KR101534005B1 - System for cleaning user defined area using cleaning robot and method thereof - Google Patents

Abstract

A system and method for cleaning a user defined area using a cleaning robot according to the present invention are disclosed. A system for cleaning a user-defined area according to the present invention includes: an input unit configured to receive information on at least one area designated by a user based on a pre-generated map, calculate coordinate values corresponding to the input area, A cleaning robot for sequentially performing cleaning based on coordinate values corresponding to at least one area based on coordinate values; And a user equipment for receiving at least one area on the map in cooperation with the cleaning robot.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a system for cleaning a user-defined area using a cleaning robot,

The present invention relates to a cleaning robot, and more particularly, to a cleaning robot which, when a specific area is designated on a map created by a robot using a user equipment linked to a cleaning robot, And more particularly to a system and method for cleaning a user defined area using a cleaning robot for performing cleaning on the user area.

In general household cleaning, cleaning performance may be different according to the members' tendency, but it can be divided into two types. For example, it can be divided into a cleaning area for a periodically performed whole area and a cleaning area for a specific area, such as a living room or a room, which may frequently occur according to a specific situation.

Today, most cleaning robots place a great deal of weight on periodic cleaning.

The basic cleaning methods of these cleaning robots have a function of performing a global cleaning for a given space, and concentrating only a specific area separately.

However, in order to use the concentrated cleaning method, the user has to move the robot directly to the corresponding place, and the user has to engage in the movement for charging after completion of the cleaning. This is a merit of the cleaning robot based on the user's minimum intervention .

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a cleaning robot, which uses a user equipment to designate a specific area on a map created by a robot, And a method for cleaning a user-defined area using a cleaning robot that performs cleaning for a specific area corresponding to the user area.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a system for cleaning a user-defined area according to an aspect of the present invention, comprising: a controller for receiving information on at least one area designated by a user based on a pre- A cleaning robot for sequentially performing cleaning on the basis of coordinate values corresponding to at least one area based on the coordinate values calculated by calculating corresponding coordinate values; And a user equipment operatively associated with the cleaning robot and receiving at least one area on the map.

Preferably, the cleaning robot acquires data through various sensors installed inside or outside, and generates and updates a map of the entire area to be cleaned while moving within a predetermined space based on the acquired data .

Preferably, the cleaning robot calculates coordinate values corresponding to at least one region from the received information, and assigns at least one coordinate value based on the coordinate values corresponding to the calculated at least one region, And sequentially performs the cleaning of the at least one area based on the coordinate value, the ranking, and the movement path corresponding to the calculated at least one area.

Preferably, the cleaning robot calculates a coordinate value corresponding to at least one area from the input information, a given rank, a movement path between at least one area, a coordinate value corresponding to the calculated at least one area, And sequentially cleaning the at least one area based on the position, the position, and the movement path.

Preferably, the area designated by the user is an area including all points having the same index as one point designated by the user.

Preferably, the area designated by the user is a polygonal area connected to at least three points.

According to another aspect of the present invention, there is provided a system for cleaning a user-defined area, comprising: communication means for receiving information on at least one area designated by a user based on a pre-generated map in cooperation with a user equipment; A controller for calculating a coordinate value corresponding to the input area and sequentially performing cleaning based on the coordinate value corresponding to at least one area based on the calculated coordinate value; And sensing means for acquiring various data necessary for generating the map through various sensors installed inside or outside and providing the data obtained to the control means.

Preferably, the control means calculates coordinate values corresponding to at least one area from the input information and an assigned rank, and calculates at least one coordinate value based on the coordinate value corresponding to the calculated at least one area and the assigned rank And sequentially performs the cleaning of the at least one area based on the coordinate value, the ranking, and the movement path corresponding to the calculated at least one area.

Preferably, the control means calculates a coordinate value corresponding to at least one region from the input information, a given rank, a movement path between at least one region, a coordinate value corresponding to the calculated at least one region, And sequentially cleaning the at least one area based on the position, the position, and the movement path.

Preferably, the area designated by the user is an area including all points having the same index as one point designated by the user.

Preferably, the area designated by the user is a polygonal area connected to at least three points.

