtain a current cumulative driving angle from the motion detector 130.
  • the controller 110 of the cleaning robot 100 may obtain the cumulative driving angle of the previous driving from the driving record stored in the memory 115. In other words, the controller 110 may acquire the accumulated driving angle of the cleaning robot 100 when the cleaning robot 100 travels the same position as the current position.
  • the controller 110 calculates a difference between the cumulative travel angle of the current travel and the cumulative travel angle of the previous travel. If the cleaning robot 100 repeatedly runs the same path, the difference between the current cumulative running angle and the previous cumulative running angle may be ⁇ 360 degrees, ⁇ 720 degrees, ⁇ 1080 degrees, or the like.
  • the cleaning robot 100 travels once along the outline of the isolated obstacle O1 and moves. You can move to the same location as.
  • the rotational displacement of the cleaning robot 100 is the same as that of the cleaning robot 100 rotated once in place.
  • the cumulative driving angle of the cleaning robot 100 increases or decreases 360 degrees. Therefore, when the cleaning robot 100 runs once along the outline of the obstacle O1, the difference in the cumulative running angle between before and after the driving becomes ⁇ 360 degrees.
  • the cleaning robot 100 travels twice along the outline of the obstacle O1, the difference in the cumulative traveling angle between before and after the driving becomes ⁇ 720 degrees, and the cleaning robot 100 moves the outline of the obstacle O1. Therefore, when traveling three times, the difference of the accumulated running angle between before and after running becomes +1080 degree.
  • the cleaning robot 100 may mark the outline of the obstacle O1 in which the cleaning robot 100 is isolated. Therefore, it can be judged that it has rotated more than once. Also, if the absolute value of the difference between the current travel angle (direction) and the previous travel angle (direction) is 720 degrees or more, the cleaning robot 100 may mark the outline of the obstacle O1 in which the cleaning robot 100 is isolated. Therefore, it can be judged that it has rotated two or more times.
  • the cleaning robot 100 may mark the outline of the obstacle O1 in which the cleaning robot 100 is isolated. Therefore, it can be judged that it has rotated three times or more.
  • the cleaning robot 100 may determine whether the cleaning robot 100 has rotated one or more times along the outline of the isolated obstacle O1, and if the predetermined angle is set to 720 degrees, the cleaning robot 100 may determine whether the cleaning robot 100 has rotated twice along the outline of the isolated obstacle O1. In addition, if the predetermined angle is set to 1080 degrees, the cleaning robot 100 may determine whether the cleaning robot 100 has rotated three or more times along the outline of the isolated obstacle O1.
  • the cleaning robot 100 may be a cleaning robot ( It may be determined that 100 has repeatedly traveled the same route.
  • the sweeping robot 100 calculates a difference between the current travel distance and the previous travel distance, and calculates the difference and the predetermined distance. Can be compared.
  • the controller 110 of the cleaning robot 100 may receive a driving distance from the motion detector 130 and obtain a previous driving distance from the driving record stored in the memory 115. Thereafter, the controller 110 calculates a difference between the current travel distance and the previous travel distance. If the calculated difference is less than or equal to the predetermined distance, the controller 110 determines that the cleaning robot 100 has repeatedly traveled the same path, and calculated If the difference is greater than the predetermined distance, it may be determined that the cleaning robot 100 does not repeatedly travel the same path.
  • the cleaning robot 100 continues the current travel.
  • the cleaning robot 100 may enter and exit the most recently cleaned cleaning area. Move toward 3130.
  • the cleaning robot 100 when the cleaning robot 100 passes through the same position again, and the absolute value of the difference between the current traveling angle (direction) and the previous traveling angle (direction) is equal to or greater than the predetermined angle, the cleaning robot 100 May be determined to have repeatedly traveled the same route.
  • the cleaning robot 100 moves to a predetermined reference position.
  • the reference position may be an entrance and exit of the cleaning area that was most recently cleaned.
  • the cleaning robot 100 finds the doorway, the cleaning robot 100 sets the cleaning area based on the doorway, and performs cleaning on the set cleaning area. Therefore, the entrance and exit of the cleaning area
  • the cleaning robot 100 may move to one end of the entrance and exit of the cleaning area, which is the starting point of the driving, before the repeated driving.
  • the cleaning robot 100 when the cleaning robot 100 repeatedly runs after cleaning the first room R1, as shown in FIG. 44, the cleaning robot 100 may be configured as a doorway of the first room R1. 1 can move toward one end P1 of the entrance E1.
  • the cleaning robot 100 may delete all the driving records of the driving due to the repeated driving. Specifically, the cleaning robot 100 may delete all the driving records from the first room R1 until the cleaning device 100 reaches the end P1 of the first entrance E1 after the cleaning of the first room R1 is completed.
  • the cleaning robot 100 determines whether the cleaning robot 100 repeatedly travels the same path based on the location information and the driving direction information, and if it is determined that the cleaning robot 100 repeatedly travels the same path, the cleaning robot that has been cleaned most recently Move to the doorway of the area. As a result, the cleaning robot 100 may escape from repeated travel.
  • FIG. 45 illustrates another example of a method in which the cleaning robot deviates from repetitive running
  • FIGS. 46 and 47 illustrate an example in which the cleaning robot travels in accordance with the method illustrated in FIG. 45.
