KR100947012B1 - Cleaning robot, its control method and recording medium therefor - Google Patents

Abstract

The present invention relates to an improved cleaning robot and a control method thereof. The present invention is a zone setting unit for determining the X and Y coordinates for n cleaning zones (n is a natural number of two or more) through the movement of the cleaning robot and from the n-1th cleaning zone end position to the nth cleaning zone start position It includes a movement path setting unit for determining the movement path of. According to the present invention, there is an advantage that can be efficiently cleaned a plurality of divided cleaning zones.

Sweep, robot, zone, breadcrumb, coordinates, rotation angle, travel distance

Description

Cleaning robot, controlling method of the same and Recording media for the same}

The present invention relates to an improved cleaning robot and a control method thereof, and more particularly, to a cleaning robot and a control method thereof capable of efficiently cleaning a divided space.

The cleaning robot is a device that inhales dust or foreign substances while driving a certain cleaning area such as a home or an office according to a preset algorithm. Cleaning robots have been used in recent years in that they automatically clean even if a person does not control directly.

General cleaning robots are classified into a random method and a mapping method according to a location recognition method. The random method relies on the collision detection sensor instead of creating a map of the environment, and performs the cleaning while changing the moving path when the cleaning robot collides with a wall or an obstacle.

As such, when the cleaning is performed without creating a map of the cleaning environment, there is a problem in that the cleaning time is rapidly increased due to many duplicate cleanings.

To solve this problem is a mapping method. The mapping method is a method of cleaning by mapping and estimating the location of the cleaning environment, and performs a more efficient cleaning by supplementing the problem of the random method.

However, when the cleaning robot proceeds to clean itself by creating a map of the cleaning space as in the mapping method, expensive equipment and a vision sensor are required.

Although the cleaning robot gives a lot of convenience to the human being, the excessively high cleaning time and the high price have a problem of preventing the user from easily using the cleaning robot. Therefore, there is a high demand for a cleaning robot having a low price while preventing duplicate cleaning.

In order to solve the problems of the prior art as described above, the present invention proposes an improved cleaning robot and its control method capable of performing cleaning efficiently without using expensive sensors.

Another object of the present invention is to provide an improved cleaning robot and its control method capable of dividing the cleaning space into a plurality of spaces, and performing the cleaning on the divided spaces efficiently.

According to a preferred embodiment of the present invention to achieve the above object, in the cleaning robot, a zone for determining the X and Y coordinates for n cleaning zones (n is a natural number of two or more) through the movement of the cleaning robot Setting unit; And a moving path setting unit configured to determine a moving path from the n-1 th cleaning zone end position to the n th cleaning zone start position.

According to another aspect of the present invention, a method of controlling a cleaning robot, the method comprising: (a) determining X and Y coordinates for n cleaning zones (n is two or more natural numbers) through the movement of the cleaning robot; (b) determining a movement path from the n−1 th cleaning zone end position to the n th cleaning zone start position; And (c) performing cleaning using a predetermined algorithm for the determined cleaning area.

According to another aspect of the present invention, there is provided a recording medium in which a program of instructions executable by a digital processing apparatus for the setting of a cleaning area of a cleaning robot is tangibly embodied and can be read by the digital processing apparatus. Determining X and Y coordinates for the n cleaning zones (n being two or more natural numbers) through the movement of the cleaning robot; And (b) determining a movement path from the n-1 th cleaning zone end position to the n th cleaning zone start position.

According to the present invention there is an advantage that can be efficiently performed without using expensive sensors and equipment.

In addition, according to the present invention there is an advantage that can be efficiently performed even when the cleaning environment consists of a plurality of obstacles.

Furthermore, according to the present invention, there is an advantage that the cleaning can be performed efficiently even when the cleaning space is complicatedly partitioned.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, the same reference numerals will be used for the same means regardless of the reference numerals in order to facilitate the overall understanding.

1 is a block diagram of a cleaning robot system according to a preferred embodiment of the present invention.

As shown in FIG. 1, the cleaning robot system according to the present invention may include a cleaning robot 1 and a remote controller 2 for controlling the cleaning robot 1.

