Cleaning robot and method for controlling cleaning robot

Abstract

A cleaning robot according to an aspect of the disclosed invention includes: a main body; a wheel which moves the main body; an object detection sensor which detects the distance to an object and the height of the object; a memory which stores a cleaning space map including shape information of the object and surrounding environment information; and at least one processor which determines whether the object corresponds to a door sill on the basis of the height of the object detected by the object detection sensor, and the shape information of the object and the surrounding environment information, which are stored in the memory.

Description

Cleaning robot and control method of cleaning robot

[0001] The disclosed invention relates to a cleaning robot capable of detecting an object and a method for controlling the cleaning robot.

[0002] The cleaning robot can move within an indoor space, identify objects located within it, and generate a map of the space. Using this map, the cleaning robot can clean the indoor space. Additionally, the cleaning robot can collect environmental data of the indoor space. The cleaning robot can autonomously navigate the area to be cleaned and perform cleaning without user intervention.

[0003] Generally, cleaning robots apply algorithms that distinguish between obstacles to climb (e.g., carpets) and obstacles to avoid (e.g., general obstacles) when detecting obstacles along their path. However, in such cases, thresholds are not distinguished separately, which can lead to the robot indiscriminately moving between different spaces while cleaning, or failure to enter due to fall sensor detection while attempting to climb a threshold.

[0004] In addition, if a feature is provided that allows users to manually specify thresholds through applications, etc., users must have an understanding of the overall driving map and need to manually specify the location.

[0005] One aspect of the disclosed invention provides a cleaning robot and a control method thereof, wherein the cleaning robot can automatically detect a threshold while driving and establish an optimized driving plan according to the characteristics of the detected threshold.

[0006] In addition, the present invention provides a cleaning robot and a control method thereof that enable efficient cleaning by automatically determining whether it is possible to climb over a threshold based on the height of the threshold and setting a driving path accordingly.

[0007] The technical problems to be solved in this document are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this invention belongs from the description below.

[0008] A cleaning robot according to one aspect of the disclosed invention may include: a main body; a wheel for moving the main body; an object detection sensor for detecting a distance to an object and the height of the object; a memory for storing a cleaning space map including shape information of the object and surrounding environment information; and at least one processor for determining whether the object is a threshold based on the height of the object detected by the object detection sensor, the shape information of the object and surrounding environment information stored in the memory.

[0009] A control method for a cleaning robot according to one aspect of the disclosed invention may include: a main body and a wheel for moving the main body; and a control method for a cleaning robot comprising: detecting a distance to an object and the height of the object by an object detection sensor; and determining whether the object is a threshold based on the height of the object detected by the object detection sensor, shape information of the object stored in memory, and surrounding environment information.

[0010] FIG. 1 illustrates a cleaning robot according to one embodiment.

[0011] FIG. 2 illustrates the lower part of a cleaning robot according to one embodiment.

[0012] FIG. 3 illustrates a state in which a pad holder is separated from a cleaning robot according to one embodiment.

[0013] FIG. 4 is a drawing showing a control block diagram of a cleaning robot according to one embodiment of the present disclosure.

[0014] FIG. 5 is a flowchart illustrating a control method for a cleaning robot according to one embodiment of the present disclosure.

[0015] FIG. 6 is a drawing for illustrating various objects within a cleaning space according to one embodiment of the present disclosure.

[0016] FIG. 7 is a drawing for explaining whether there is a threshold according to the height of an object according to one embodiment of the present disclosure.

[0017] FIG. 8 is a flowchart illustrating the process of reducing the reference height according to an attempt to ascend a threshold according to one embodiment of the present disclosure.

[0018] FIG. 9 is a flowchart illustrating the process of changing a reference height according to user input in accordance with one embodiment of the present disclosure.

[0019] FIG. 10 is a flowchart illustrating the process of adding a threshold area according to user input according to one embodiment of the present disclosure.

[0020] FIG. 11 is a flowchart illustrating a process of deleting a threshold area according to user input according to one embodiment of the present disclosure.

[0021] FIG. 12 is a drawing illustrating the provision of a notification to an external device according to one embodiment of the present disclosure.

[0022] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0023] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0024] The singular form of the noun corresponding to an item may include one or plural items, unless the relevant context clearly indicates otherwise.