According to another aspect of the present invention, there is provided a method for cleaning a user defined area, the method comprising: receiving information on at least one area designated by a user based on a pre-generated map in association with a user equipment; Calculating a coordinate value corresponding to the input area and controlling the coordinate value based on the calculated coordinate value to sequentially perform cleaning based on a coordinate value corresponding to at least one area; And controlling to return to the predefined point when the execution of the cleaning is completed.

Preferably, the controlling step may include calculating coordinate values corresponding to at least one area from the input information, and assigning the coordinates to the at least one area based on the coordinate values corresponding to the calculated at least one area, And sequentially performs cleaning for the at least one area on the basis of coordinate values, a ranking, and a movement path corresponding to the calculated at least one area.

Preferably, the controlling step may include calculating coordinate values corresponding to at least one region from the input information, a given rank, a movement path between at least one region, and calculating a coordinate value corresponding to the calculated at least one region , Ranking, and movement path for the at least one area.

Preferably, the area designated by the user is an area including all points having the same index as one point designated by the user.

Preferably, the area designated by the user is a polygonal area connected to at least three points.

A method for cleaning a user-defined area according to the present invention includes generating various data necessary for generating the map through various sensors installed inside or outside, and generating or updating the map based on the obtained data Step < / RTI >

Accordingly, when a specific area is designated on a map created by the robot using the user equipment linked to the cleaning robot, the cleaning is performed on the specific area based on the coordinate value corresponding to the designated specific area Thus, the cleaning of the area can be automatically performed with a minimum intervention of the user.

In addition, the present invention has the effect of improving the convenience of the user because the cleaning of the corresponding area is automatically performed through the robot with the minimum intervention of the user.

1 is a diagram of a system for cleaning a user defined area in accordance with an embodiment of the present invention.
FIGS. 2A and 2B are views showing a coordinate system used by the cleaning robot according to an embodiment of the present invention.
3 is a view showing a detailed configuration of a cleaning robot according to an embodiment of the present invention.
Figure 4 is a first diagram illustrating a method for cleaning a user defined area in accordance with an embodiment of the present invention.
5A and 5B are diagrams for explaining the principle of setting a user specified area according to an embodiment of the present invention.
6 is a view for explaining a moving path of a cleaning robot according to an embodiment of the present invention.
7 is a view for explaining a cleaning process of the cleaning robot according to an embodiment of the present invention.
Figure 8 is a second diagram illustrating a method for cleaning a user defined area in accordance with one embodiment of the present invention.

Hereinafter, a system and method for cleaning a user-specified area using a cleaning robot according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present invention.

In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.

In particular, in the present invention, when a specific area is designated on a map created by a robot using a user equipment linked to a cleaning robot, cleaning is performed on the specific area based on coordinate values corresponding to the designated specific area We propose a new scheme.

1 is a diagram of a system for cleaning a user defined area in accordance with an embodiment of the present invention.

As shown in FIG. 1, a system for cleaning a user-defined area according to the present invention may include a cleaning robot 110, a user device 120, and the like.

The cleaning robot 110 may be installed in an entire area to be cleaned in a predetermined space, for example, a home, a public institution, or a company, based on data acquired through various sensors installed inside or outside, such as a camera, a laser scanner, ≪ / RTI >

Here, the acquired data represents all information that can recognize the place, such as coordinate information and image information.

The cleaning robot 110 may generate a map using, for example, SLAM (Simultaneous Localization and Mapping) technology. Here, slam technology refers to a technology that makes a position recognition with an existing map, or a technique of making a map by knowing a location, and simultaneously performing a position grasp and a guidance construction to complement each other.

At this time, the map may distinguish between a cleanable area and a non-cleanable area. The area that can be cleaned can be divided into a plurality of areas according to the purpose or purpose again, and a plurality of divided areas can be given predetermined indexes as well as coordinate values.

For example, each point in the cleanable area on the map has a value of (x, y, index). This index can be set by the user or set by the cleaning robot.

The cleaning robot 110 can continuously update the map based on the measured values using various sensors every time the cleaning robot moves while moving a specific region even after generating the map.