The cleaning robot includes a bumper 10, a collision detector 11, an analog / digital converter 12, a controller 13, a memory 14, a driver 15, a power supply 16, a cleaner 17, and a controller. The communication unit 18, the movement distance measuring unit 19, the rotation angle measuring unit 20, the zone setting unit 21, and the movement path setting unit 22 may be included.

The bumper 10 is attached to the front side of the cleaning robot to cushion the impact when the collision with the obstacle to prevent damage to the cleaning robot body, and transmits the pressure applied when the collision with the obstacle to the collision detection unit (11).

The collision detection unit 11 outputs different levels of detection signals according to the degree of pressure applied from the bumper 10, and the detection signals output from the collision detection unit 11 are output from the analog / digital converter 12. The digital signal is sampled according to the level of the detection signal and output to the control unit 13.

The control unit 13 controls the overall operation of the cleaning robot, and causes the cleaning robot 1 to move in another preset direction according to the level of the received collision detection signal.

The movement of the cleaning robot 1 corresponding to the collision may be stored in advance in the memory 14, for example, a right turn, left turn or back or right or left turn after a collision ( Information regarding Back Right Turn or Back Left Turn may be stored in the memory 14. The memory 14 also stores operating programs for driving, in particular algorithms for movement in the cleaning area.

The driving unit 15 drives the wheels mounted on the cleaning robot 1 according to a control signal output from the control unit 13 by referring to the motion information previously stored in the memory 14 as described above.

Here, the driving unit 15 may be connected to the left wheel motor or the right wheel motor, but is not necessarily limited thereto.

The driving unit 15 drives the cleaning robot by controlling power levels applied to the left and right wheel motors according to a control signal output from the control unit 13. The left and right wheel motors of the driving unit 15 may be connected to the left and right wheels for driving the cleaning robot. Therefore, the cleaning robot travels back, forth, left and right according to the rotation speed and direction of the left and right wheel motors. For example, when the control signal received from the control unit 13 is a right turn command of the cleaning robot, the driving unit 15 controls the left wheel motor to turn right by increasing power instead of reducing power applied to the right wheel motor. .

The power supply unit 16 supplies the cleaning robot 1 with power required for driving.

The cleaning unit 17 may include a suction unit and a dust storage unit, and suction dust or foreign matter in a predetermined cleaning area, and receive dust and foreign matter collected.

Meanwhile, according to a preferred embodiment of the present invention, the cleaning robot 1 is connected to the remote controller 2 by wire or wireless.

As shown in FIG. 1, the remote controller 2 may include a keypad 23, a controller 24, and a key signal transmitter 25 for setting a cleaning area.

The controller communication unit 18 receives a key signal transmitted from the remote controller 2 for setting the cleaning area according to the present invention.

Here, the key signal is a moving key signal for the movement of the cleaning robot, a key signal for setting the X and Y coordinates corresponding to n cleaning zones (n is a natural number of 2 or more), and the nth from the end position of the n-1th cleaning zone. And a key signal for setting a moving path for moving to the start position of the cleaning zone.

According to the present invention, it is possible to efficiently perform cleaning by setting two or more cleaning zones for one cleaning space. For this purpose, it is necessary to set each cleaning zone according to the movement of the cleaning robot. This can be done using the moving distance and rotation angle of the cleaning robot.

2 is a flowchart illustrating a cleaning zone setting process according to the present invention.

Referring to FIG. 2, when a key signal for setting a cleaning area is received, the moving distance measuring unit 19 measures the moving distance of the cleaning robot (step 200).

The moving distance measuring unit 19 may be a laser sensor or an ultrasonic sensor, but is not necessarily limited thereto.

In order to set the cleaning area, the cleaning robot 1 may be rotated at a predetermined position, and the rotation angle measuring unit 20 measures the rotation angle according to the movement of the cleaning robot 1 (step 202).

The rotation angle measuring unit 20 may be a gyroscope sensor or a magnetic compass sensor.

The rotation angle measuring unit 20 measures how much the cleaning robot is rotated at a predetermined position. The rotation angle may have an angle range (that is, a rotation angle of 90 degrees) divided into 360 degrees for convenience of control. It is not necessarily limited thereto.

