KR101578861B1 - Distance sensor, robot cleaner and control method thereof - Google Patents

Abstract

A robot cleaner is disclosed. The robot cleaner includes a main body that forms an outer appearance, a light emitting unit that emits linear fluorescent light toward the running direction of the robot cleaner, a photographing unit that photographs an area including emitted linear fluorescent light, and generates an image corresponding to the photographed area, And a controller for calculating a distance between the obstacle and the obstacle in the area using the photographed image.

Description

TECHNICAL FIELD [0001] The present invention relates to a distance sensor, a robot cleaner, and a control method therefor. [0002] DISTANCE SENSOR, ROBOT CLEANER AND CONTROL METHOD THEREOF [0003]

The present invention relates to a distance sensor, a robot cleaner, and a control method thereof, and more particularly, to a distance sensor, a robot cleaner, and a control method thereof capable of detecting an obstacle located in a cleaning area of a robot cleaner.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A typical example of a home robot is a robot cleaner, which is a type of household appliance that carries out cleaning by suctioning dust or foreign matter around the robot while traveling in a certain area by itself. Such a robot cleaner generally has a rechargeable battery and is provided with an obstacle detection sensor capable of avoiding an obstacle while driving so as to be able to run and clean by itself.

In other words, the robot cleaner senses an obstacle obstructing the cleaning such as goods and furniture in the cleaning area through the obstacle detecting sensor installed on the cleaner while traveling in the cleaning area, and when the obstacle is detected, Cleaning) of the cleaning area is avoided.

Such a conventional obstacle detection sensor detects presence or absence of an obstacle and distance by using an infrared intensity measurement method, a measurement method using a PSD (Position Sensing Device), a measurement method using an ultrasonic sensor, and the like. The infrared intensity measurement method is a method of estimating the distance by measuring the intensity of the infrared ray reflected from the infrared ray. However, since the distance measurement is possible, the measured distance is inaccurate because it is estimated through the reflection infrared ray intensity. In addition, the measurement method using PSD is a method using a PSD sensor for measuring the distance by the infrared triangulation method, but it is relatively expensive, and the price of the PSD sensor is expensive, and the minimum measurement distance is limited. The method using the ultrasonic sensor is a method of measuring the distance by returning the ultrasonic wave to the target and returning it to the target. However, it is difficult to measure near distance.

Therefore, the conventional robot cleaner has a problem that the obstacle located in the cleaning area can not be accurately detected.

The conventional robot cleaner measures only the obstacle distance in the unidirectional direction. In order to measure the obstacle distance in various directions, there is a problem in that a plurality of sensors are arranged or rotated sequentially by a motor.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a robot cleaner having a light emitting unit emitting light of linear fluorescence and a photographing unit photographing an area including luminescent light, A distance sensor capable of accurately calculating a distance to an obstacle, a robot cleaner, and a control method thereof.

It is also an object of the present invention to provide a distance sensor, a robot cleaner, and a distance sensor capable of adjusting the positions of the lens unit and the image pickup element included in the image pickup unit to increase the utilization of the image pickup device, And a control method thereof.

According to an aspect of the present invention, there is provided a robot cleaner including: a main body that forms an outer appearance of the robot cleaner; a light emitting unit that emits linear fluorescent light toward the traveling direction of the robot cleaner; And a control unit for calculating a distance between an imaging unit for generating an image corresponding to the photographed area and an obstacle located in the area using the photographed image.

In addition, the height of the radiographic part provided on the main body may be higher than the height of the radiating part provided on the main body.

The imaging unit may include a lens unit and an imaging device including an imaging area in which an optical signal for the area passing through the lens unit forms an image, and the center line of the imaging device may be positioned higher than a center line of the lens unit have.

The control unit may detect the linear fluorescent light included in the image and calculate the distance to the obstacle located in the area based on the position of the detected linear fluorescent light in the image.

The robot cleaner further includes a driving unit for supplying a driving force for running the robot cleaner, a traveling unit for traveling the robot cleaner according to the driving force, and a cleaning unit for cleaning the robot cleaner, The robot cleaner may control the driving unit and the cleaning unit to perform cleaning while traveling to the vicinity of the obstacle.