[0025] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0026] For example, "at least one of A, B and C" may represent A, B, C, a combination of A and B, a combination of A and C, a combination of B and C, or a combination of A, B and C.

[0027] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0028] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that the component may be connected to the other component directly (e.g., via a wire), wirelessly, or through a third component.

[0029] Terms such as “include” or “have” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0030] When it is said that one component is “connected,” “combined,” “supported,” or “in contact” with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0031] When it is said that a component is located “on” another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0032] The term “and / or” includes a combination of multiple related described components or any of the multiple related described components.

[0033] The operating principle and embodiments of the present invention will be described below with reference to the attached drawings.

[0034] FIG. 1 illustrates a cleaning robot according to one embodiment. FIG. 2 illustrates the lower part of a cleaning robot according to one embodiment. FIG. 3 illustrates a state in which a pad holder is separated from a cleaning robot according to one embodiment.

[0035] In the drawings, terms such as forward, rear, upward, downward, left, and right are defined based on the forward movement direction of the cleaning robot (1), and the shape and position of each component are not limited by these terms. Additionally, expressions designating directions are used to ensure that the present invention is clearly understood, and each direction may be defined differently.

[0036] Referring to FIGS. 1, 2 and 3, a cleaning robot (1) may include a main body (10) and a wheel (41) that is rotatably arranged around an axis horizontal to the ground and moves the main body (10). The main body (10) may include a case forming an outer shape. Multiple wheels (41) may be provided. For example, two main wheels (41) and an auxiliary wheel (42) may be provided at the bottom of the main body (10). The wheel (41) includes a wheel motor, and the wheel (41) may rotate by the rotational force generated by the wheel motor.

[0037] A brush (60) may be provided at the bottom of the main body (10). The brush (60) can scatter foreign matter present along the driving path of the main body (10). The brush (60) is provided in a suction port formed on the bottom surface of the main body (10) and scatters foreign matter into the suction port while rotating around a rotation axis perpendicular to the front of the main body (10). Inside the main body (10), a suction fan (61) that generates suction force for sucking in foreign matter and a dust container for storing foreign matter may be provided.

[0038] The cleaning robot (1) may include various sensors. For example, the cleaning robot (1) may include at least one of a camera (21), a LiDAR sensor (22), and an ultrasonic sensor (23). Various sensors may be provided on the main body (10). Various sensors may also be provided such that at least a portion of them is exposed to the outside of the main body (10). The camera (21), the LiDAR sensor (22), and the ultrasonic sensor (23) may be provided on the front, side, rear, and / or top of the main body (10).

[0039] A camera (21) may be provided at the front of the main body (10). The camera (21) may include a camera. The camera (21) may have a field of view (FOV) facing the front of the main body (10) and may generate an image. The position of the camera (21) is not limited to the front of the main body (10). The camera (21) may rotate and may capture the surroundings of the cleaning robot (1). Another camera may also be provided at the side and / or rear of the main body (10).

[0040] The camera (21) may include an image sensor that collects light incident from the outside to generate image information. For example, the camera (21) may include at least one of an RGB camera that collects visible light to generate a color image and an infrared camera that generates an infrared image. The camera (21) may include a binocular camera (stereo camera). The binocular camera can acquire depth information to an object by utilizing the disparity between the two eyes. The image information acquired by the camera (21) can be transmitted to the control unit (300) of the cleaning robot (1). The control unit (300) can process the image information to identify external objects. The control unit (300) can identify the type of floor to be cleaned from the image acquired by the camera (21).

[0041] A Lidar (Light detection and Ranging) sensor (22) can emit light (pulsed laser) outward and receive light in a preset direction among the light reflected from an external object. The Lidar sensor (22) can rotate 360 ​​degrees clockwise or counterclockwise. Since the Lidar sensor (22) can emit light and receive reflected light in 360 degrees, the cleaning robot (1) can detect external objects from all directions using the Lidar sensor (22).

[0042] Lidar data generated by the Lidar sensor (22) can be transmitted to the control unit (300) of the cleaning robot (1). The Lidar data may include information on the direction of light propagation and distance information to an external object. The control unit (300) can process the Lidar data to perform three-dimensional modeling of the indoor space. The control unit (300) can process the Lidar data to obtain three-dimensional data regarding an external object. The control unit (300) can identify the type of floor to be cleaned from the Lidar data obtained by the Lidar sensor (22).

