Robot vacuum cleaner

Abstract

The present invention discloses a robot vacuum cleaner including a vacuum cleaner body having a control unit, a first detection unit arranged to protrude from the top surface of the vacuum cleaner body and to detect obstacles located around the vacuum cleaner body by irradiating a laser around the vacuum cleaner body, a second detection unit arranged at an angle to the side and top surface of the upper corners of the vacuum cleaner body and to capture images of both the sides and the top of the vacuum cleaner body, a third detection unit arranged on the front of the vacuum cleaner body and to emit ultrasonic waves around the front of the vacuum cleaner body and detect obstacles located around the front of the vacuum cleaner body using the ultrasonic waves reflected therefrom, and a fourth detection unit arranged on the front of the vacuum cleaner body and to capture images of the front of the vacuum cleaner body.

Description

[Technical field]

[0001] The present invention relates to a robot vacuum cleaner that performs a function of cleaning a floor while moving around a predetermined area by itself. [Background technology]

[0002] In general, a robot vacuum cleaner is configured to recognize the surrounding environment while autonomously traveling in a predetermined area and perform a cleaning function suitable for the environment. A representative example of the cleaning function performed by a robot vacuum cleaner is a function to suck up and remove dust and foreign objects present on the floor area. In addition, the robot vacuum cleaner is used in various environments such as warehouses, homes, and offices.

[0003] Meanwhile, autonomous driving, one of the core technologies of robot vacuum cleaners, is achieved by the robot vacuum cleaner accurately recognizing its current location in the environment in which it operates.

[0004] In general, a robot vacuum cleaner can recognize its current location by performing SLAM (Simultaneous Localization And Map-Building) using information acquired from various sensors, and using the map information created as a result. In addition, a robot vacuum cleaner may also perform functions such as taking pictures and monitoring the inside of a house using its autonomous driving characteristics.

[0005] Furthermore, in order for a robot vacuum cleaner to travel smoothly autonomously, it is necessary to develop technology to detect obstacles within its travel area.

[0006] Therefore, as disclosed in Patent Document 1 (November 29, 2017), in order to realize autonomous driving and obstacle avoidance functions of a robot vacuum cleaner, attempts have been made to apply sensors that capture or detect images of the area in front of the robot vacuum cleaner, and as a result of such attempts, the number of sensors applied to robot vacuum cleaners has increased more than ever before.

[0007] At the same time, research is being conducted into the optimized design of various sensors applied to robotic vacuum cleaners in order to further improve the autonomous driving and obstacle avoidance performance of the robotic vacuum cleaners. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Korean Patent Publication No. 10-2017-0131172 Summary of the Invention [Problem to be solved by the invention]

[0009] A first object of the present invention is to provide an optimized configuration and layout structure of a detection unit applied to a robot vacuum cleaner in order to further improve the autonomous driving and obstacle avoidance performance of the robot vacuum cleaner.

[0010] A second object of the present invention is to provide an optimized structure of a detection unit that is applied to enable a robot cleaner to recognize its current location.

[0011] A third object of the present invention is to provide an optimized structure of a detection unit applied to obstacle avoidance of a robot vacuum cleaner. [Means for solving the problem]

[0012] In order to achieve the first object of the present invention, a robot vacuum cleaner includes a vacuum cleaner body having a control unit, a first detection unit arranged to protrude from an upper surface of the vacuum cleaner body and detects obstacles located around the vacuum cleaner body by irradiating a laser around the vacuum cleaner body, a second detection unit arranged at an angle relative to the side and upper surface of an upper corner of the vacuum cleaner body, respectively, and photographs both the sides and the top of the vacuum cleaner body, a third detection unit arranged on a front surface of the vacuum cleaner body and emitting ultrasonic waves around the front of the vacuum cleaner body and detecting obstacles located around the front of the vacuum cleaner body using the ultrasonic waves reflected thereafter, and a fourth detection unit arranged on the front surface of the body and photographing the front of the vacuum cleaner body.

[0013] The second detection unit may include a first camera unit and a second camera unit that are inclinedly disposed on one side and the other side of an upper corner region of the vacuum cleaner body, respectively, and capture images of both the sides and the top of the vacuum cleaner body.