The controller may control the driving unit and the cleaning unit to perform the cleaning while the robot cleaner maintains the gap with the obstacle when the calculated distance reaches a predetermined distance.

According to another aspect of the present invention, there is provided a distance sensor comprising: a light emitting unit emitting a linear fluorescent light; an area including the emitted linear fluorescent light; And a height of the imaging unit may be higher than a height of the light emitting unit.

The imaging unit may include a lens unit and an imaging device including an imaging area in which an optical signal for the area passing through the lens unit forms an image, and the center line of the imaging device may be positioned higher than a center line of the lens unit have.

According to another aspect of the present invention, there is provided a method of controlling a robot cleaner including a photographing unit, the method comprising the steps of: emitting linear fluorescence toward a running direction of the robot cleaner; Photographing an area including fluorescence, generating an image corresponding to the photographed area, and calculating a distance between the obstacle and the obstacle in the area using the photographed image.

The imaging section may include an imaging section including a lens section and an imaging area in which an optical signal for the area passed through the lens section forms an image, and the center line of the imaging element may be positioned higher than a center line of the lens section have.

The calculating step may detect the linear fluorescent light contained in the image and calculate the distance to the obstacle located in the area based on the position of the detected linear fluorescent light in the image.

And controlling the robot cleaner to perform cleaning while traveling to the vicinity of the obstacle if the calculated distance is greater than a predetermined distance, and when the calculated distance reaches a preset distance, So as to perform the cleaning operation.

In addition, the predetermined distance may be an optimal distance for performing cleaning in a state in which the robot cleaner does not collide with the obstacle.

According to the various embodiments of the present invention described above, it is possible to increase the utilization of the imaging device, widen the photographing area, and photograph a close-range area located close to the robot cleaner.

In addition, according to various embodiments of the present invention described above, the distance to the obstacle located in the cleaning area of the robot cleaner can be accurately calculated. Accordingly, the robot cleaner can precisely avoid interference with the obstacle located in the cleaning area and perform cleaning.

In addition, according to various embodiments of the present invention described above, it is possible to accurately calculate the distance to an obstacle located near the robot cleaner. Accordingly, the robot cleaner can perform cleaning while traveling while maintaining an optimum gap with the obstacle.

In addition, according to the various embodiments of the present invention described above, it is possible to provide a distance sensor capable of measurement at a low second near distance.

1 is a perspective view illustrating a robot cleaner according to an embodiment of the present invention.
2 is a bottom view of a robot cleaner according to an embodiment of the present invention.
3 is a front view showing a robot cleaner equipped with a distance sensor according to an embodiment of the present invention.
4 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention.
FIG. 5 is a block diagram specifically illustrating a robot cleaner according to an embodiment of the present invention. Referring to FIG.
6 is a diagram illustrating a linear light emission operation of a light emitting unit according to an embodiment of the present invention.
7 is a conceptual diagram illustrating a cleaning process of the robot cleaner according to an embodiment of the present invention.
8 is a view illustrating a light emitting unit and a photographing unit according to an embodiment of the present invention with reference to a Z plane perpendicular to a horizontal line.
9 is a view illustrating an obstacle detection operation of the robot cleaner according to an embodiment of the present invention, with reference to a Z plane perpendicular to a horizontal line.
10 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.
11 is a flowchart specifically illustrating a control method of the robot cleaner according to an embodiment of the present invention.

The following merely illustrates the principles of the invention. Thus, those skilled in the art will be able to devise various apparatuses which, although not explicitly described or shown herein, embody the principles of the invention and are included in the concept and scope of the invention. Furthermore, all of the conditional terms and embodiments listed herein are, in principle, only intended for the purpose of enabling understanding of the concepts of the present invention, and are not to be construed as being limited to such specifically recited embodiments and conditions do.

It is also to be understood that the detailed description, as well as the principles, aspects and embodiments of the invention, as well as specific embodiments thereof, are intended to cover structural and functional equivalents thereof. It is also to be understood that such equivalents include all elements contemplated to perform the same function irrespective of the currently known equivalents as well as the equivalents to be developed in the future, i.e., the structure.