  • the cleaning robot 100 determines whether the current position of the cleaning robot 100 is the same as the position previously driven by the cleaning robot 100 (3210).
  • the cleaning robot 100 obtains the current position information of the cleaning robot 100 through the motion detector 130 and searches the driving record based on the currently obtained position information. If the same location information as the currently acquired position information is found in the driving record, the cleaning robot 100 may determine that the current position and the previous position are the same.
  • the cleaning robot 100 continues the current driving.
  • the cleaning robot 100 determines the absolute value of the difference between the current driving angle (direction) and the previous driving angle (direction) in advance. It is determined whether the angle is greater than 3320.
  • the predetermined angle may be determined as 360 degrees, 720 degrees, 1080 degrees, or the like.
  • the control unit 110 of the cleaning robot 100 receives the cumulative running angle from the motion detector 130.
  • the cleaning robot 100 may store the instantaneous travel angle and the accumulated travel angle while traveling through the motion detector 130.
  • the controller 110 may obtain a current cumulative driving angle from the motion detector 130.
  • the controller 110 of the cleaning robot 100 may obtain the cumulative driving angle of the previous driving from the driving record stored in the memory 115. In other words, the controller 110 may acquire the accumulated driving angle of the cleaning robot 100 when the cleaning robot 100 travels the same position as the current position.
  • the controller 110 calculates a difference between the cumulative travel angle of the current travel and the cumulative travel angle of the previous travel. If the cleaning robot 100 repeatedly runs the same path, the difference between the current cumulative running angle and the previous cumulative running angle may be ⁇ 360 degrees, ⁇ 720 degrees, ⁇ 1080 degrees, or the like.
  • the cleaning robot 100 follows the outline of the obstacle O1 in which the cleaning robot 100 is isolated. It can be judged that it has rotated more than once. Also, if the absolute value of the difference between the current travel angle (direction) and the previous travel angle (direction) is 720 degrees or more, the cleaning robot 100 may mark the outline of the obstacle O1 in which the cleaning robot 100 is isolated. Therefore, it can be judged that it has rotated two or more times.
  • the cleaning robot 100 may mark the outline of the obstacle O1 in which the cleaning robot 100 is isolated. Therefore, it can be judged that it has rotated three times or more.
  • the cleaning robot 100 may be a cleaning robot ( It may be determined that 100 has repeatedly traveled the same route.
  • the cleaning robot 100 continues the current travel.
  • the cleaning robot 100 checks whether there is a cleaning area where cleaning has been performed. Determination (3230).
  • the cleaning robot 100 may determine whether there is a cleaning area in which cleaning is completed, based on driving records and cleaning records of the cleaning robot 100. As described above, the cleaning robot 100 may assign an identification code to the set cleaning area when the cleaning area is set, and store the identification code of the cleaning area as a cleaning record when the cleaning area is completed. Therefore, the cleaning robot 100 may acquire the presence of the cleaning area where the cleaning is completed, the location of the cleaning area where the cleaning is completed, the location of the entrance and exit of the cleaning area where the cleaning is completed, and the like based on the cleaning record.
  • the cleaning robot 100 moves toward the entrance and exit of the most recently cleaned cleaning area (3240).
  • the cleaning robot 100 moves to a predetermined reference position.
  • the reference position may be an entrance and exit of the cleaning area that was most recently cleaned.
  • the cleaning robot 100 can move to one end of the entrance and exit of the cleaning area that was most recently cleaned.
  • the cleaning robot 100 may delete all the driving records of the driving due to the repeated driving and restart the driving.
  • the cleaning robot 100 moves in a predetermined direction (3250).
  • the reference position to which the cleaning robot 100 is to move may be a starting point at which driving starts. However, when starting to travel again from the starting point where the driving started, the cleaning robot 100 may repeatedly travel the same path again.
  • the cleaning robot 100 when the obstacle O first detected after the cleaning robot 100 starts driving is an isolated obstacle O1, the cleaning robot 100 performs cleaning. Zone does not exist. At this time, when the cleaning robot 100 starts driving again from the starting point, the cleaning robot 100 repeatedly travels the same path along the outline of the isolated obstacle O1.
  • the cleaning robot 100 may move in a predetermined direction.
  • the cleaning robot 100 may immediately travel after being rotated 45 degrees in the opposite direction of the obstacle O1 as illustrated in FIG. 47. In addition, when it is determined that the same route is repeatedly traveled, the cleaning robot 100 may delete all previous driving records.
  • the cleaning robot 100 when the cleaning robot 100 repeatedly travels the same path and there is no cleaning area previously cleaned, the cleaning robot 100 may immediately move in a predetermined direction. As a result, the cleaning robot 100 may escape from repeated travel.
  • FIG. 48 is a view illustrating another example of a method in which the cleaning robot deviates from repeated driving, and FIGS. 49 to 52 illustrate an example in which the cleaning robot travels according to the method illustrated in FIG. 48.
  • the cleaning robot 100 determines whether the current position of the cleaning robot 100 is the same as the position previously driven by the cleaning robot 100 (3310).
  • the cleaning robot 100 obtains the current position information of the cleaning robot 100 through the motion detector 130 and searches the driving record based on the currently obtained position information. If the same location information as the currently acquired position information is found in the driving record, the cleaning robot 100 may determine that the current position and the previous position are the same.
