Robot cleaner and control method thereof
A robot cleaner includes a driving device, a sensor, a memory, and a processor. The processor controls the driving device to drive the robot cleaner at a space and generates generate a map of a space based on sensor data obtained while the robot cleaner driving in the space. The map is stored in the memory. The processor divides the space on the generated map into a plurality of rooms and recognizes an object and a position of the recognized object in the space on the generated map based on the information obtained through the sensor. The processor stores information about the recognized object and the position of the recognized object on the map, and generates a name of each of the plurality of rooms based on information about the recognized object positioned in each of the plurality of rooms.
1. A robot cleaner comprising:
a driving device;
a sensor;
a camera;
a memory; and
a processor configured to:
control the driving device to drive the robot cleaner;
generate a map of a space where the robot cleaner is located based on information obtained through the sensor while driving the robot cleaner in the space;
store the generated map in the memory;
generate a normal line for a Voronoi graph generated based on the map;
classify the map into a plurality of regions in consideration of an area of a closed space and a length of the normal line divided in the map based on the normal line;
based on the area of the closed space divided in the map is larger than a predetermined size based on a normal line within a predetermined range, identify a corresponding closed space as one area, and identify a gate connecting the identified area and an other area;
divide the space on the generated map into a plurality of rooms;
detect an obstacle around the robot cleaner based on the map, a position and a rotation angle of the robot cleaner on the map, and a distance from a surrounding object to the robot cleaner obtained through the sensor;
obtain an image through the camera;
recognize an object and a position of the recognized object in the space on the generated map based on the information obtained through the sensor;
store information about the recognized object and the position of the recognized object on the map; and
generate a room name based on at least one of a type of the recognized object located at each of the plurality of rooms,
wherein the processor further configured to:
based on a division command to divide one room of the plurality of rooms being input on the map, divide the one room on the map to correspond to the input division command, and generate a room name for each of the divided rooms generated through the division;
based on a merge command to merge two or more rooms of the plurality of rooms to one merged room being input on the map, merge the two or more rooms of the plurality of rooms on the map to correspond to the input merge command, and generate a room name for the one merged room generated through the merging;
based on an area of each room generated through division command, designate the name of the room before the division to a room having a widest area, and generate a room name based on information about an object located at a room for remaining rooms;
based on the merge command to merge two or more rooms of the plurality of rooms to one merged room being input on the map is inputted, identify the room name of a room having a widest area, and generate the identified room name of the room having a widest area as the room name for the one merged room.
2. The robot cleaner of claim 1 , wherein the processor is further configured to generate the name of each of the divided rooms based on information about the recognized object located at each room generated through the division.
3. The robot cleaner of claim 1 , wherein the processor is further configured to generate the room name for the one merged room based on information about an object located at a room generated through the merging.
4. The robot cleaner of claim 1 , wherein the processor is further configured to, based on an operation prohibition time setting command being input for at least one of the plurality of rooms on the map, stop a cleaning operation of the robot cleaner at a set time zone at a cleaning area corresponding to the room to which the operation prohibition time setting command is input.
5. The robot cleaner of claim 1 , wherein the processor is further configured to, based on a command to clean around furniture being input, control the driving device to perform a cleaning operation for a preset area around a position of furniture among objects stored on the map.
6. The robot cleaner of claim 1 , wherein the processor is further configured to, based on identification that a malfunction occurs to the robot cleaner by a preset number or more in an area on the map, set a cleaning area corresponding to the identified area as a no-entry zone.
7. The robot cleaner of claim 1 , wherein the processor is further configured to:
provide a notification to propose map making based on the memory not storing a map, generate a map by moving a space based on a first user input being input, and make a map along with performing a cleaning operation based on a second user command being input.
8. A user terminal device comprising:
a display;
a communication interface to receive map information from a robot cleaner through the communication interface; and
a processor configured to,
based on the received map information, control the display to display a map user interface (UI) in which a cleaning area on a map is divided into a plurality of rooms, the map UI including a room name corresponding to each of the plurality of rooms, and
wherein the robot cleaner generates the room name based on at least one of a type of a recognized object located at each of the plurality of rooms,
and the processor further configured to,
based on a division command to divide one room of the plurality of rooms being input on the map, divide the one room on the map to correspond to the input division command, and generate a room name for each of the divided rooms generated through the division;
based on a merge command to merge two or more rooms of the plurality of rooms to one merged room being input on the map, merge the two or more rooms of the plurality of rooms on the map to correspond to the input merge command, and generate a room name for the one merged room generated through the merging;
based on an area of each room generated through division command, designate the name of the room before the division to a room having a widest area, and generate a room name based on information about an object located at a room for remaining rooms,
based on the merge command to merge two or more rooms of the plurality of rooms to one merged room being input on the map is inputted, identify the room name of a room having a widest area, and generate the identified room name of the room having a widest area as the room name for the one merged room.
9. The user terminal device of claim 8 , wherein the processor is further configured to:
display an editing user interface (UI) for receiving a division command to divide one room of the plurality of rooms or a merge command to merge the plurality of rooms into one room on the map UI,
control the communication interface to transmit the division command or the merge command input through the editing UI to the robot cleaner, and
based on the received updated map information from the robot cleaner, display the map UI in which the room name is updated.
10. A method of controlling a robot cleaner, the method comprising:
generating a map of a space where the robot cleaner is located based on information obtained through a sensor of the robot cleaner while driving the robot cleaner in the space;
storing the generated map;
generating a normal line for a Voronoi graph generated based on the map;
classifying the map into a plurality of regions in consideration of an area of a closed space and a length of the normal line divided in the map based on the normal line;
based on the area of the closed space divided in the map is larger than a predetermined size based on a normal line within a predetermined range, identifying a corresponding closed space as one area, identifying a gate connecting the identified area and an other area, and dividing the space on the generated map into a plurality of rooms;
detecting an obstacle around the robot cleaner based on the map, a position and a rotation angle of the robot cleaner on the map, and a distance from a surrounding object to the robot cleaner obtained through the sensor;
obtaining an image through a camera of the robot cleaner;
recognizing an object and a position of the recognized object in the space based on the obtained information through the sensor;
obtaining information such as a type and location of the object existing around the robot cleaner through the camera;
storing information about the recognized object and the position of the recognized object on the map; and
generating a room name based on at least one of a type of the recognized object located at each of the plurality of rooms,
wherein the method further comprises:
based on a division command to divide one room of the plurality of rooms being input on the map, dividing the one room on the map to correspond to the input division command, and generating a room name for each of the divided rooms generated through the dividing;
based on a merge command to merge two or more rooms of the plurality of rooms to one merged room being input on the map, merging the two or more rooms of the plurality of rooms on the map to correspond to the input merge command, and generating a room name for the one merged room generated through the merging;
based on a space of each room generated through division command, designating a name of a room before division to a room having a widest space, and generating a room name based on information about an object located at a room for remaining rooms;
based on the merge command to merge two or more rooms of the plurality of rooms to one merged room being input on the map is inputted, identifying the room name of a room having a widest area, and generating the identified room name of the room having a widest area as the room name for the one merged room.
11. The method of claim 10 , wherein the generating of the room name includes generating the name of each of the divided rooms based on information about the recognized object located at each room generated through the dividing.
12. The method of claim 10 , wherein the generating of the room name includes generating the room name for the one merged room based on information about an object located at a room generated through the merging.