Thus, for example, it should be understood that the block diagrams herein represent conceptual views of exemplary circuits embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudo code, and the like are representative of various processes that may be substantially represented on a computer-readable medium and executed by a computer or processor, whether or not the computer or processor is explicitly shown .

The functions of the various elements shown in the figures, including the functional blocks depicted in the processor or similar concept, may be provided by use of dedicated hardware as well as hardware capable of executing software in connection with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which may be shared.

Also, the explicit use of terms such as processor, control, or similar concepts should not be interpreted exclusively as hardware capable of running software, and may be used without limitation as a digital signal processor (DSP) (ROM), random access memory (RAM), and non-volatile memory. Other hardware may also be included.

In the claims hereof, the elements represented as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements performing the function or firmware / microcode etc. , And is coupled with appropriate circuitry to execute the software to perform the function. It is to be understood that the invention defined by the appended claims is not to be construed as encompassing any means capable of providing such functionality, as the functions provided by the various listed means are combined and combined with the manner in which the claims require .

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view illustrating a robot cleaner according to an embodiment of the present invention. 2 is a bottom view of a robot cleaner according to an embodiment of the present invention. 3 is a front view showing a robot cleaner equipped with a distance sensor according to an embodiment of the present invention. 4 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention. FIG. 5 is a block diagram specifically illustrating a robot cleaner according to an embodiment of the present invention. Referring to FIG. 1 to 5, the robot cleaner 100 includes a body forming an outer appearance of the robot cleaner, an input / output unit 110, a driving unit 120, a cleaning unit 130, a traveling unit 140, a storage unit 150, A power supply unit 160, a distance sensor 170, and a control unit 180, all of which are shown in FIG.

The input / output unit 110 includes an input unit for receiving a user input for operating the robot cleaner and an output unit for outputting information related to the robot cleaner. The input / output unit 110 may be positioned above the robot cleaner main body.

Specifically, the input unit may receive various user inputs such as a user input for operating the robot cleaner power on / off, a user input for operating the cleaning mode of the robot cleaner, a user input for operating or stopping the robot cleaner, Here, the input unit may include a key pad dome switch, a touch pad (static / static), a jog wheel, a jog switch, and the like.

The output unit may output information related to the robot cleaner such as the battery state of the robot cleaner, the cleaning mode of the robot cleaner, etc., and the output unit may include an audio output unit for outputting data that can be perceptually recognized, And a display unit for outputting the data. Here, the audio output unit may be implemented as a speaker. The display unit may be a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, , A field emission display (FED), a three-dimensional display (3D display), and a transparent display.

The driving unit 120 may drive the driving unit 140. Here, the driving unit 120 includes a wheel motor that rotates the main wheels of the traveling unit 140, and drives the robot cleaner by driving the wheel motor. The wheel motors are respectively connected to the main wheels so that the main wheels rotate, and the wheel motors operate independently of each other and can rotate in both directions.

The driving unit 140 drives the robot cleaner 100 according to driving of the driving unit 120. The traveling unit 140 includes main wheels 141 and 142 for allowing the robot cleaner 100 to perform forward, backward, and rotational movements in the process of cleaning the robot cleaner 100 according to the driving of the driving unit 120 . The main wheels 141 and 142 may be arranged symmetrically on the left and right edges of the central region of the lower portion of the main body.

In addition, the driving unit 140 may include the auxiliary wheels 143, 144, 145. Here, the auxiliary wheels 143, 144, and 145 support the main body of the robot cleaner 100, minimize friction with the bottom surface (cleaning surface), and facilitate the running of the robot cleaner 100. The auxiliary wheels 143, 144 and 145 may be located at the front and rear ends of the lower portion of the main body, for example.

Meanwhile, the auxiliary wheels 143, 144, and 145 may be implemented as a caster that rotates along the traveling direction of the robot cleaner 100 to maintain the body in a stable posture.

The cleaning unit 130 cleans the cleaning area. Here, the cleaning unit 130 includes a main brush 133 for sweeping free particles of dust or the like existing on a clean surface such as a floor surface to the suction port, and side brushes 131 and 132 for cleaning adjacent portions of the wall surface and corners do.