[0014] The control unit may detect the current position within the driving area by combining all or a part of the information measured by the first detection unit and the image information captured by the first and second camera units.

[0015] The second detection unit may be disposed below the first detection unit with respect to a vertical direction of the vacuum cleaner body.

[0016] The first detection unit may be disposed behind the second detection unit.

[0017] The first detection unit may be configured to irradiate a linear laser beam in a 360-degree range and detect an obstacle located within a predetermined detection distance.

[0018] The third detection unit may be disposed below the fourth detection unit with respect to a vertical direction of the vacuum cleaner body.

[0019] The third detection section may be made up of a plurality of third detection sections, each of which may be disposed at a position symmetrical on the left and right sides with respect to a front center line of the vacuum cleaner body.

[0020] The fourth detection unit may be arranged with its optical axis inclined toward the front lower side of the vacuum cleaner body and have a range capable of capturing images including an area from the floor to the height of the top of the vacuum cleaner body.

[0021] The fourth detection unit may capture a depth image including distance information relating to an object within a capture region.

[0022] The control unit may detect an obstacle located around the vacuum cleaner body by combining all or a part of the information measured by the first detection unit, the information measured by the third detection unit, and the image information captured by the fourth detection unit.

[0023] In order to achieve the second object of the present invention, a robot vacuum cleaner includes a vacuum cleaner body having a control unit that controls autonomous driving, a first detection unit that is arranged to protrude from the top surface of the vacuum cleaner body and detects obstacles located around the vacuum cleaner body by irradiating a laser around the vacuum cleaner body, and a second detection unit that is arranged at an angle relative to the side and top surfaces of the upper corners of the vacuum cleaner body, respectively, and captures both the sides and the top of the vacuum cleaner body.

[0024] The second detection unit may include a first camera unit and a second camera unit that are inclinedly disposed on one side and the other side of an upper corner region of the vacuum cleaner body, respectively, and capture images of both the sides and the top of the vacuum cleaner body.

[0025] In order to achieve the third object of the present invention, a robot vacuum cleaner includes a vacuum cleaner body having a control unit that controls autonomous driving, a first detection unit arranged to protrude from the top surface of the vacuum cleaner body and detecting obstacles located around the vacuum cleaner body by irradiating a laser around the vacuum cleaner body, a third detection unit arranged on the front side of the vacuum cleaner body and emitting ultrasonic waves around the front of the vacuum cleaner body and detecting obstacles located around the front of the vacuum cleaner body using the ultrasonic waves reflected thereafter, and a fourth detection unit arranged on the front side of the body and taking an image in front of the vacuum cleaner body.

[0026] The fourth detection unit may be arranged with its optical axis inclined toward the front lower side of the vacuum cleaner body and have a range capable of capturing images including an area from the floor to the height of the top of the vacuum cleaner body. Effect of the Invention

[0027] The advantages of the present invention obtained by the above-mentioned solution are as follows.

[0028] First, for position recognition necessary to execute the autonomous driving function of the robot vacuum cleaner, a first detection unit that irradiates a laser around the vacuum cleaner body and a second detection unit that photographs both the sides and above the vacuum cleaner body are arranged, and for obstacle avoidance of the robot vacuum cleaner, the first detection unit, a third detection unit that emits ultrasonic waves around the front of the vacuum cleaner body, and a fourth detection unit that photographs the front of the vacuum cleaner body are arranged.By using different methods such as light and ultrasonic waves and using the configurations and arrangements of the first to fourth detection units that detect different areas to complement each other's detection functions, the autonomous driving and obstacle avoidance performance of the robot vacuum cleaner can be further improved.

[0029] Secondly, for the position recognition required to execute the autonomous driving function of the robot vacuum cleaner, a first detection unit that emits a laser around the periphery of the vacuum cleaner body and a second detection unit that captures both the sides and above the vacuum cleaner body are disposed, and the autonomous driving performance of the robot vacuum cleaner can be further improved by using information obtained from the first detection unit for areas that cannot be detected by the second detection unit.