  • the cleaning robot 100 continues the current driving.
  • the cleaning robot 100 determines the absolute value of the difference between the current driving angle (direction) and the previous driving angle (direction) in advance. It is determined whether the angle is greater than 3320.
  • the predetermined angle may be determined as 360 degrees, 720 degrees, 1080 degrees, or the like.
  • the control unit 110 of the cleaning robot 100 receives the cumulative running angle from the motion detector 130.
  • the cleaning robot 100 may store the instantaneous travel angle and the accumulated travel angle while traveling through the motion detector 130.
  • the controller 110 may obtain a current cumulative driving angle from the motion detector 130.
  • the controller 110 of the cleaning robot 100 may obtain the cumulative driving angle of the previous driving from the driving record stored in the memory 115. In other words, the controller 110 may acquire the accumulated driving angle of the cleaning robot 100 when the cleaning robot 100 travels the same position as the current position.
  • the controller 110 calculates a difference between the cumulative travel angle of the current travel and the cumulative travel angle of the previous travel. If the cleaning robot 100 repeatedly runs the same path, the difference between the current cumulative running angle and the previous cumulative running angle may be ⁇ 360 degrees, ⁇ 720 degrees, ⁇ 1080 degrees, or the like.
  • the cleaning robot 100 follows the outline of the obstacle O1 in which the cleaning robot 100 is isolated. It can be judged that it has rotated more than once. Also, if the absolute value of the difference between the current travel angle (direction) and the previous travel angle (direction) is 720 degrees or more, the cleaning robot 100 may mark the outline of the obstacle O1 in which the cleaning robot 100 is isolated. Therefore, it can be judged that it has rotated two or more times.
  • the cleaning robot 100 may mark the outline of the obstacle O1 in which the cleaning robot 100 is isolated. Therefore, it can be judged that it has rotated three times or more.
  • the cleaning robot 100 may be a cleaning robot ( It may be determined that 100 has repeatedly traveled the same route.
  • the cleaning robot 100 continues the current travel.
  • the cleaning robot 100 checks whether there is a cleaning area where cleaning has been performed. Determination (3330).
  • the cleaning robot 100 may determine whether there is a cleaning area in which cleaning is completed, based on driving records and cleaning records of the cleaning robot 100. As described above, the cleaning robot 100 may assign an identification code to the set cleaning area when the cleaning area is set, and store the identification code of the cleaning area as a cleaning record when the cleaning area is completed. Therefore, the cleaning robot 100 may acquire the presence of the cleaning area where the cleaning is completed, the location of the cleaning area where the cleaning is completed, the location of the entrance and exit of the cleaning area where the cleaning is completed, and the like based on the cleaning record.
  • the cleaning robot 100 moves in a predetermined direction (3340).
  • the reference position to which the cleaning robot 100 is to move may be a starting point at which driving starts. However, when starting to travel again from the starting point where the driving started, the cleaning robot 100 may repeatedly travel the same path again.
  • the cleaning robot 100 may move in a predetermined direction. In addition, when it is determined that the same route is repeatedly traveled, the cleaning robot 100 may delete all previous driving records.
  • the cleaning robot 100 determines whether one end of the entrance and exit of the most recently cleaned cleaning area is included in the repeated driving path (3350).
  • the cleaning robot 100 may set one end of the entrance and exit of the cleaning area as a reference position and move toward the reference position. However, when the reference position is included in the repetitive travel path, even if the cleaning robot 100 moves to the reference position, the cleaning robot 100 continues the repetitive travel.
  • the cleaning robot 100 cleaning the first room R1 may follow the outer wall OW, the movable third obstacle O3, and the fixed first obstacle O1. I can move it.
  • the cleaning robot 100 may move to the second position. It may be determined between the position P2 and the inner wall IW as the second entrance or exit E2. Specifically, since the second position P2 corresponds to the convex edge, and the inner wall IW is located opposite the second position P2, the cleaning robot 100 has the second position P2 and the inner wall IW. ) May be determined as the second doorway E2.
  • the cleaning robot 100 sets a part R2-2 of the second room R2 partitioned by the third obstacle O3 and the first obstacle O1 as the cleaning area, A part R2-2 of the 2nd room R2 can be cleaned. Thereafter, the cleaning robot 100 may again travel along the outline of the first obstacle O1.
  • the cleaning robot 100 may outline the first obstacle O1. Repeat your journey.
  • the cleaning robot 100 may determine repetitive driving on the same path through steps 3310 and 3320 described above, and move to the reference position.
  • one end P2 of the second doorway E2 corresponding to the reference position is included in the outline of the first obstacle O1.
  • the reference position is included in the path of the repeated travel. Therefore, even if the cleaning robot 100 moves to one end P2 of the second entrance E2 which is a reference position, the cleaning robot 100 may repeatedly travel along the outline of the first obstacle O1.
  • the cleaning robot 100 may determine whether one end of the entrance and exit of the cleaning area that has been cleaned most recently is included in the repetitive travel path.
  • the controller 110 of the cleaning robot 100 may determine whether one end of the entrance and exit of the most recently cleaned cleaning area is included in the repetitive travel path using the driving record stored in the memory 115.
  • the cleaning robot 100 extracts the repeating travel route from the travel record. In other words, when the cleaning robot 100 travels the same position as the previous travel position, the cleaning robot 100 determines a driving path that the cleaning robot 100 has traveled between the previous travel time and the current travel time.