[0043] The ultrasonic sensor (23) can emit ultrasonic waves and receive an echo signal reflected from an object. The control unit (300) of the cleaning robot (1) can identify the presence of an object based on ultrasonic data including the time difference between the ultrasonic waves emitted by the ultrasonic sensor (23) and the received echo signal, and can calculate the distance to the object. The control unit (300) can identify the type of floor to be cleaned from the ultrasonic data obtained by the ultrasonic sensor (23).

[0044] In addition to the examples provided, the cleaning robot (1) may be equipped with various sensors. For example, the cleaning robot (1) may further include at least one of an impact sensor that detects an impact with an external object, a motion sensor that detects the movement and rotation of the cleaning robot (1), a wheel sensor that detects the rotation and speed of the wheel (41), a Time-of-Flight (ToF) sensor that measures the distance to an external object, a Radio Frequency (RF) sensor, and a radar sensor.

[0045] The cleaning robot (1) may include a wet cleaning pad (30) and a pad holder (50). The wet cleaning pad (30) may refer to a wet mop. The wet cleaning pad (30) may be made of various materials (e.g., fabric, sponge, etc.). The wet cleaning pad (30) may be attached to the pad holder (50).

[0046] The pad holder (50) may be rotatably provided at the bottom of the main body (10). The wet cleaning pad (30) may rotate according to the rotation of the pad holder (50). Wet cleaning of the floor may be performed by the wet cleaning pad (30) coming into close contact with the floor being cleaned and rotating. The wet cleaning pad (30) and the pad holder (50) may be formed in the shape of a disc.

[0047] Wet cleaning pads (30) and pad holders (50) may each be provided in two. For example, the first wet cleaning pad (30a) and the first pad holder (50a) may be located on the lower right side of the main body (10). The second wet cleaning pad (30b) and the second pad holder (50b) may be located on the lower left side of the main body (10). The number of wet cleaning pads (30) and pad holders (50) may vary depending on the design.

[0048] The pad holder (50) may include a holder body (51) and a rotating plate (52). Velcro for attaching a wet cleaning pad (30) may be provided on at least a portion of the lower surface of the holder body (51). The holder body (51) and the rotating plate (52) may be detachably coupled. The rotating plate (52) may rotate according to the operation of a motor (80) described later. As the rotating plate (52) rotates, the holder body (51) may rotate together with it. The holder body (51) and the rotating plate (52) may each be formed in the shape of a disc.

[0049] The pad holder (50) can descend toward the floor as it rotates in a predetermined forward direction. The pad holder (50) can ascend toward the main body (10) as it rotates in a reverse direction opposite to the forward direction. A lifting assembly (100) that enables the lowering or raising of the pad holder (50) may be provided.

[0050] Additionally, when a plurality of pad holders (50) are provided, a plurality of lifting assemblies (100) corresponding to the plurality of pad holders (50) may be provided. For example, the cleaning robot (1) may include a first lifting assembly (100a) that lowers or raises a first pad holder (50a) and a second lifting assembly (100b) that lowers or raises a second pad holder (50b). The first lifting assembly (100a) and the second lifting assembly (100b) may have the same structure.

[0051] FIG. 4 is a drawing showing a control block diagram of a cleaning robot according to one embodiment of the present disclosure.

[0052] As described above, the cleaning robot (1) may include a camera (21), a LiDAR sensor (22), an ultrasonic sensor (23), a wheel (41), a brush (60), and a suction fan (61).

[0053] Additionally, the cleaning robot (1) may include an object detection sensor (20) for detecting objects, a communication unit (90) for communicating with an external device, and a control unit (300). The control unit (300) may include at least one processor (301) and a memory (302).

[0054] The communication unit (90) may include at least one of a short-range communication module or a long-range communication module.

[0055] The communication unit (90) can transmit data to an external device (e.g., a server, a user device and / or a home appliance) or receive data from an external device. For example, the communication module can establish communication with a server and / or a user device and / or a home appliance and transmit and receive various data.