The cleaning robot 110 receives at least one specific area designated by the user on the basis of the generated map, calculates coordinate values corresponding to the specific area input and calculates at least one corresponding specific coordinate value based on the calculated coordinate values Area, and sequentially perform cleaning based on coordinate values corresponding to at least one specific area moved.

The cleaning robot 110 receives a movement path between at least one specific area and a specific area designated by the user based on the created map, calculates a coordinate value corresponding to the specific area and the movement path inputted, Based on the coordinate values corresponding to the at least one specific region, and sequentially perform cleaning based on the coordinate values corresponding to the at least one specific region.

At this time, the specific area to be cleaned by the cleaning robot 110 may be set using an index corresponding to the area, or may be displayed and set by the user directly on the map.

The cleaning robot 110 compares measured values using various sensors and pre-generated maps, converts the current position into position coordinates (x, y) on the map according to the comparison result, 110 to the user.

The user device 120 can transmit and receive various data in cooperation with the cleaning robot 110. The user device 120 receives map information from the cleaning robot 110 and receives a specific area designated by the user based on the provided map information.

The user device 120 may be a device capable of interlocking with the cleaning robot 110 through wire communication or wireless communication and may be a smart phone, a tablet PC, a personal digital assistant (PDA) It can be a comprehensive concept.

In particular, the user device 120 is preferably interlocked with the cleaning robot 110 through short-range wireless communication such as Bluetooth, Radio Frequency Identification (RFID), or ZigBee.

FIGS. 2A and 2B are views showing a coordinate system used by the cleaning robot according to an embodiment of the present invention.

Referring to FIG. 2A, the cleaning robot according to the present invention registers a cleaning start point or an initial starting point as an origin, and obtains a coordinate value of a moving point around the origin.

Generally, since the charging station of the cleaning robot is fixed in one place, the coordinate of the point where the charging station is located at the starting point of the charging station becomes the origin (0, 0).

Referring to FIG. 2B, the cleaning robot according to the present invention obtains the coordinate value of the moving point based on the origin on the coordinate system at the start of cleaning or at the initial start.

At this time, the reference point of the position information may be different according to the map generation and management algorithm.

3 is a view showing a detailed configuration of a cleaning robot according to an embodiment of the present invention.

3, the cleaning robot 110 according to the present invention includes a communication unit 111, a sensing unit 112, a control unit 113, a storage unit 114, a driving unit 115, And the like.

The communication unit 111 can transmit and receive various data in cooperation with the user equipment. For example, the communication unit 111 may transmit the generated map information to the user equipment, and receive coordinate values for at least one specific area and the movement path to be cleaned from the user equipment.

The sensing means 112 may be a sensor, for example, a camera, a laser scanner, or an ultrasonic sensor mounted inside or outside, and may store data on a surrounding environment such as a point cloud, Can be obtained.

The control means 113 may generate a map based on the data obtained from the sensing means 112. The control means 113 calculates a coordinate value corresponding to at least one specific region in the map and the specific region and the movement route input from the movement route between the specific region and the specified movement region, It can be controlled to perform cleaning.

The storage means 114 may store the generated map and the coordinate values of the respective points in the map. Here, (x, y) or (x, y, index) can be stored as coordinate values of each point.

The driving means (115) can drive the cleaning robot under the control of the control means (113). That is, the driving means 115 may be driven to perform the movement or cleaning of the cleaning robot.

Figure 4 is a first diagram illustrating a method for cleaning a user defined area in accordance with an embodiment of the present invention.

4, the user device 120 according to the present invention receives the map information generated from the cleaning robot in cooperation with the cleaning robot 110 (S410), and displays the map information on the screen based on the received map information A map for a predetermined space, for example, a home, a public agency, a company, etc. may be displayed (S420).

Next, the user device 120 receives information on an area (hereinafter, referred to as a user-designated area) and a ranking designated by at least one user to be cleaned on the displayed map (S430) and receives at least one user- , And may provide information about the ranking to the cleaning robot 110 (S440).

In this case, the user-specified area may be an area including all the points having the same index as one point designated by the user, or a polygonal area connected to a plurality of points, for example, three or more points.

In addition, when there are a plurality of user-specified areas, the user can assign ranking.

