ROBOT CLEANER AND METHOD FOR CONTROLLING SAME

• Main Authors: CHOI, Kahyung, HAM, Seaunglok, LEE, Changhyeon, PARK, Heegu
• Format: Patent
• Language: English; French; Korean
• Published: 27.01.2022
• Subjects: COFFEE MILLS; CONTROLLING; DOMESTIC ARTICLES OR APPLIANCES; DOMESTIC WASHING OR CLEANING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; FURNITURE; HUMAN NECESSITIES; PHYSICS; PICTORIAL COMMUNICATION, e.g. TELEVISION; REGULATING; SPICE MILLS; SUCTION CLEANERS IN GENERAL; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

According to an embodiment of the present invention, provided is a method for controlling a robot cleaner comprising: a running step in which a robot cleaner runs in an area to be cleaned; a map generating step for generating a plurality of maps by varying the amount of light of a depth camera during the running step; and a map combining step for generating a combined map by combining the plurality of maps captured in the map generating step. According to the embodiments, an effective cleaning path can be generated by creating a combined map, which comprises actual information regardless of the distance to an obstacle, color of the obstacle and floor surface, and the like, by means of the depth camera. Selon un mode de réalisation de la présente invention, est prévu un procédé de commande d'un robot nettoyeur comprenant : une étape de déplacement dans laquelle un robot nettoyeur circule dans une zone à nettoyer ; une étape de génération de carte pour générer une pluralité de cartes en faisant varier la quantité de lumière d'une caméra de profondeur pendant l'étape de circulation ; et une étape de combinaison de cartes pour générer une carte combinée en combinant la pluralité de cartes capturées à l'étape de génération de carte. Selon les modes de réalisation, un trajet de nettoyage efficace peut être généré en créant une carte combinée, qui comprend des informations réelles indépendamment de la distance par rapport à un obstacle, de la couleur de l'obstacle et de la surface du sol, et analogues, au moyen de la caméra de profondeur. 본 발명의 일 실시예에 따르면, 로봇 청소기가 청소대상지역을 주행하는 주행단계, 상기 주행단계가 수행되는 동안 뎁스 카메라의 광량을 가변하여 복수 개의 맵을 생성하는 맵 생성단계 및 상기 맵 생성단계에서 촬영된 복수 개의 맵을 융합하여 융합 맵을 생성하는 맵 융합단계를 포함하는 로봇 청소기의 제어방법을 제공한다. 일 실시예에 따르면, 뎁스 카메라를 이용하여 장애물의 거리, 장애물 및 바닥면의 색상 등에 관계없이 실질적인 정보를 포함하는 융합 맵을 작성하여 효율적인 청소 경로를 생성할 수 있다.