[0056] To this end, the communication unit (90) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and the performance of communication through the established communication channel. According to one embodiment, the communication unit (90) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a GNSS (global navigation satellite system) communication module) or a wired communication module (e.g., a LAN (local area network) communication module, or a power line communication module). The corresponding communication module among these communication modules may communicate with an external device through a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0057] A short-range wireless communication module may include, but is not limited to, Bluetooth communication modules, BLE (Bluetooth Low Energy) communication modules, Near Field Communication modules, WLAN (Wi-Fi) communication modules, Zigbee communication modules, infrared (IrDA, infrared Data Association) communication modules, WFD (Wi-Fi Direct) communication modules, UWB (ultrawideband) communication modules, Ant+ communication modules, microwave (uWave) communication modules, etc.

[0058] The long-distance communication module may include a communication module that performs various types of long-distance communication and may include a mobile communication unit. The mobile communication unit transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0059] In one embodiment, the communication unit (90) can communicate with external devices such as a server, user device, and other home appliances through a nearby access point (AP). The access point (AP) can connect a local network (LAN) to which the cleaning robot (1) or user device is connected to a wide area network (WAN) to which the server is connected. The cleaning robot or user device can be connected to the server through the wide area network (WAN).

[0060] The control unit (300) may include a memory (302) that stores a control program and control data for controlling a driving unit (40), a brush (60), or a suction fan (61), and at least one processor (301) that generates a control signal according to the control program and control data stored in the memory (302). The memory (302) and the processor (301) may each be implemented as separate chips. The processor (301) may include one or more processor chips or one or more processing cores. The memory (302) may include one or more memory chips or one or more memory blocks. Additionally, the memory (302) and the processor (301) may be implemented as a single chip.

[0061] The memory (302) can store programs and data for controlling the drive unit (40), brush (60), or suction fan (61), etc. Additionally, the memory (302) can store a cleaning space map including object shape information and surrounding environment information, as described below.

[0062] The memory (302) may include volatile memory such as S-RAM (Static Random Access Memory, S-RAM) and D-RAM (Dynamic Random Access Memory) for temporarily storing data. Additionally, the memory (302) may include non-volatile memory such as ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory) for long-term data storage.

[0063] The processor (301) may include various logic circuits and arithmetic circuits, process data according to a program provided from memory (302), and generate control signals according to the processing result.

[0064] When a method according to at least one embodiment of the present disclosure includes a plurality of operations, the plurality of operations may be performed by a single processor or by a plurality of processors. For example, when a first operation, a second operation, and a third operation are performed by a method according to at least one embodiment, the first operation, the second operation, and the third operation may all be performed by a first processor, or the first operation and the second operation may be performed by a first processor (e.g., a general-purpose processor) and the third operation may be performed by a second processor (e.g., an artificial intelligence dedicated processor).

[0065] The control unit (300) can be electrically connected to various sensors (20, 21, 22, 23), a driving unit (40), a communication unit (90), etc.

[0066] The cleaning robot (1) may include an object detection sensor (20) that detects objects. Here, the object detection sensor may be a 3D sensor.

[0067] A 3D sensor is a sensor capable of acquiring not only the distance to a target object but also depth information in three-dimensional space. Depending on the operating method, 3D sensors can be broadly classified into Time of Flight (TOF) and Structured Light methods.

[0068] TOF-type 3D sensors emit pulsed infrared or laser light and can calculate distance by measuring the time it takes for this light signal to be reflected back from an object. In other words, by measuring the time it takes for a light signal emitted from the sensor to reach an object, be reflected, and return to the sensor, distance to the object and 3D shape information can be obtained.

[0069] Structured light 3D sensors can obtain three-dimensional information by projecting infrared rays with a specific pattern and analyzing the distortion of the pattern projected onto an object. That is, the way the projected pattern is distorted on the surface of an object is captured by an image sensor, and the depth and shape of the object can be calculated by analyzing the degree of this distortion.

[0070] The object detection sensor (20) can detect the distance to the object and the height of the object through this process.

[0071] At least one processor (301) can determine whether an object is a threshold (whether it corresponds to a threshold) based on the height of the object detected by the object detection sensor (20), the shape information of the object stored in memory (302), and the surrounding environment information. Details regarding this will be described later.

[0072] FIG. 5 is a flowchart illustrating a control method of a cleaning robot according to one embodiment of the present disclosure, FIG. 6 is a drawing for explaining various objects within a cleaning space according to one embodiment of the present disclosure, and FIG. 7 is a drawing for explaining whether there is a threshold based on the height of an object according to one embodiment of the present disclosure.