The main brush 133 may include a roller and a brush embedded on the outer surface of the roller. The roller serves to rotate the brush, and the brush can stir the dust accumulated on the floor surface as the roller rotates, so that the dust can be introduced into the suction port. Here, the roller may be formed of a rigid body, and the brush may be formed of various materials having elasticity. The main brush 133 may be positioned at a lower portion of the main body.

Although not shown in the drawing, the cleaning unit 130 may include a blowing device (not shown) for generating a suction force at the suction port, and a dust collecting device (not shown) for collecting dust introduced into the suction port by the blowing device.

In addition, the cleaning unit 130 according to the embodiment of the present invention may include a cleaner fixing unit 134 capable of fixing a cleaner for cleaning the mop. The cleaner fixing portion 134 may be located at a lower portion of the main body. Here, the cleaner may be embodied as a fibrous material such as a microfiber cloth, a rag, a nonwoven fabric, a brush, or the like, which is capable of wiping foreign substances adhering to the bottom surface.

In addition, the cleaning unit 130 according to an embodiment of the present invention may further include a water supply unit (not shown) for improving the cleaning ability of the cleaner.

The storage unit 150 stores various programs and data for the operation of the robot cleaner 100. Specifically, the storage unit 150 may receive and store the photographed image from the distance sensor 170. In addition, the storage unit 150 may store the distance between the robot cleaner 100 and the obstacle calculated using the photographed image. In addition, the storage unit 150 may store one or more pieces of information of the cleaning map and the cleaning area.

Herein, the storage unit 150 may be implemented by a storage unit such as a RAM (Random Access Memory), a FLASH memory, a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electronically Erasable and Programmable ROM) A memory card, a Universal Subscriber Identity Module (USIM), and the like, as well as a detachable type storage device such as a USB memory.

The power supply unit 160 supplies power to the robot cleaner 100. Specifically, the power supply unit 160 supplies power to the respective functional units of the robot cleaner 100 to supply driving power and operating power for cleaning or cleaning the robot cleaner. If the remaining power is insufficient, It can be charged with an electric current. Here, the power supply unit 160 may be implemented as a rechargeable battery.

The distance sensor 170 may generate information necessary for calculating the distance between the robot cleaner 100 and the obstacle, and may transmit the generated information to the controller 180. The distance sensor 170 may include a photographing unit 171 and a light emitting unit 173.

The light emitting portion 173 can diffuse the light emitted from the light source into linear fluorescent light and emit the light. The light emitting unit 173 may include a light source, a light source driving unit, a diffusion unit, and a slit.

Here, the light source serves to emit light, and may be, for example, a laser diode (LD), an LED, or the like. The light may include infrared light, visible light, and the like. Further, the light source can generate beam-shaped light traveling in one direction.

In addition, the light source driving unit may drive the light source under the control of the control unit 180. [ For example, the light source driving unit may drive the light source only in the power ON state of the robot cleaner 100 under the control of the controller 180.

Also, the diffusing portion can diffuse the light emitted from the light source into linear fluorescent light and emit it. Specifically, the diffusing portion can generate and emit linear fluorescence by reflecting the light emitted from the light source through a mirror or refracting through a lens. Here, the diffusing unit may be implemented using a mirror having a conical shape reflecting light or a wide-angle lens for refracting light so that the light emitted from the light source is widely diffused.

Further, the slit may have a narrow gap formed between the upper and lower sides to allow the linear fluorescent light to be emitted in a thin thickness.

On the other hand, the photographing section 171 may include a lens section 171-1, an image capturing element 171-2, and an analog signal processing section 171-3.

The lens unit 171-1 can form an optical signal on the imaging region of the imaging element 171-2. Here, the lens unit 171-1 includes a zoom lens for controlling the angle of view to be narrowed or widened according to the focal length, a focus lens for focusing the subject, and the zoom lens and the focus lens, Lens, or may be a group of a plurality of lenses.