  • the cleaning robot 100 may determine whether one end of the entrance and exit of the cleaning area that has been most recently cleaned is included in the repeating driving path by comparing the position of one end of the exit and the exit of the cleaning area.
  • the cleaning robot 100 moves toward the entrance and exit of the most recently cleaned cleaning area (3360).
  • the cleaning robot 100 may determine that the moving robot moves out of the repetitive travel when moving to one end of the entrance and exit of the most recently cleaned cleaning area. Therefore, the cleaning robot 100 moves to one end of the entrance and exit of the most recently cleaned cleaning area in order to escape from repeated travel.
  • the cleaning robot 100 may delete all the driving records of the driving due to the repeated driving and restart the driving.
  • the cleaning robot 100 moves toward the entrance of the cleaning area to be cleaned secondly.
  • the cleaning robot 100 may determine that the repetitive travel will continue when the moving robot 100 moves to one end of the entrance and exit of the most recently cleaned cleaning area. Therefore, the cleaning robot 100 moves to one end of the entrance and exit of the cleaning area that has been cleaned recently for the second time in order to escape from repeated travel.
  • the cleaning robot 100 cleans the part R2-2 of the second room after cleaning the first room R1, and follows the outline of the first obstacle O1. Can run repeatedly. At this time, since the one end P2 of the second entrance E2 of the part R2-2 of the second room is included in the repeating travel path, the cleaning robot 100 is the first entrance E1 of the first room R1. It can move to one end (P1) of.
  • the cleaning robot 100 may delete all the driving records of the driving due to the repeated driving and restart the driving.
  • the cleaning robot 100 when the cleaning robot 100 repeatedly travels the same path, and one end of the entrance and exit of the cleaning area that has been cleaned most recently is included in the repeating travel path, the cleaning robot 100 is second-most recently. It can be moved to one end of the doorway of the cleaned cleaning area. As a result, the cleaning robot 100 may escape from repeated travel.
  • Fig. 53 is a diagram illustrating a control configuration of a cleaning robot according to another embodiment.
  • the cleaning robot 100 may include a user interface 120 that interacts with a user, a motion detector 130 that detects information related to the movement of the cleaning robot 100, and an obstacle ( O control unit 110 for controlling the operation of the obstacle detection unit 140, the moving unit 160 for moving the cleaning robot 100, the cleaning unit 170 for cleaning the cleaning space, and the cleaning robot 100. And an image acquisition unit 191 that acquires an image around the cleaning robot 100.
  • the user interface 120, the motion detection unit 130, the obstacle detecting unit 140, the driving unit 160, the cleaning unit 170, and the controller 180 are the cleaning robot 100 according to the exemplary embodiment described above with reference to FIG. 10. Is the same as the configuration.
  • the cleaning robot 100 further includes an image acquisition unit 191 as shown in FIG. 53.
  • the image acquisition unit 191 may include an upper camera module 191a that acquires an image of the cleaning robot 100, that is, a ceiling, and a front camera module 191b that acquires an image in front of the cleaning robot 100.
  • the upper camera module 191a is provided on the upper surface of the cleaning robot 100 to acquire an upper image of the cleaning robot 100, that is, a three-dimensional image of the ceiling of the cleaning space and an image obtained by the three-dimensional camera. It may include a graphics processor for image processing. Such a graphic processor may perform simple image processing such as changing the size or resolution of an image acquired by the 3D camera.
  • the 3D image includes a 2D image of a photographing target and distance information to a photographing target, and the 3D camera may employ a stereo camera module or a depth sensor module.
  • the stereo camera module includes a pair of two-dimensional cameras, and calculates distance information of the photographed object by using a difference between images acquired by the pair of two-dimensional cameras. In addition, the stereo camera module outputs any one of the images acquired by the pair of two-dimensional camera and the distance information of the photographed object.
  • the depth sensor module includes a two-dimensional camera that acquires an image of a photographing target, and an infrared sensor that measures distance to the photographing target by irradiating infrared rays toward the photographing target and detecting a magnitude of the infrared rays reflected from the photographing target.
  • the depth sensor module outputs the image acquired by the 2D camera and the distance information obtained by the infrared sensor.
  • the front camera module 191b is provided on the front surface of the cleaning robot 100 to graphic the 3D camera for acquiring a front 3D image of the cleaning robot 100 and the 3D image acquired by the 3D camera. It may include a processor.
  • FIG. 54 illustrates a method of cleaning a cleaning space by a cleaning robot according to another embodiment
  • FIGS. 55 to 59 illustrate a method of cleaning a cleaning space by a cleaning robot according to the method shown in FIG. 54. An example is shown.
  • a cleaning method 2000 of the cleaning robot 100 will be described with reference to FIGS. 54 to 59.
  • the cleaning robot 100 runs the cleaning space A (2010).
  • the cleaning robot 100 may travel in any direction from any position.
  • the arbitrary position may be a position where a charging station (not shown) for charging the battery of the cleaning robot 100 is located, or a position where the user places the cleaning robot 100 on the floor of the cleaning space A. FIG. In this way, the position where the cleaning robot 100 starts traveling is not limited.
  • the cleaning robot 100 can travel in any direction at the start of driving.