[0073] As described above, the object detection sensor can detect the distance to an object and the height of the object. As illustrated in FIG. 6, it can detect the distance and height to various objects (O1, O2, O3).

[0074] Object 1 (O1) may be an object that the cleaning robot (1) can climb over, for example, a carpet, and Object 2 (O2) may be an obstacle that the cleaning robot (1) cannot climb over, for example, a chest of drawers. Object 3 (O3) may be a threshold.

[0075] At least one processor (301) can determine whether an object is a threshold based on the height of the object, shape information of the object stored in memory (302), and surrounding environment information.

[0076] As described above, the cleaning robot (1) may include various sensors such as an object detection sensor (20), a camera (21), a LiDAR sensor (22), and an ultrasonic sensor (23). Based on the detection results of these sensors, information about the surrounding environment may be obtained. For example, information regarding whether there is a wall around an object may be included.

[0077] Additionally, shape information of an object may be obtained by an object detection sensor (20). Here, the shape information of the object may include information regarding the width or width of the object. At this time, information regarding the general width and width of the threshold may be stored in the memory (302).

[0078] At least one processor (301) can determine whether an object is a threshold based on information regarding whether there is a wall around the object and the width or length of the object.

[0079] In addition, regarding the height of an object, at least one processor can determine whether an object is a threshold based on whether the height of the object is less than a reference height.

[0080] Here, the reference height can be set to an appropriate value to determine the threshold over which the cleaning robot (1) can climb.

[0081] Object 3 (O3) in FIG. 6 has walls around it and can correspond to the width and width of a threshold in which width and width information is stored in memory. Additionally, as in FIG. 7 (a), if the height (I1) of Object 3 (O3) is less than a reference height, Object 3 (O3) can be determined to be a threshold.

[0082] In addition, as shown in Fig. 7 (b), if the height (23) of object 3 (O3) is greater than the reference height, object 3 (O3) can be determined to be an obstacle rather than a threshold.

[0083] In this way, it is possible to determine whether a specific object is a threshold based on information about the object's surrounding environment, its shape, and its height.

[0084] At least one processor (301) can reset the driving path of the cleaning robot (1) based on whether the object is a threshold (505). For example, after completing all cleaning operations in the cleaning space (R), the driving path can be reset to cross the threshold and move to another cleaning space.

[0085] At least one processor (301) can transmit information regarding the result of determining whether an object is a threshold and information regarding the reset driving path to an external device through the communication unit (90) (507).

[0086] FIG. 8 is a flowchart illustrating a process of reducing a reference height according to an attempt to ascend a threshold according to one embodiment of the present disclosure, and FIG. 9 is a flowchart illustrating a process of changing a reference height according to user input according to one embodiment of the present disclosure.

[0087] At least one processor (301) can control an attempt to ascend to an object determined by a threshold (801).

[0088] However, even if an object is determined to be a threshold, there may be cases where it cannot be overcome depending on surrounding environmental factors.

[0089] Therefore, at least one processor (301) can reduce the reference height for determining an object as a threshold if the climbing of the object determined to be a threshold fails more than a reference number of times (e.g., 803). That is, the reference height can be reduced because the previously set reference height is too high for the cleaning robot (1) to climb.

[0090] At least one processor (301) can determine whether an object is a threshold based on a reduced reference height and reset the driving path of the cleaning robot (1) based on the result of the determination (807).

[0091] In addition to being automatically changed upon failure of the aforementioned attempt to climb, this standard height may also be changed based on input from users, etc.

[0092] That is, at least one processor (301) can change the reference height based on a command (901) to change the reference height received from an external device through a communication unit (903).

[0093] FIG. 10 is a flowchart illustrating a process of adding a threshold area according to user input according to one embodiment of the present disclosure, and FIG. 11 is a flowchart illustrating a process of deleting a threshold area according to user input according to one embodiment of the present disclosure.

[0094] At least one processor (301) can respond to receiving input from an external device to add a threshold area (1001) and determine whether the object in the added threshold area is a threshold based on the height of the object in the added threshold area (1003).

[0095] That is, by performing a process to determine whether the aforementioned object is a threshold, it is possible to determine whether the object in the added threshold area is a threshold.