The image pickup element 171-2 can convert an optical signal transmitted through the lens unit 171-1 and image-formed in the image pickup area into an electric signal. Here, the image pickup element 171-2 may be a CCD (Charge Coupled Device), a CIS (Complementary Metal Oxide Semiconductor Image Sensor) or a high-speed image sensor for converting an optical signal into an electric signal.

The analog signal processing unit 171-3 can generate an image by performing noise reduction processing, gain adjustment, waveform shaping, analog-to-digital conversion processing, and the like on the analog signal supplied from the image pickup element 171-2.

Meanwhile, the photographing unit 171 according to an embodiment of the present invention may include a diaphragm, a lens unit driving unit, a diaphragm driving unit, and a shutter. Here, the diaphragm can adjust the amount of incident light by adjusting the degree of opening and closing thereof. In addition, the lens unit driving unit can adjust the focal length by adjusting the position of the lens, and perform the operations of auto focusing, zoom change, and focus change. Also, the diaphragm driving unit may adjust the opening / closing degree of the diaphragm and adjust the number or aperture value to perform operations such as autofocus, automatic exposure correction, focus change, depth of field adjustment, and the like. The shutter also has a mechanical shutter that can adjust the exposure time of the image pickup element 171-2 and adjusts the incidence of light by moving the diaphragm and a mechanical shutter for controlling the exposure by supplying an electric signal to the image pickup element 171-2 It can be implemented as an electronic shutter.

The distance sensor 170 may be implemented as a module including all of the light emitting unit 173 and the photographing unit 171. In this case, the height at which the photographing portion 171 is provided in the distance sensor 170 may be higher than the height at which the light emitting portion 173 is installed.

The center line of the imaging element 171-2 may be positioned higher than the center line of the lens portion 171-1. Wherein the center of gravity of the robot is positioned higher than the center line of the lens unit.

Accordingly, the photographing unit 171 can photograph an area including the linear fluorescent light emitted from the light emitting unit 173 to generate an image. Here, the region may include a first region located at a distance from the distance sensor 170 and a second region located at a short distance.

On the other hand, the position of the image pickup device 171-2 and the lens unit 171-1 in the image pickup unit 171 can be adjusted. That is, the height difference between the center line of the image pickup element 171-2 and the center line of the lens portion 171-1 can be adjusted.

The modularized distance sensor 170 may be installed outside or inside the robot cleaner 100 for calculating the distance to the obstacle located in the cleaning area during the cleaning operation of the robot cleaner 100. However, the embodiment of the present invention is not limited thereto. The light emitting unit 173 may be installed outside the body of the robot cleaner 100 and the photographing unit 171 may be installed inside the body of the robot cleaner 100. [

Meanwhile, when the distance sensor 170 is installed in front of the main body of the robot cleaner 100, the light emitting portion 173 may emit linear fluorescent light toward the running direction of the robot cleaner. The photographing unit 171 photographs an area including the linear fluorescent light emitted toward the running direction of the robot cleaner 100, generates an image corresponding to the photographed area, Lt; / RTI > Here, the region may include a first region located at a distance from the robot cleaner 100 and a second region located near the robot cleaner 100.

The controller 180 controls the overall operation of the robot cleaner 100. Specifically, the control unit 180 controls all or a part of the input / output unit 110, the driving unit 120, the cleaning unit 130, the driving unit 140, the storage unit 150, the power supply unit 160, Can be controlled.

In particular, the control unit 180 may calculate the distance to the obstacle located in the area using the image generated by the photographing unit 171 of the distance sensor 170. [

Specifically, the control unit 180 can detect the linear fluorescent light included in the image. For example, the controller 180 may detect the linear fluorescent light included in the image using the color information of the linear fluorescent light.

Then, the controller 180 can calculate the distance to the obstacle located in the area based on the position of the detected linear fluorescent light in the image.

In addition, the control unit 180 can control the operation of the robot cleaner 100 based on the calculated distance. The control unit 180 may control the driving unit 120 and the cleaning unit 130 to perform the cleaning while the robot cleaner 100 travels near the obstacle if the calculated distance is greater than the preset distance.