  • the cleaning robot 100 may travel toward the front at the start of driving.
  • the present invention is not limited thereto, and the cleaning robot 100 may travel after changing the driving direction before starting the driving.
  • the cleaning robot 100 does not change the driving direction until the obstacle O is found.
  • the cleaning robot 100 While driving, the cleaning robot 100 detects an entrance and exit using the front camera module 191b (2020).
  • the cleaning robot 100 acquires an image in front of the cleaning robot 100 by using the front camera module 191b at predetermined intervals, extracts an image feature from the front image, and based on the extracted image feature. It is possible to determine whether the front image includes the image of the entrance and exit.
  • the cleaning robot 100 obtains the front image by using the front camera module 191b.
  • the front image may include distance information together with image information.
  • the cleaning robot 100 may acquire an image of the doorway.
  • the image of the entrance and exit obtained by the cleaning robot 100 is the same as the first image (image1) shown in FIG.
  • the cleaning robot 100 that acquires the first image image1 may extract keypoints from the first image1.
  • the cleaning robot 100 may extract a feature point from the first image 1 using a Harris Corner algorithm, a Shi-Tomasi algorithm, a SIFT-DoG algorithm, a FAST algorithm, an AGAST algorithm, and the like.
  • the cleaning robot 100 may include the first feature point KP1, the second feature point KP2, the third feature point KP3, and the fourth feature point KP4 from the first image image1 as illustrated in FIG. 56.
  • a plurality of feature points including) may be extracted.
  • the cleaning robot 100 may calculate three-dimensional coordinates of the feature points using distance information corresponding to each feature point, and an object located in front of the cleaning robot 100 based on the calculated three-dimensional coordinates. It can be determined whether it is an entrance or exit.
  • the cleaning robot 100 may determine whether the shape connecting the feature points corresponds to the shape of the doorway based on the 3D coordinates of the feature points.
  • the doorway has a width of approximately 80 cm to 110 cm and a height of approximately 180 cm to 220 cm.
  • the cleaning robot 100 may determine whether the shape formed by the feature points corresponds to the shape of the doorway using a machine learning algorithm.
  • the cleaning robot 100 detecting the doorway may travel through the doorway.
  • the cleaning robot 100 located in the living room R3 may move to the first room R1 through the detected doorway after detecting the doorway.
  • the cleaning robot 100 sets a cleaning area using the upper camera module in operation 2030.
  • the cleaning robot 100 that has passed through the doorway acquires an image of the ceiling of the cleaning area using the upper camera module 191a, extracts an image feature from the ceiling image, and based on the extracted image feature, Can be set.
  • the cleaning robot 100 obtains the ceiling image using the upper camera module 191a.
  • the ceiling image may include distance information together with image information.
  • the cleaning robot 100 may acquire a ceiling image of the first room R1.
  • the ceiling image acquired by the cleaning robot 100 is the same as the second image image2 illustrated in FIG. 58.
  • the cleaning robot 100 obtaining the second image 2 may extract keypoints from the second image 2.
  • the cleaning robot 100 may include the first feature point KP1, the second feature point KP2, the third feature point KP3, and the fourth feature point KP4 from the first image image1 as illustrated in FIG. 58.
  • a plurality of feature points including) may be extracted.
  • the cleaning robot 100 may calculate three-dimensional coordinates of the feature points using distance information corresponding to each feature point, and generate a map of the first room R1 based on the calculated three-dimensional coordinates. have.
  • the cleaning robot 100 may set the first cleaning area A1 corresponding to the first room R1 based on the first room R1.
  • the cleaning robot 100 may set the first cleaning area A1 using the cleaning area setting method 1700 (see FIG. 28) described with reference to FIG. 28.
  • the cleaning robot 100 is not limited to setting the cleaning area using the upper camera module 191a.
  • the cleaning robot 100 may travel along the outline of the obstacle O by using the obstacle detecting unit 140.
  • the cleaning robot 100 may store a driving record including driving information, position information, and the like of the cleaning robot 100.
  • the cleaning robot 100 determines whether the current position is the same as the position of the doorway, and if the current position is the same as the position of the doorway, the cleaning robot 100 based on the stored driving record. You can also set the cleaning area.
  • the cleaning robot 100 that sets the cleaning area cleans the cleaning area while driving the set cleaning area (2040).
  • the cleaning robot may clean the cleaning area according to the cleaning area cleaning method 1300 illustrated in FIG. 33.
  • the cleaning robot 100 may perform zigzag driving to clean the cleaning area, and move to the position where the entrance and exit of the cleaning area is determined.
  • the cleaning robot 100 determines whether all cleaning areas have been cleaned (2050). In other words, it is determined whether the cleaning robot 100 has cleaned all the areas included in the cleaning space A.
  • the cleaning robot 100 may determine that all areas of the cleaning space A have been cleaned.
  • the cleaning robot 100 repeats driving
  • the cleaning robot 100 may end the run and return to the filling station.
  • the cleaning robot 100 may set a cleaning area corresponding to an area that is not cleaned after driving all of the cleaning space A, and may return to the charging station after cleaning the set cleaning area.
  • the cleaning robot 100 may set the cleaning area using the image acquisition unit 191 while driving and clean the set cleaning area first.
  • 60 is a control diagram of the cleaning robot according to another embodiment.