[0096] At least one processor (301) can reset the driving path of the cleaning robot (1) based on whether the object is a threshold (1005).

[0097] In addition, at least one processor (301) can respond to receiving an input from an external device to delete a threshold area (1001), determine the object of the deleted threshold area as an obstacle, and reset the driving path of the cleaning robot (1) based thereon (1003).

[0098] FIG. 12 is a drawing illustrating the provision of a notification to an external device according to one embodiment of the present disclosure.

[0099] As described above, at least one processor (301) can transmit information regarding the result of determining whether an object is a threshold and information regarding the reset driving path to an external device through the communication unit (90).

[0100] That is, information regarding the result of a specific object being detected as a threshold, information regarding whether or not the threshold can be crossed, or information regarding a driving path reset based on the determination that the object is a threshold, etc., can be transmitted to an external device such as a user terminal through the communication unit (90).

[0101] In addition, various information, such as information regarding changes in the reference height, information regarding the driving path reset according to the change in the reference height, and information regarding changes due to the addition / deletion of the threshold area, can be transmitted to an external device such as a user terminal through the communication unit (90).

[0102] Accordingly, a notification with a phrase such as "A threshold has been detected and the driving route is being reset" may be provided to external devices such as the user's smartphone.

[0103] These notification messages are merely examples, and notifications may be provided in various forms, such as information being displayed in applications installed on user devices.

[0104] Accordingly, users can easily obtain information regarding thresholds, which can increase user convenience.

[0105] A cleaning robot according to one embodiment may include: a main body; a wheel for moving the main body; an object detection sensor for detecting the distance to an object and the height of the object; a memory for storing a cleaning space map including shape information of the object and surrounding environment information; and at least one processor for determining whether the object is a threshold based on the height of the object detected by the object detection sensor, the shape information of the object stored in the memory, and the surrounding environment information.

[0106] According to the present disclosure, a cleaning robot can automatically detect a threshold while driving and establish an optimized driving plan based on the characteristics of the detected threshold.

[0107] In addition, efficient cleaning can be achieved by automatically determining whether entry is possible based on the height of the threshold and setting a driving path accordingly.

[0108] The above at least one processor can determine whether the object is a threshold based on whether the height of the object is less than a reference height.

[0109] The above at least one processor may reduce the reference height if the ascent to the object determined to be the threshold fails more than a reference number of times.

[0110] The above at least one processor can determine whether the object is a threshold based on the reduced reference height and reset the driving path of the cleaning robot based on the result of the determination.

[0111] It further includes a communication unit that performs communication with an external device; and the at least one processor can change the reference height based on a command to change the reference height received from the external device through the communication unit.

[0112] The system further includes a communication unit that performs communication with an external device; and the at least one processor can determine whether an object in the added threshold area is a threshold based on the height of the object in the added threshold area in response to receiving an input from the external device to add a threshold area.

[0113] The above at least one processor can, in response to receiving an input from the external device to delete a threshold area, determine an object of the deleted threshold area as an obstacle and reset the driving path of the cleaning robot based thereon.

[0114] The above at least one processor can reset the driving path of the cleaning robot based on determining whether the object is a threshold.

[0115] The shape information of the above object may include information regarding the width or width length of the above object.

[0116] The above surrounding environment information may include information regarding the presence or absence of walls around the object.

[0117] The system further includes a communication unit that performs communication with an external device; and the at least one processor can transmit information regarding the result of determining whether the object is a threshold and information regarding the reset driving path to the external device through the communication unit.

[0118] A control method for a cleaning robot according to one embodiment may include: a main body and a wheel for moving the main body; and, in the control method for a cleaning robot, detecting the distance to an object and the height of the object by an object detection sensor; and determining whether the object is a threshold based on the height of the object detected by the object detection sensor, shape information of the object stored in memory, and surrounding environment information.

[0119] Determining whether the above object is a threshold may include determining whether the object is a threshold based on whether the height of the above object is less than a reference height.

[0120] It may further include reducing the reference height if the ascent to the object determined to be the threshold fails more than a reference number of times.

[0121] It may further include re-determining whether the object is a threshold based on the reduced reference height; and resetting the driving path of the cleaning robot based on the result of the re-determination.