In addition, when the calculated distance reaches a predetermined distance, the controller 180 may control the driving unit and the cleaning unit to perform the cleaning while the robot cleaner 100 maintains the gap with the obstacle. Here, the preset distance may be an optimal distance for performing cleaning in a state in which the robot cleaner 100 does not collide with an obstacle.

According to various embodiments of the present invention, the distance to the obstacle located in the cleaning area of the robot cleaner can be accurately calculated. Accordingly, the robot cleaner precisely avoids interference with the obstacle located in the cleaning area and performs cleaning can do.

In addition, according to various embodiments of the present invention described above, the distance between the robot cleaner and an obstacle located near the robot cleaner can be accurately calculated. Accordingly, the robot cleaner travels while maintaining an optimum gap with the obstacle, Can be performed.

On the other hand, the control unit 180 can control the position of at least one of the image pickup device 171-2 and the lens unit 171-1 of the image pickup unit 171. [ For example, in order to improve the photographing ability of the region located nearer to the robot cleaner 100, the height difference between the center line of the image pickup element 171-2 and the center line of the lens portion 171-1 is controlled to be increased .

6 is a diagram illustrating a linear light emission operation of a light emitting unit according to an embodiment of the present invention. Referring to FIG. 6, the light emitting unit 173 of the robot cleaner 100 generates the fan-shaped linear fluorescent light 10 by reflecting the light emitted from the light source through a mirror or refracting through a lens, The fluorescent light 10 can be emitted toward the running direction.

However, the linear fluorescent light generating operation of the light emitting unit described above is only one example of the present invention, but the present invention is not limited thereto. According to an embodiment, the light emitting unit may include a plurality of light sources densely arranged in front of the body of the robot cleaner 100. In this case, the light beams in the form of beams emitted from the plurality of light sources are superimposed on each other, .

7 is a conceptual diagram illustrating a cleaning process of the robot cleaner according to an embodiment of the present invention. Referring to FIG. 7, the robot cleaner 100 can automatically clean the cleaning area by suctioning foreign matter such as dust from the floor while moving the area to be cleaned by itself without user's operation. During the cleaning process, the light emitting unit 173 of the robot cleaner 100 may emit the linear fluorescent light 10 toward the traveling direction of the robot cleaner. Accordingly, the obstacle located in the traveling direction of the robot cleaner can be irradiated with the linear fluorescent light 10.

The photographing unit 171 of the robot cleaner 100 can photograph an area including the obstacles 20 existing at a position irradiated with the emitted linear fluorescent light and generate an image corresponding to the area. The controller 180 of the robot cleaner 100 can calculate the distance to the obstacle located in the area using the image.

Accordingly, the robot cleaner 100 can precisely avoid interference (collision, approach, contact) with the obstacle 20 that obstructs the cleaning, such as objects and furniture located in the cleaning area.

8 is a view illustrating a light emitting unit and a photographing unit according to an embodiment of the present invention with reference to a Z plane perpendicular to a horizontal line. 8, the height at which the light emitting unit 173 for emitting the linear fluorescent light is installed may be lower than the height at which the photographing unit 171 is installed.

The center line 30-2 of the imaging element 171-2 may be positioned higher than the center line 30-1 of the lens portion 171-1. Here, the center line 30-2 of the imaging element 171-2 may be a line including the center of the imaging element 171-2 and perpendicular to the surface of the imaging element 171-2. The center line 30-1 of the lens section 171-1 includes a center of the lens section 171-2 and is a line that is parallel to the center line 30-2 of the imaging element 171-2 have.

That is, in the robot cleaner that calculates the distance from the obstacle by using the linear fluorescent light emitted from the light emitting portion located at the lower end, the center line 30-2 of the imaging element 171-2 and the center line 30-2 of the center line 30-2 of the lens portion 171-1 There is a problem in that the utilization of the imaging device is low and the photographing area is narrowed and the close range of the robot cleaner located close to the camera can not be photographed. Specifically, in the robot cleaner that calculates the distance to the obstacle using the linear fluorescent light emitted from the light emitting unit located at the lower end, the region of interest in the photographing region is the lower region of the obstacle to which the linear fluorescent light is irradiated. Therefore, if a general photographing section in which the center line 30-2 of the image pickup element 171-2 and the center line 30-1 of the lens section 171-1 are located at the same height is used, the image pickup elements 171-2 The utilization of the area located below the center line 30-2 out of the area of the robot cleaner 30-2 is lowered and it is impossible to photograph the near area located nearer from the robot cleaner to narrow the photographing area.