Next, the cleaning robot 110 calculates coordinate values and assigned ranks of the user-specified area from the provided information (S450), and based on the calculated coordinate values and the assigned ranks of the calculated user- (S460).

That is, when the cleaning robot 110 does not receive the movement path from the user, the cleaning robot 110 calculates the movement path between the user specified areas based on the rank assigned to the user specified area.

Next, the cleaning robot 110 may sequentially perform cleaning of at least one user-specified area based on the coordinate values, the assigned ranks, and the movement path of the calculated user-specified area (S470).

At this time, the cleaning robot 110 performs cleaning by a predetermined cleaning method for at least one user-designated area, for example, a random driving method, a spiral driving method, a mixed driving method, or the like.

Next, when the cleaning robot 110 completes the cleaning of at least one user-specified area, the cleaning robot 110 may return to the original point or the designated point (S480).

In addition, the cleaning robot 110 updates the map based on data acquired through various sensors installed inside or outside, such as a camera, a laser scanner, and an ultrasonic sensor.

5A to 5C are views for explaining a user specifying area according to an embodiment of the present invention.

5A, there is shown a case where an area including all points (xn, xn, room1) having the same index room1 as one point (x1, y1, room1) .

Referring to FIG. 5B, an area connected with a plurality of points (x1, y1), (x2, y2), (x3, y3), (x4, y4), (x5, y5) Is set as a user specified area.

6 is a view for explaining a moving path of a cleaning robot according to an embodiment of the present invention.

As shown in FIG. 6, the cleaning robot moves to a user-designated area according to a movement route at a designated place, performs cleaning in a predetermined cleaning method in a user-designated area, Can be moved.

At this time, the movement of the cleaning robot may be directly moved using a remote controller, moved using a connection with a user equipment, or a method in which a user directly lifts the robot. In the present invention, a method of moving by using a connection with a user equipment is used.

7 is a view for explaining a cleaning process of the cleaning robot according to an embodiment of the present invention.

Referring to FIG. 7, when a user assigns a ranking to a plurality of user-specified areas, the user sequentially moves to a plurality of user-specified areas, for example, five user-designated areas 1, 2, Cleaning can be performed in the corresponding custom area.

That is, the cleaning robot moves from the pre-designated point to the user-designated area 1, performs cleaning, moves to the user-designated area 2 to perform cleaning, moves to the user-designated area 3 to perform cleaning, Moves to the user-designated area 5, performs cleaning, and then returns to the designated point.

Figure 8 is a second diagram illustrating a method for cleaning a user defined area in accordance with one embodiment of the present invention.

As shown in FIG. 8, the user device 120 according to the present invention receives map information generated from the cleaning robot in cooperation with the cleaning robot 110 (S810) and displays the map information on the screen based on the received map information A map of a predetermined space, for example, a home, can be displayed (S820).

Next, the user device 120 receives information on an area (hereinafter, referred to as a user designated area), a ranking, and a movement path designated by at least one user to be cleaned on the displayed map (S830) Information about the user-specified area, the ranking, and the movement route to the cleaning robot (S840).

At this time, the user-specified area may be an area including a point having the same index as the one point specified by the user, or may be an area connected to a plurality of points, for example, three or more points.

In addition, when there are a plurality of user-specified areas, the user can assign ranking.

Next, the cleaning robot 110 may calculate coordinate values, assigned ranks, and movement paths of the user-designated area from the provided information (S850).

Next, the cleaning robot 110 may sequentially perform cleaning of at least one user-specified area based on the coordinates of the calculated user-designated area, the assigned rank, and the movement path (S860).

At this time, the cleaning robot 110 performs cleaning by a predetermined cleaning method for at least one user-designated area, for example, a random driving method, a spiral driving method, a mixed driving method, or the like.

Next, when the cleaning robot 110 completes the cleaning of at least one user-specified area, the cleaning robot 110 may return to the original point or the designated point (S870).