[0122] Communicating with an external device; and changing the reference height based on a command to change the reference height received from the external device; further comprising

[0123] It may further include communicating with an external device; and, in response to receiving an input from the external device to add a threshold area, determining whether an object in the added threshold area is a threshold based on the height of the object in the added threshold area.

[0124] In response to receiving an input from the external device to delete a threshold area, the method may further include determining an object in the deleted threshold area as an obstacle and resetting the driving path of the cleaning robot based thereon.

[0125] It may further include resetting the driving path of the cleaning robot based on whether the above object is a threshold.

[0126] The shape information of the above object may include information regarding the width or width length of the above object.

[0127] The above surrounding environment information may include information regarding the presence or absence of walls around the object.

[0128] It may further include transmitting to an external device information regarding the result of determining whether the above object is a threshold and information regarding the reset driving path.

[0129] According to one aspect of the disclosed invention, a cleaning robot can automatically detect a threshold while driving and establish an optimized driving plan based on the characteristics of the detected threshold.

[0130] In addition, efficient cleaning can be achieved by automatically determining whether entry is possible based on the height of the threshold and setting a driving path accordingly.

[0131] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0132] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0133] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively.

Claims

1. Main body; A wheel that moves the above main body; An object detection sensor that detects the distance to an object and the height of the object; A memory storing a cleaning space map including shape information of the object and surrounding environment information; and A cleaning robot comprising at least one processor that determines whether an object corresponds to a threshold based on the height of the object detected by the object detection sensor, shape information of the object stored in the memory, and surrounding environment information.

2. In Paragraph 1, The above-mentioned at least one processor is, A cleaning robot that determines whether the object corresponds to a threshold based on whether the height of the object is less than a reference height.

3. In Paragraph 2, The above-mentioned at least one processor is, A cleaning robot that reduces the reference height if the ascent to an object determined to correspond to the above threshold fails more than a reference number of times.

4. In Paragraph 3, The above-mentioned at least one processor is, A cleaning robot that determines whether the object corresponds to a threshold based on the above-determined reduced reference height, and resets the driving path of the cleaning robot based on the result of the determination.

5. In Paragraph 2, A communication unit that performs communication with an external device; further comprising, The above-mentioned at least one processor is, A cleaning robot that changes the reference height based on a command to change the reference height received from the external device through the communication unit.

6. In Paragraph 1, A communication unit that performs communication with an external device; further comprising, The above-mentioned at least one processor is, A cleaning robot that, in response to receiving an input to add a threshold area from the above external device, determines whether an object in the added threshold area corresponds to a threshold based on the height of the object in the added threshold area.

7. In Paragraph 6, The above-mentioned at least one processor is, A cleaning robot that, in response to receiving an input from the above external device to delete a threshold area, determines an object in the deleted threshold area as an obstacle and resets the driving path of the cleaning robot based thereon.

8. In Paragraph 1, The above-mentioned at least one processor is, A cleaning robot that resets the driving path of the cleaning robot based on whether the above object corresponds to a threshold.

9. In Paragraph 1, The shape information of the above object is, A cleaning robot including information regarding the width or width length of the above object.

10. In Paragraph 1, The above surrounding environment information is, A cleaning robot including information regarding the presence or absence of walls around the object.

11. In Paragraph 8, A communication unit that performs communication with an external device; further comprising, The above-mentioned at least one processor is, A cleaning robot that transmits information regarding the result of determining whether the above object corresponds to a threshold and information regarding the reset driving path to the external device through the communication unit.

12. A control method for a cleaning robot comprising a main body and a wheel for moving the main body, Detecting the distance to an object and the height of the object by an object detection sensor; A control method for a cleaning robot comprising: determining whether an object corresponds to a threshold based on the height of the object detected by the object detection sensor, shape information of the object stored in memory, and surrounding environment information.

13. In Paragraph 12, Determining whether the above object corresponds to a threshold is, A control method for a cleaning robot comprising determining whether the object corresponds to a threshold based on whether the height of the object is less than a reference height.

14. In Paragraph 13, A control method for a cleaning robot further comprising: reducing the reference height if the ascent to an object determined to be the threshold fails more than a reference number of times.

15. In Paragraph 14, Based on the above reduced reference height, re-determine whether the object corresponds to a threshold; A control method for a cleaning robot further comprising resetting the driving path of the cleaning robot based on the above recrystallization result.

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