[0030] Third, to execute the obstacle avoidance function of the robot vacuum cleaner, a first detection unit that irradiates a laser around the vacuum cleaner body, a third detection unit that emits ultrasonic waves around the front of the vacuum cleaner body, and a fourth detection unit that takes pictures of the front of the vacuum cleaner body are disposed, and the first detection unit, the third detection unit, and the fourth detection unit each undergo a mutual complementation process to detect objects that are impossible or difficult to detect, thereby further improving the obstacle avoidance performance of the robot vacuum cleaner. [Brief description of the drawings]

[0031] [Figure 1] 1 is a perspective view showing an example of a robot cleaner according to the present invention; [Diagram 2] FIG. 2 is a plan view of the robot cleaner shown in FIG. [Diagram 3] FIG. 2 is a front view of the robot cleaner shown in FIG. [Figure 4] FIG. 2 is a bottom view of the robot cleaner shown in FIG. [Diagram 5] FIG. 4 is a cross-sectional view of the robot cleaner shown in FIG. [Figure 6] 2 is a front view conceptually showing the form of a laser beam emitted from a first detection unit shown in FIG. 1. [Figure 7] 2 is a plan view conceptually showing the form of a laser emitted from a first detection unit shown in FIG. 1. [Figure 8] 2 is a conceptual diagram showing a range of an image captured by a second detection section shown in FIG. 1. [Figure 9] 2 is a perspective view conceptually showing the form of ultrasonic waves emitted from a third detection unit shown in FIG. 1. [Figure 10] 2 is a cross-sectional view conceptually showing the range of an image captured by a fourth detection unit shown in FIG. 1. [Figure 11] 2 is a perspective view conceptually showing areas detected by a first detection unit, a second detection unit, a third detection unit, and a fourth detection unit shown in FIG. 1; FIG. [Figure 12] 2 is a side view conceptually showing areas detected by a first detection unit, a second detection unit, a third detection unit, and a fourth detection unit shown in FIG. 1; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] Hereinafter, a robot vacuum cleaner according to the present invention will be described in more detail with reference to the accompanying drawings.

[0033] FIG. 1 is a perspective view showing an example of a robot vacuum cleaner 100 according to the present invention, FIG. 2 is a plan view of the robot vacuum cleaner 100 shown in FIG. 1, FIG. 3 is a front view of the robot vacuum cleaner 100 shown in FIG. 1, FIG. 4 is a bottom view of the robot vacuum cleaner 100 shown in FIG. 1, and FIG. 5 is a cross-sectional view of the robot vacuum cleaner 100 shown in FIG. 3.

[0034] As shown in Fig. 1 to Fig. 5, the robot cleaner 100 recognizes the surrounding environment while autonomously traveling in a predetermined area, and performs a cleaning function suitable for the environment. The cleaning function here includes a function of sucking in and removing dust and foreign matter present on the floor area. The robot cleaner 100 can be used in various environments such as warehouses, homes, and offices.

[0035] The robot vacuum cleaner 100 includes a cleaner body 110, a first detection unit 120, a second detection unit 130, a third detection unit 140, and a fourth detection unit 150.

[0036] The cleaner body 110 includes a control unit (not shown) that controls the autonomous traveling of the robot cleaner 100. The cleaner body 110 also includes a wheel unit 117 for traveling the robot cleaner 100. The wheel unit 117 enables the robot cleaner 100 to move on the ground G.

[0037] The wheel unit 117 is disposed at the bottom of the cleaner body 110 so as to come into contact with the ground G, and is configured to be rotatable about an axis perpendicular to the cleaner body 110 in order to change the moving direction of the robot cleaner 100. The wheel unit 117 is configured in plurality on the cleaner body 110, and each wheel unit is driven independently.

[0038] Meanwhile, a first battery 111a and a second battery 111b that supply power for driving the robot cleaner 100 are attached to the cleaner body 110. The first battery 111a and the second battery 111b may be configured to be detachable from the cleaner body 110 and charged separately, or may be configured to be charged while attached to the cleaner body 110.