  • the cleaning robot 100 may include a user interface 120 that interacts with a user, a motion detector 130 that detects information related to the movement of the cleaning robot 100, and an obstacle ( O control unit 110 for controlling the operation of the obstacle detection unit 140, the moving unit 160 for moving the cleaning robot 100, the cleaning unit 170 for cleaning the cleaning space, and the cleaning robot 100. And a radar sensor unit 193 for monitoring the surrounding environment of the cleaning robot 100.
  • the user interface 120, the motion detection unit 130, the obstacle detecting unit 140, the driving unit 160, the cleaning unit 170, and the controller 180 are the cleaning robot 100 according to the exemplary embodiment described above with reference to FIG. 10. Is the same as the configuration.
  • the cleaning robot 100 further includes a radar sensor unit 193 as shown in FIG. 60.
  • the radar sensor unit 193 transmits radio waves toward the front of the cleaning robot 100 and detects / analyzes reflected waves reflected from an object such as an obstacle O to detect a distance to the object, a moving speed of the object, and the like. Can be.
  • the radar sensor unit 193 may calculate a distance to the target by using a time difference between the time at which the radio wave is transmitted and the time at which the reflected wave is received, and the Doppler effect due to the movement of the target Can be used to calculate the moving speed of the target.
  • the radar sensor unit 193 may transmit a radio wave in a predetermined direction by using a directional antenna.
  • the radar sensor unit 193 may transmit radio waves in various directions at time intervals by rotating the directional antenna.
  • the radar sensor unit 193 may calculate the direction in which the obstacle O is located based on the direction in which the radio waves are transmitted.
  • 61 is a view illustrating a cleaning robot cleaning a cleaning space, according to another embodiment.
  • a cleaning method 2100 of the cleaning robot 100 will be described with reference to FIG. 61.
  • the cleaning robot 100 travels the cleaning space A (2110).
  • the cleaning robot 100 may travel in any direction from any position.
  • the arbitrary position may be a position where a charging station (not shown) for charging the battery of the cleaning robot 100 is located, or a position where the user places the cleaning robot 100 on the floor of the cleaning space A. FIG. In this way, the position where the cleaning robot 100 starts traveling is not limited.
  • the cleaning robot 100 can travel in any direction at the start of driving.
  • the cleaning robot 100 may travel toward the front at the start of driving.
  • the present invention is not limited thereto, and the cleaning robot 100 may travel after changing the driving direction before starting the driving.
  • the cleaning robot 100 does not change the driving direction until the obstacle O is found.
  • the cleaning robot 100 detects an entrance and exit using the radar sensor unit 193 while driving (2120).
  • the cleaning robot 100 In order to detect the entrance and exit, the cleaning robot 100 detects the front of the cleaning robot 100 using the radar sensor unit 193 at predetermined intervals, and detects an empty space having a predetermined distance range between the obstacles O. It can be judged.
  • the predetermined distance range may be 80 cm to 110 cm corresponding to the width of the doorway as described above.
  • the cleaning robot 100 that detects the entrance and exit records the position information of the entrance and travels toward the entrance.
  • the cleaning robot 100 sets the cleaning area using the obstacle detecting unit (2130).
  • the cleaning robot 100 that detects the entrance and exit may travel along the outline of the obstacle O by using the obstacle detecting unit 140.
  • the cleaning robot 100 may store a driving record including driving information, position information, and the like of the cleaning robot 100.
  • the cleaning robot 100 determines whether the current position is the same as the position of the doorway, and if the current position is the same as the position of the doorway, the cleaning robot 100 based on the stored driving record. You can also set the cleaning area.
  • the cleaning robot 100 that sets the cleaning area cleans the cleaning area while driving the set cleaning area (2140).
  • the cleaning robot may clean the cleaning area according to the cleaning area cleaning method 1300 illustrated in FIG. 33.
  • the cleaning robot 100 may clean the cleaning area while performing a zigzag driving as shown in FIG. 34, or clean the cleaning area while driving in any direction as shown in FIG. 35.
  • the cleaning robot 100 determines whether all cleaning areas have been cleaned (2150). In other words, it is determined whether the cleaning robot 100 has cleaned all the areas included in the cleaning space A.
  • the cleaning robot 100 may determine that all areas of the cleaning space A have been cleaned.
  • the cleaning robot 100 repeats the running of the cleaning space A, the entrance determination, the cleaning area setting, and the cleaning area cleaning.
  • the cleaning robot 100 may end the run and return to the filling station.
  • the cleaning robot 100 may set a cleaning area corresponding to an area that is not cleaned after driving all of the cleaning space A, and may return to the charging station after cleaning the set cleaning area.
  • the cleaning robot 100 may set the cleaning area by using the radar sensor unit 193 and the obstacle detecting unit 140 while driving, and may first clean the set cleaning area.
  • FIG. 62 shows a control configuration of a cleaning robot according to another embodiment
  • FIG. 63 shows a cleaning space provided with a magnetic band.
  • the cleaning robot 100 includes a user interface 120 that interacts with a user, a motion detector 130 that detects information related to the movement of the cleaning robot 100, and a cleaning space A.
  • Obstacle detection unit 140 for detecting the obstacle (O) of the moving unit 160 for moving the cleaning robot 100, cleaning unit 170 for cleaning the cleaning space, the overall control of the operation of the cleaning robot 100 It may include a magnetic field detector 195 for detecting a magnetic field of the control unit 110 and the floor of the cleaning space (A).