In addition, the cleaning robot 110 updates the map based on data acquired through various sensors installed inside or outside, such as a camera, a laser scanner, and an ultrasonic sensor.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

110: Cleaning robot
111: Communication means
112: sensing means
113: control means
114: Storage means
115: driving means
120: User device

Claims (17)

The method includes receiving information on at least one region designated by a user based on a previously generated map, calculating coordinate values corresponding to the input region, calculating coordinate values corresponding to at least one region based on the calculated coordinate values A cleaning robot that sequentially performs cleaning based on the value; And
A user equipment operatively associated with the cleaning robot to receive at least one area on the map;
Wherein the area designated by the user is an area including all the points having the same index as the one point designated by the user or an area connected with at least three points,
The cleaning robot judges that the area including all the points having the same index as the input point is a region designated by the user to be cleaned, and if the input information is at least three points And determining an area designated by the user to clean the area connected to the points. The method according to claim 1,
The cleaning robot includes:
And a map for an entire area to be cleaned while moving within a predetermined space on the basis of the acquired data is generated and updated. ≪ / RTI > The method according to claim 1,
The cleaning robot includes:
Calculating coordinate values corresponding to at least one area from the input information and a given rank,
Calculating a movement path between at least one region based on coordinate values corresponding to the calculated at least one region and a given rank,
Wherein the at least one area is sequentially cleaned based on a coordinate value, a ranking, and a movement path corresponding to the calculated at least one area. The method according to claim 1,
The cleaning robot includes:
A coordinate value corresponding to at least one area, a given rank, and a movement path between at least one area from the input information,
Wherein the at least one area is sequentially cleaned based on a coordinate value, a ranking, and a movement path corresponding to the calculated at least one area. delete delete A communication means for receiving information on at least one area designated by a user based on a map generated in cooperation with a user device;
A controller for calculating a coordinate value corresponding to the input area and sequentially performing cleaning based on the coordinate value corresponding to at least one area based on the calculated coordinate value; And
Sensing means for acquiring various data necessary for generating the map through various sensors mounted inside or outside and providing the obtained data to the control means;
Wherein the area designated by the user is an area including all the points having the same index as the one point designated by the user or an area connected with at least three points,
Wherein the control unit judges that the area including all the points having the same index as the input point is a region designated by the user to be cleaned, and if the input information is at least three points And determining an area designated by the user to clean the area connected to the points. 8. The method of claim 7,
Wherein,
Calculating coordinate values corresponding to at least one area from the input information and a given rank,
Calculating a movement path between at least one region based on coordinate values corresponding to the calculated at least one region and a given rank,
Wherein the at least one area is sequentially cleaned based on a coordinate value, a ranking, and a movement path corresponding to the calculated at least one area. 8. The method of claim 7,
Wherein,
A coordinate value corresponding to at least one area, a given rank, and a movement path between at least one area from the input information,
Wherein the at least one area is sequentially cleaned based on a coordinate value, a ranking, and a movement path corresponding to the calculated at least one area. delete delete Receiving information on at least one area designated by a user based on a pre-created map in cooperation with a user equipment;
Calculating a coordinate value corresponding to the input area and controlling the coordinate value based on the calculated coordinate value to sequentially perform cleaning based on a coordinate value corresponding to at least one area; And
Controlling to return to a predefined point when the cleaning is completed;
Wherein the area designated by the user is an area including all the points having the same index as the one point designated by the user or an area connected with at least three points,
Wherein the controlling step determines the area including all the points having the same index as the input point as a region designated by the user to be cleaned if the input information is one point, If it is determined that the area to be cleaned is a region designated by the user to clean the area connected to the points. 13. The method of claim 12,
Wherein the controlling comprises:
Calculating coordinate values corresponding to at least one area from the input information and a given rank,
Calculating a movement path between at least one region based on coordinate values corresponding to the calculated at least one region and a given rank,
Wherein the at least one area is sequentially cleaned based on a coordinate value, a ranking, and a movement path corresponding to the calculated at least one area. 13. The method of claim 12,
Wherein the controlling comprises:
A coordinate value corresponding to at least one area, a given rank, and a movement path between at least one area from the input information,
Wherein the at least one area is sequentially cleaned based on a coordinate value, a ranking, and a movement path corresponding to the calculated at least one area. delete delete 13. The method of claim 12,
Generating or updating the map based on the acquired data by acquiring various data necessary for generating the map through various sensors installed inside or outside;
Further comprising the steps of: < RTI ID = 0.0 > - < / RTI >

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