[0039] In addition, a display unit 112 is disposed on the top surface of the vacuum cleaner body 110 to display various status information related to the operation of the robot vacuum cleaner 100 and provide it to the user. The status information includes various information such as power status, cleaning status, cleaning mode, operating time, and the presence or absence of a malfunction. The cleaning modes include a mode in which the robot moves in a predetermined pattern to clean a space without many obstacles, such as a warehouse or a long corridor, and a mode in which the robot moves autonomously without a predetermined pattern to clean a space with many obstacles, such as an office.

[0040] In addition, lamps 113 are disposed on the top surface of the vacuum cleaner body 110, together with the display unit 112, to display the state of the robot vacuum cleaner 110 in different forms. The lamps 113 are configured to emit light of various colors in various ways.

[0041] For example, the lamp 113 displays light with different colors, brightness, blinking methods, etc. Therefore, even in a situation where it is difficult for a user to check the status information of the robot vacuum cleaner 100 through the display unit 112, the user can more intuitively check the status information of the robot vacuum cleaner 100 through the light emitted from the lamp 113. Also, although the present invention has been described with reference to an example in which the lamp 113 is composed of one lamp, it may be composed of multiple lamps arranged adjacent to each other.

[0042] In addition, a first side brush 181 and a second side brush 182 are provided on both sides of the bottom surface of the vacuum cleaner body 110. The first side brush 181 and the second side brush 182 are configured to be rotatable around the vertical axis of the robot vacuum cleaner 100 and perform the function of sweeping up dust present on the floor in the outer area of ​​the robot vacuum cleaner 100 and moving it to the suction part 119 of the robot vacuum cleaner 100. A plurality of first brushes 181a and second brushes 182a are formed on the outer circumferential surfaces of the first side brush 181 and the second side brush 182, respectively, for separating foreign objects on the ground G from the floor.

[0043] The suction unit 119 is configured to suck in air containing dust for cleaning, and is disposed in the front half area of ​​the bottom side of the vacuum cleaner body 110, as shown in Fig. 4. Such a structure of the suction unit 119 allows it to get closer to foreign objects present in corners of the floor G area, thereby improving the cleaning effect.

[0044] 5, a dust box 115 is disposed inside the vacuum cleaner body 110 for accommodating foreign matter collected inside the vacuum cleaner body 110 by the suction unit 119 of the robot vacuum cleaner 100. The dust box 115 further includes a first accommodating unit 115a and a second accommodating unit 115b that are partitioned to collect relatively large particles of foreign matter and relatively small particles of foreign matter, respectively. A dust filter 115c is attached to the upper portion of the dust box 115 for filtering foreign matter and dust in the air discharged to the outside of the dust box 115.

[0045] Meanwhile, the robot vacuum cleaner 100 further includes a front caster 118a, a first rear caster 118b, and a second rear caster 118c.

[0046] The front caster 118a is disposed at the front end of the bottom side of the cleaner body 110, and is configured to support the cleaner body 110 together with the wheel unit 117 when the robot cleaner 100 moves, and to be rotatable along the ground surface G. In addition, a first rear caster 118b and a second rear caster 118c are disposed on both sides of the rear end of the bottom side of the cleaner body 110, which support the cleaner body 110 in the same manner as the front caster 118a, and assist the robot cleaner 100 in moving.

[0047] The first detection unit 120 is disposed so as to protrude at a predetermined height from the upper surface of the vacuum cleaner body 110. The first detection unit 120 is configured to detect obstacles such as walls located around the vacuum cleaner body 110 while the robot vacuum cleaner 100 is in a traveling or stopped state by irradiating a laser around the vacuum cleaner body 110. For example, the first detection unit 120 is configured with a LiDAR. A LiDAR is a device that emits a laser pulse, receives the light reflected back from a target object in the vicinity, and measures the distance to the object, thereby precisely depicting the surrounding conditions.