  • the user interface 120, the motion detection unit 130, the obstacle detecting unit 140, the driving unit 160, the cleaning unit 170, and the controller 180 are the cleaning robot 100 according to the exemplary embodiment described above with reference to FIG. 10. Is the same as the configuration.
  • the cleaning robot 100 further includes a magnetic field detector 195 as shown in FIG. 62.
  • the magnetic field detector 195 may be installed at the bottom or the front of the cleaning robot 100, and may detect the magnetic fields generated by the magnetic bands M1 and M2 previously installed by the user.
  • the user may install the magnetic bands M1 and M2 at positions corresponding to the entrance and exit of the cleaning space A in advance.
  • a user installs a first magnetic band M1 at a first entrance connecting the living room R3 and the first room R1, and connects the living room R3 and the second room R2.
  • 2nd magnetic band M2 can be installed in 2 entrances and exits.
  • the first magnetic band M1 and the second magnetic band M2 may have the same shape, and may generate a magnetic field having the same intensity and polarity.
  • the magnetic field detector 195 may detect a magnetic field generated by the magnetic bands M1 and M2 previously installed by the user, and may transmit an electrical signal corresponding to the detection of the magnetic field to the controller 110.
  • FIG. 64 illustrates a method of cleaning a cleaning space by a cleaning robot according to another embodiment
  • FIGS. 65 to 67 illustrate a cleaning space of a cleaning robot according to another embodiment according to the cleaning method shown in FIG. 64. Shows the process of cleaning it.
  • the cleaning robot 100 travels in the cleaning space A, and stores the driving record while driving (2210).
  • the cleaning robot 100 can travel in any direction from any position.
  • the arbitrary position may be a position where a charging station (not shown) for charging the battery of the cleaning robot 100 is located, or a position where the user places the cleaning robot 100 on the floor of the cleaning space A. FIG. In this way, the position where the cleaning robot 100 starts traveling is not limited.
  • the cleaning robot 100 can travel in any direction at the start of driving.
  • the cleaning robot 100 may travel toward the front at the start of driving.
  • the present invention is not limited thereto, and the cleaning robot 100 may travel after changing the driving direction before starting the driving. However, after the driving starts, it is preferable that the cleaning robot 100 does not change the driving direction until the obstacle O is found.
  • the cleaning robot 100 may determine that the obstacle (O) is detected while driving.
  • the obstacle detecting unit 140 of the cleaning robot 100 transmits light toward the front and side surfaces of the cleaning robot 100, and detects the reflected light reflected from the obstacle O and received.
  • the controller 110 of the cleaning robot 100 may determine whether the obstacle O is present according to whether the reflected light is detected.
  • the cleaning robot 100 may travel along the outline of the obstacle O.
  • the cleaning robot 100 may perform an outline following driving in which the distance from the obstacle O runs in parallel with the outline of the obstacle O while maintaining a predetermined obstacle following distance.
  • the cleaning robot 100 may store a driving record of the cleaning robot 100 during the outline following driving.
  • the cleaning robot 100 may store position information indicating the position of the cleaning robot 100 and driving information indicating the traveling speed, the driving direction, and the like of the cleaning robot 100 at predetermined time intervals.
  • the cleaning robot 100 determines whether a magnetic field is detected while driving (2220).
  • the cleaning robot 100 may detect the magnetic fields generated by the magnetic bands M1 and M2 using the magnetic field detector 195.
  • the cleaning robot 100 when the cleaning robot 100 passes through the doorway as shown in FIG. 65 during the outline following driving, the cleaning robot 100 generates a magnetic field generated by the first magnetic band M1 previously installed by the user. It can be detected.
  • the cleaning robot 100 continues to travel, and when the magnetic field is detected (YES in 2220), the cleaning robot 100 stores the position where the magnetic field is detected (2230).
  • the cleaning robot 100 may determine that it is passing through the doorway. Therefore, the cleaning robot 100 stores the position where the magnetic field is detected in order to determine the position of the entrance and exit.
  • the cleaning robot 100 determines whether another magnetic field sensing position exists within a reference distance range from the current magnetic field sensing position (2240).
  • the cleaning robot 100 calculates a distance between a previously stored magnetic field detection position and a position of the cleaning robot 100 that detects the current magnetic field. Thereafter, the cleaning robot 100 determines whether the calculated distance is within a preset reference distance range.
  • the doorway may have a width of about 80 cm to about 110 cm. Therefore, if a position where a magnetic field has been previously detected within a reference distance from the position of the cleaning robot 100 that detects the current magnetic field exists, the cleaning robot 100 may enter and exit between the position where the current magnetic field is detected and the position where the magnetic field has been previously detected. Can be determined to exist.
  • the reference distance range may be a distance range obtained by subtracting the width of the cleaning robot 100 from approximately 80cm to 110cm. For example, if the width of the cleaning robot 100 is 30cm, the reference distance range may be 50cm to 80cm.
  • the cleaning robot 100 continues the outline following driving.
  • the cleaning robot 100 may detect a magnetic field generated by the first magnetic band M1.
  • the cleaning robot 100 enters the first room R1 through the entrance and continues the outline following the driving.
  • the cleaning robot 100 moves to the previously stored magnetic field sensing position (2250).