However, according to the embodiment of the present invention, the center line 30-2 of the imaging element 171-2 is positioned higher than the center line 30-1 of the lens portion 171-1, The photographing area is widened, and it is possible to photograph a close-range area located close to the robot cleaner.

Accordingly, the photographing unit 171 can photograph the first region 40-2 located at a remote location based on the robot cleaner 100, including the linear fluorescent light emitted from the light emitting unit 173. [

The photographing unit 171 may include the linear fluorescent light emitted from the light emitting unit 173 and may photograph the second area 40-1 positioned near the robot cleaner 100. [

9 is a view illustrating an obstacle detection operation of the robot cleaner according to an embodiment of the present invention, with reference to a Z plane perpendicular to a horizontal line. 9, the light emitting unit 173 emits the linear fluorescent light 10 toward the traveling direction of the robot cleaner 100. Accordingly, the first and second obstacles 20 are irradiated with the linear fluorescent light 10 Can be investigated.

In this case, the photographing unit 171 can photograph a region including a part of the second obstacle 20 located at a remote location with reference to the robot cleaner 100 irradiated with the linear fluorescent light.

In addition, the photographing unit 171 can photograph a region including a part of the first obstacle 20 located near by the robot cleaner 100, which is irradiated with the linear fluorescent light.

The control unit 180 can calculate the distance to the first obstacle 20 and the second obstacle 20 using the image of the area photographed by the photographing unit 171. [

Therefore, according to the embodiment of the present invention, the robot cleaner 100 can accurately calculate the distances to distant obstacles as well as distant obstacles. Accordingly, the robot cleaner 100 can precisely avoid interference with an obstacle located in the cleaning area and perform cleaning. Also, the robot cleaner 100 can perform cleaning while traveling while maintaining an optimum gap with the obstacle.

10 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention. Referring to FIG. 10, the robot cleaner 100 may emit linear fluorescent light toward the traveling direction (S1001).

Then, the image pickup unit of the robot cleaner 100 can photograph an area including the emitted linear fluorescent light and generate an image corresponding to the photographed area (S1002).

Then, the robot cleaner 100 can calculate the distance to an obstacle located in at least one area of the area using the image (S1003).

11 is a flowchart specifically illustrating a control method of the robot cleaner according to an embodiment of the present invention. Referring to FIG. 11, the robot cleaner 100 may emit linear fluorescent light toward the traveling direction (S1101).

Then, the image capturing unit of the robot cleaner 100 can photograph an area including the emitted linear fluorescent light and generate an image corresponding to the captured area (S1102).

Then, the robot cleaner 100 can detect the linear fluorescent light included in the image (S1103).

Then, the robot cleaner 100 may calculate the distance to the obstacle located in the area based on the detected position of the linear fluorescent light in the image (S1104).

Then, the robot cleaner 100 can determine whether the calculated distance is greater than a predetermined distance (S1105).

If the calculated distance is greater than the predetermined distance (S1105: Y), the robot cleaner 100 may control to perform cleaning while traveling near the obstacle (S1106).

If the calculated distance reaches a predetermined distance (S1105: N), the robot cleaner 100 may be controlled to travel in a state in which the gap with the obstacle is maintained, and to perform cleaning (S1107).

Meanwhile, the control method according to various embodiments of the present invention described above may be implemented in the form of program code and provided to each server or devices in a state stored in various non-transitory computer readable media.

A non-transitory readable medium is a medium that stores data for a short period of time, such as a register, cache, memory, etc., but semi-permanently stores data and is readable by the apparatus. In particular, the various applications or programs described above may be stored on non-volatile readable media such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM,

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention.