[0048] The second detection unit 130 is disposed at an incline with respect to the side and top of the upper corners of the vacuum cleaner body 110, respectively, so that it can capture both the side and the top of the vacuum cleaner body 110. For example, the second detection unit 130 is configured with a general photography camera. Also, the second detection unit 130 is disposed at an inclination α of, for example, 30° from the ground G. Furthermore, the inclination α of the second detection unit 130 disposed inside the vacuum cleaner body 110 is formed to be smaller than the inclination of the exterior of the vacuum cleaner body 110, so that interference with the laser irradiated from the first detection unit 120 can be minimized.

[0049] 5, the second detection unit 130 is disposed below the first detection unit 120 with respect to the up-down direction of the vacuum cleaner body 110. Furthermore, the first detection unit 120 is disposed behind the second detection unit 130. Meanwhile, the second detection unit 130 may be composed of one unit, or may be composed of multiple units spaced apart from each other.

[0050] Further, the second detection unit 130 includes a window 130' disposed to cover the second detection unit 130. The window 130' includes a filter (not shown) that selectively transmits infrared light, so that image information regarding the surrounding environment of the robot vacuum cleaner 100 can be provided to some extent even in a dark environment. The filter may be formed on the second detection unit 130 itself, instead of on the window 130'.

[0051] Further, second detection unit 130 includes a first camera unit 131 and a second camera unit 132 .

[0052] The first camera unit 131 and the second camera unit 132 are arranged at an angle on one side and the other side of the upper corner area of ​​the cleaner body 110, respectively, and are configured to capture both the side and the top of the cleaner body 110. The first camera unit 131 and the second camera unit 132 are arranged at positions symmetrical to the left and right with respect to the front center line CL of the cleaner body 110, as shown in FIG. 2. Therefore, the first camera 131 and the second camera 132 can capture a wider area of ​​the surrounding environment of the cleaner body 110, and as a result, the amount of information obtained using the images captured by the first camera 131 and the second camera 132 can be further increased. Note that the front of the robot cleaner 100 means the side on which the cleaner body 110 travels in the forward direction F, i.e., the front of the cleaner body 110, and the rear of the robot cleaner 100 [i.e., the reverse direction R opposite to the forward direction F] means the rear of the cleaner body 110.

[0053] The third detection unit 140 is disposed on the front surface of the cleaner body 110, and can detect the distance and direction of an obstacle located around the cleaner body 110 by emitting ultrasonic waves to the front periphery of the cleaner body 110 and then receiving the reflected ultrasonic waves. The third detection unit 140 is configured with a plurality of sensors as shown in Fig. 3. For example, the third detection unit 140 is configured with a total of six sensors, namely a first ultrasonic sensor 141, a second ultrasonic sensor 142, a third ultrasonic sensor 143, a fourth ultrasonic sensor 144, a fifth ultrasonic sensor 145, and a sixth ultrasonic sensor 146, which are disposed at symmetrical positions from the front center line CL of the cleaner body 110, and are disposed at symmetrical positions with a predetermined distance between them within a range of 60° to the left and right based on the front center line CL of the cleaner body 110.

[0054] The fourth detection unit 150 is disposed on the front surface of the vacuum cleaner body 110 and configured to capture an image in front of the vacuum cleaner body 110. The fourth detection unit 150 is also configured to capture a depth image including distance information on an object present in a capture area when the robot vacuum cleaner 100 is in a traveling or stopped state. This can improve the accuracy of obstacle detection performed by the fourth detection unit 150. For example, the fourth detection unit 150 can detect small and thin obstacles or thresholds located in front of the robot vacuum cleaner 100 using the depth image, and can also partially recognize black objects or transparent objects with low reflectivity. The image captured by the fourth detection unit 150 is acquired in color or black and white and used. The third detection unit 140 is also disposed below the fourth detection unit 150 with respect to the up-down direction of the vacuum cleaner body 110 as shown in FIG. 3.

[0055] Hereinafter, the areas and shapes detected by the first detection section 120, the second detection section 130, the third detection section 140, and the fourth detection section 150 will be described with reference to Figs.

[0056] Figures 6 and 7 are front and plan views conceptually showing the shape of the laser irradiated from the first detection unit 120 shown in Figure 1, Figure 8 is a conceptual diagram showing the range of the image captured by the second detection unit 130 shown in Figure 1, Figure 9 is an oblique view conceptually showing the shape of the ultrasound emitted from the third detection unit 140 shown in Figure 1, and Figure 10 is a cross-sectional view conceptually showing the range of the image captured by the fourth detection unit 150 shown in Figure 1.