  • the cleaning robot 100 may determine that the cleaning robot 100 has passed through the corresponding entrance twice.
  • the cleaning robot 100 may determine that the first passage through the entrance has entered an area connected to the outside by the entrance, and the second passage through the entrance may depart from the corresponding area.
  • the cleaning robot 100 may determine that all of the inside of the region is driven and the driving record is stored.
  • the cleaning robot 100 moves to the position where the magnetic field is sensed to set the cleaning area corresponding to the corresponding area.
  • the cleaning robot 100 may detect a magnetic field generated by the first magnetic band M1.
  • the cleaning robot 100 may determine that the first entrance that connects the living room R3 and the first room R1 has been passed twice, and the cleaning robot 100 has a first cleaning robot 100.
  • the magnetic field generated by the magnetic band M1 is moved to the first detected position.
  • the cleaning robot 100 After moving to the magnetic field sensing position, the cleaning robot 100 sets the cleaning area based on the driving record (2260).
  • a closed curve is generated by the driving path of the cleaning robot 100.
  • a closed curve is generated by the driving path of the cleaning robot 100.
  • the cleaning robot 100 may set the first cleaning area A1 based on the closed curve.
  • the cleaning robot 100 may set the first cleaning area A1 by linearly modeling the closed curve, simplifying the straight modeled closed curve, and rotating the simplified closed curve.
  • the cleaning robot 100 After setting the cleaning area, the cleaning robot 100 cleans the set cleaning area and stores the cleaning area as the cleaning completion area (2270).
  • the cleaning robot may clean the cleaning area according to the cleaning area cleaning method 1300 illustrated in FIG. 33.
  • the cleaning robot 100 may clean the cleaning area while performing a zigzag driving as shown in FIG. 34, or clean the cleaning area while driving in any direction as shown in FIG. 35.
  • the cleaning robot 100 may store the cleaning area as the cleaning completion area.
  • the cleaning robot 100 determines whether all cleaning areas have been cleaned (2280). In other words, it is determined whether the cleaning robot 100 has cleaned all the areas included in the cleaning space A.
  • the cleaning robot 100 determines an uncleaned area in the cleaning space A that is not cleaned. Thereafter, the cleaning robot 100 sets a cleaning area corresponding to the uncleaned area and cleans the inside of the set cleaning area.
  • the cleaning robot 100 may determine that all the cleaned areas are cleaned.
  • the cleaning robot 100 continues the cleaning for the cleaning area.
  • the cleaning robot 100 returns to the charging station and ends the operation.
  • the cleaning robot 100 detects the entrance and exit using a magnetic band detecting unit that detects the magnetic field of the magnetic band and the magnetic band previously installed at the entrance, and based on the detected entrance and driving record, the cleaning area. Can be set. In addition, the cleaning robot 100 may first clean the set cleaning area.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un robot de nettoyage pouvant comporter : un corps principal; une unité de déplacement permettant de déplacer le corps principal; une unité de nettoyage permettant de nettoyer une zone de nettoyage; une unité de commande permettant de définir au moins une région d'une pluralité de régions comprises dans la zone de nettoyage comme étant une région de nettoyage, pendant que le corps principal se déplace, et permettant de nettoyer la région de nettoyage lorsque la région de nettoyage est définie.
PCT/KR2015/008353 2014-08-20 2015-08-10 Robot de nettoyage et son procédé de commande WO2016028021A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP15833829.3A EP3184013B1 (fr) 2014-08-20 2015-08-10 Robot de nettoyage et son procédé de commande
CN201580057197.5A CN107072457B (zh) 2014-08-20 2015-08-10 清洁机器人及其控制方法
US15/505,574 US10394249B2 (en) 2014-08-20 2015-08-10 Cleaning robot and control method thereof
AU2015304254A AU2015304254B2 (en) 2014-08-20 2015-08-10 Cleaning robot and controlling method thereof
AU2018250455A AU2018250455B2 (en) 2014-08-20 2018-10-18 Cleaning robot and controlling method thereof

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20140108446 2014-08-20
KR10-2014-0108446 2014-08-20
KR10-2015-0111429 2015-08-07
KR1020150111429A KR102527645B1 (ko) 2014-08-20 2015-08-07 청소 로봇 및 그 제어 방법

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WO2016028021A1 true WO2016028021A1 (fr) 2016-02-25

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WO2019104666A1 (fr) * 2017-11-30 2019-06-06 深圳市沃特沃德股份有限公司 Robot de balayage et procédé permettant de réaliser une division de zone de ce dernier
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US11768494B2 (en) 2015-11-11 2023-09-26 RobArt GmbH Subdivision of maps for robot navigation
US11175670B2 (en) 2015-11-17 2021-11-16 RobArt GmbH Robot-assisted processing of a surface using a robot
US11789447B2 (en) 2015-12-11 2023-10-17 RobArt GmbH Remote control of an autonomous mobile robot
US10860029B2 (en) 2016-02-15 2020-12-08 RobArt GmbH Method for controlling an autonomous mobile robot
US11709497B2 (en) 2016-02-15 2023-07-25 RobArt GmbH Method for controlling an autonomous mobile robot
US11709489B2 (en) 2017-03-02 2023-07-25 RobArt GmbH Method for controlling an autonomous, mobile robot
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