100: robot cleaner 110: input /
120: driving part 130:
140: running part 150: storing part
160: Power supply unit 170: Distance sensor
171: photographing unit 172:
180:

Claims (13)

In the robot cleaner,
A main body forming an outer appearance of the robot cleaner;
A light emitting unit that emits linear fluorescent light toward the traveling direction of the robot cleaner;
A photographing unit photographing an area including the emitted linear fluorescent light and generating an image corresponding to the photographed area; And
And a controller for calculating a distance to an obstacle located in the area using the photographed image,
Wherein,
A lens portion;
And an imaging region including an imaging region in which an optical signal for the region passed through the lens section is imaged,
Wherein the first center line including the center of the imaging element and perpendicular to the surface of the imaging element is positioned higher than a second center line including the center of the lens section and parallel to the first center line, Photographing a first area corresponding to the first area and a second area corresponding to a short distance based on the robot cleaner,
The robot cleaner includes:
A driving unit for supplying a driving force for driving the robot cleaner;
A traveling unit for traveling the robot cleaner according to the driving force;
And a cleaning unit for cleaning the robot cleaner,
Wherein,
And controlling the driving unit and the cleaning unit to perform cleaning while the robot cleaner is traveling near the obstacle if the calculated distance is greater than a predetermined distance,
Wherein the robot cleaner controls the driving unit and the cleaning unit to perform the cleaning while avoiding interference with the obstacle when the calculated distance reaches the preset distance as the vehicle travels near the obstacle. . The method according to claim 1,
Wherein the height of the imaging section is set in the main body,
Wherein the light emitting part is higher than the height of the body. delete The method according to claim 1,
Wherein,
Wherein the robot cleaner detects the linear fluorescent light included in the image and calculates the distance to the obstacle located in the area based on the position of the detected linear fluorescent light in the image. delete The method according to claim 1,
Wherein,
Wherein the control unit controls the driving unit and the cleaning unit to perform the cleaning while the robot cleaner maintains the gap with the obstacle when the calculated distance reaches a predetermined distance. In the distance sensor,
Emitting portion emitting a linear fluorescent light;
And a photographing unit photographing a region including the emitted linear fluorescent light and generating an image corresponding to the photographed region,
Wherein,
A lens portion;
And an imaging region including an imaging region in which an optical signal for the region passed through the lens section is imaged,
When the distance sensor is installed in the robot cleaner,
Wherein the first center line including the center of the imaging element and perpendicular to the surface of the imaging element is positioned higher than a second center line including the center of the lens section and parallel to the first center line, Photographing a first area corresponding to the first area and a second area corresponding to a short distance based on the robot cleaner,
The light-
A light source for emitting light;
A diffusion unit for diffusing the light emitted from the light source into linear fluorescent light and emitting the light; And
And a slit for allowing a narrow gap to be formed in the upper and lower portions to allow the linear fluorescent light to be emitted in a thin thickness. delete A control method for a robot cleaner including a photographing part,
Emitting a linear fluorescent light toward the running direction of the robot cleaner;
Capturing an area including the emitted linear fluorescent light and generating an image corresponding to the captured area; And
Calculating a distance to an obstacle located in the area using the generated image;
Controlling the robot cleaner to perform cleaning while traveling to the vicinity of the obstacle if the calculated distance is greater than a preset distance; And
And controlling the robot cleaner to perform cleaning while avoiding interference with the obstacle when the calculated distance reaches a preset distance as the robot travels near the obstacle,
Wherein,
A lens portion;
And an imaging region including an imaging region in which an optical signal for the region passed through the lens section is imaged,
Wherein the first center line including the center of the imaging element and perpendicular to the surface of the imaging element is positioned higher than a second center line including the center of the lens section and parallel to the first center line, And a second region corresponding to a short distance on the basis of the first region and the robot cleaner corresponding thereto. delete 10. The method of claim 9,
Wherein the calculating step comprises:
Detecting a linear fluorescent light included in the image and calculating a distance from the obstacle located in the area based on the position of the detected linear fluorescent light in the image. 10. The method of claim 9,
Wherein the controlling to perform the avoiding traveling and cleaning includes:
And controlling the robot cleaner to perform cleaning while traveling in a state in which the interval between the robot cleaner and the obstacle is maintained when the calculated distance reaches a preset distance. delete

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