[0057] 6 and 7, the first detection unit 120 is configured to irradiate a linear laser 120a in a 360-degree range around the first detection unit 120 and detect obstacles located within a predetermined detection distance, for example, 15 cm to 1100 cm, around the robot vacuum cleaner 100. The first detection unit 120 can detect surrounding obstacles by irradiating at intervals of 0.25 degrees within the 360-degree laser irradiation range.

[0058] Next, as shown in FIG. 8, the second detection unit 130 is configured to capture both the sides and the top of the vacuum cleaner body 110 from one side and the other side of the upper corner area of ​​the vacuum cleaner body 110, respectively, to obtain a first camera unit image 131a and a second camera unit image 132a.

[0059] 9, the third detection unit 140 can detect an obstacle located in the front vicinity of the cleaner body 110 by emitting ultrasonic waves to the front vicinity of the cleaner body 110 and receiving the reflected ultrasonic waves. For example, the third detection unit 140 has a detection distance in the range of 5 cm to 30 cm and forms an ultrasonic detection area 140a in the form shown in FIG.

[0060] 10, the fourth detector 150 is disposed such that an optical axis 150' of the fourth detector 150 is inclined toward the lower front side of the vacuum cleaner body 110. For example, the inclination β of the fourth detector 150 is inclined 10° toward the ground G.

[0061] In this way, the fourth detection unit 150 is configured to have a range in which an image including an area from the floor G to the height H of the top, i.e., an angle of view 150a, can be captured. For example, the image captured by the fourth detection unit 150 has an angle of view of 74 degrees (horizontal width), 58 degrees (vertical height), and 88 degrees (distance from scene to lens). In addition, the obstacle detection distance by the fourth detection unit 150 is formed to be in the range of 10 cm to 100 cm.

[0062] With this configuration of the fourth detection unit 150, as shown in FIG. 10, it is possible to reduce the dead zone D that occurs on the lower front side of the robot vacuum cleaner 100, and to detect obstacles on the floor G that exist in an area close to the robot vacuum cleaner 100, and to detect obstacles that exist at a height that the robot vacuum cleaner 100 cannot pass through on the upper front side of the robot vacuum cleaner 100.

[0063] Hereinafter, with reference to FIG. 11 and FIG. 12, a feature in which the detection functions of the first detection unit 120, the second detection unit 130, the third detection unit 140, and the fourth detection unit 150 complement each other will be described.

[0064] 11 and 12 are a perspective view and a side view conceptually showing the areas detected by the first detection unit 120, the second detection unit 130, the third detection unit 140, and the fourth detection unit 150 shown in FIG.

[0065] 11 and 12, first, the first detection unit 120 can only detect obstacles located at the same height as the first detection unit 120 is placed, and since it is a sensor that uses light such as a laser, it cannot detect dark objects or transparent objects that do not easily reflect light. Also, the second detection unit 130 may not be able to capture an image of an area outside the angle of view.

[0066] Furthermore, the third detection unit 140 can detect dark black objects and transparent objects such as glass, which are difficult to detect by optical sensors such as the first detection unit 120 and the fourth detection unit 150 because they do not reflect light easily. However, the third detection unit 140 has difficulty detecting objects made of cloth or sponge that absorb sound waves, objects with sharp corners, and objects that are 2 cm or thinner.

[0067] In addition, the fourth detection unit 150 is an optical sensor, and can detect obstacles located at the upper and lower ends of the front part of the robot vacuum cleaner 100. Furthermore, although it is an optical sensor, by using a depth image, it can detect the entire surface of an object, not just the edge surface, and can partially recognize dark objects with low reflectivity or transparent objects.

[0068] Here, the control unit can detect the current position of the robot vacuum cleaner 100 within the travel area by combining all or a part of the information measured by the first detection unit 120 and the image information captured by the first camera unit 131 and the second camera unit 132. For example, the control unit measures distance information to surrounding objects in an area that cannot be captured by the first camera unit 131 and the second camera unit 132 arranged on both the left and right sides of the top surface of the vacuum cleaner body 110 using the first detection unit 120, and uses the information to create data for position recognition of the robot vacuum cleaner 100.

[0069] In addition, the control unit of the robot vacuum cleaner 100 can detect an obstacle located around the vacuum cleaner body 110 by combining all or a part of the information measured by the first detection unit 120, the information measured by the third detection unit 140, and the image information captured by the fourth detection unit 150. For example, the fourth detection unit 150 using light can capture an image of the front of the vacuum cleaner body 110 and detect an obstacle that the third detection unit 140 using ultrasonic waves cannot detect. In addition, the fourth detection unit 140 can detect an obstacle located at the top and bottom ends of the front of the vacuum cleaner body that is difficult to detect by the first detection unit 120 that is disposed to protrude from the top surface of the vacuum cleaner body 110, and can complement the undetectable area of ​​the first detection unit 120.

[0070] According to the robot vacuum cleaner 100 of the present invention described above, by using different methods such as light and ultrasound and by using an optimized configuration and arrangement of the first detection unit 120, the second detection unit 130, the third detection unit 140, and the fourth detection unit 150 to detect different areas, the deficiencies in the detection functions of the first detection unit 120, the second detection unit 130, the third detection unit 140, and the fourth detection unit 150 can be complemented, so that the autonomous driving and obstacle avoidance performance of the robot vacuum cleaner 100 can be stably achieved even in environments with complex terrain and many obstacles, such as factories and offices, or in dark environments with little light. [Industrial Applicability]

[0071] The present invention is useful in the industrial field relating to robot vacuum cleaners having an autonomous driving function.

Claims

1. A vacuum cleaner body having a control unit for controlling autonomous driving; a first detection unit disposed to protrude from an upper surface of the vacuum cleaner body and configured to irradiate a laser in a 360-degree range around the vacuum cleaner body to detect an obstacle located around the vacuum cleaner body; A second detection unit is disposed at an incline with respect to a side surface and a top surface of the upper corner of the vacuum cleaner body, and captures images of both the side and the top of the vacuum cleaner body; a third detection unit disposed on a front surface of the vacuum cleaner body, emitting ultrasonic waves to a front periphery of the vacuum cleaner body and detecting an obstacle located in the front periphery of the vacuum cleaner body using the ultrasonic waves reflected therefrom; a fourth detection unit disposed on a front surface of the vacuum cleaner body, capturing an image in front of the vacuum cleaner body, and capturing a depth image including distance information relating to an object within a capturing area; The second detection unit is a first camera unit and a second camera unit, which are inclinedly disposed on one side and the other side of an upper corner region of the vacuum cleaner body, respectively, and capture both sides and an upper side of the vacuum cleaner body; The third detection unit is disposed below the fourth detection unit with respect to the up-down direction of the vacuum cleaner body, The control unit is Detecting a current position within a travel area by combining information measured by the first detection unit and image information captured by the first and second camera units, and The robot vacuum cleaner detects obstacles located around the vacuum cleaner body by combining information measured by the first detection unit, information measured by the third detection unit, and image information captured by the fourth detection unit.

2. The robot vacuum cleaner according to claim 1 , wherein the second detection unit is disposed below the first detection unit in a vertical direction of the vacuum cleaner body.

3. The robot vacuum cleaner according to claim 1 , wherein the first detection unit is disposed behind the second detection unit.

4. The robot vacuum cleaner according to claim 1 , wherein the first detection unit is configured to emit a linear laser and detect an obstacle located within a predetermined detection distance.

5. The robot cleaner according to claim 1 , wherein the third detection unit is composed of a plurality of third detection units, each of which is disposed at a position symmetrical on the left and right sides with respect to a front center line of the cleaner body.

6. 2. The robot vacuum cleaner according to claim 1, wherein the fourth detection unit is arranged with an optical axis inclined toward a front lower side of the vacuum cleaner body and has a range capable of capturing an image including an area from a floor to a height of a top of the vacuum cleaner body.

Images