Thereafter, the zone setting unit 21 determines the X and Y coordinates for the n cleaning zones through the reception of the key signal and the movement of the cleaning robot (step 204).

As described above, when the moving distance and the rotation angle are measured through the movement of the cleaning robot 1, the X and Y coordinates for the n cleaning zones may be represented by the moving distance and the rotation angle.

As in the present invention, when one cleaning space is divided into several cleaning spaces, a moving path from one cleaning zone to the next cleaning zone should be set, and the movement path setting unit 22 is configured at the remote controller 2. The movement path from the end position of the n-th cleaning zone to the start position of the n-th cleaning zone is determined through the provided key signal and the movement of the cleaning robot 1 (step 206).

When the movement distance and the rotation angle of the cleaning robot 1 are measured, the movement path may also be expressed as the movement distance and the rotation angle, which will be described in detail below.

As described above, after setting the cleaning zone, the cleaning robot 1 according to the present invention performs cleaning for the divided cleaning zone according to a preset algorithm.

The preset algorithm may be a region filling algorithm having a motion as shown in FIG. 3.

The cleaning zone setting according to the present invention may be made through an interface (keypad) provided in the cleaning robot 1 and the remote controller 2.

4 is a view showing the detailed configuration of the keypad of the cleaning robot and the remote controller according to the present invention.

As shown in FIG. 4, the cleaning robot keypad unit according to the present invention may include a random key button 40, an area filling key button 41, and a full area filling key button 42.

Here, the random key button 40 is a key button for changing the direction only when a collision with a predetermined obstacle to perform cleaning, the obstacle is relatively small, it can be used in a narrow space.

The area filling key button 41 is a key button for performing cleaning through the movement as shown in FIG. 3 for the entire cleaning space, and may be used in a space free of obstacles.

The full area fill key button 42 may be used when the cleaning area is divided into n cleaning areas and cleaned by the method according to the present invention.

When the user selects the full region fill key button 42, the cleaning area can be set through the keypad 23 of the remote controller 2.

As shown in FIG. 4, the keypad 23 of the remote controller 2 includes a movement key button 50, an X coordinate key button 51, a Y coordinate determination key button 52, and a movement path determination key button ( 53).

According to the present invention, when the rotation angle of the cleaning robot is divided into a 90 degree range and the forward direction of the cleaning robot 1 is set to 0 °, the moving key button 50 of the cleaning robot moves forward (F), Left Turn (L, -90 ° Turn), Right Turn (R, + 90 ° Turn), Reverse (Back: B, 180 ° Turn) key buttons may be included.

5 shows a basic instruction set of the cleaning robot according to the present invention, FIG. 6 shows a movement template of the cleaning robot according to the present invention, and FIG. 7 is a command for defining the movement of the cleaning robot according to the present invention. A diagram illustrating the execution of a set.

Referring to FIG. 6, the Forward command is executed until it collides with an obstacle, and the RT command is executed when there is an obstacle on the left and front sides of the robot and the LT is on the right and front sides of the robot. RT and LT are also performed when there is only a frontal collision depending on the direction of travel.

If there is an obstacle in the direction to LT, the BRT returns to avoiding the obstacle and performs RT. In addition, if there is an obstacle in the direction to RT in contrast to the BRT, the BLT returns until the obstacle is avoided and performs the LT. Finally, the Goto command is executed when the user divides the cleaning space into several cleaning zones and moves to the next cleaning zone after the cleaning of the current cleaning zone is completed.

Such a basic instruction set and motion template may be represented as shown in FIGS. 7A to 7E. Referring to FIG. 7, (a) is forward, (b) is right rotation, (c) is left rotation, (d) is back right turn (BRT) and back left turn (Back Left Turn) : BLT).

In particular, the present invention includes a Goto command for moving from one cleaning zone to the start of the next cleaning zone when the cleaning space is divided as shown in FIG.

According to the present invention, the cleaning area can be set through the remote controller 2 based on the basic instruction set described above.

8 is a flowchart illustrating a detailed process of setting a cleaning area according to the present invention.

8, the operation of the cleaning robot 1 according to the key signal transmitted from the remote controller 2 will be described.

Referring to FIG. 8, the control unit 13 of the cleaning robot determines whether a key signal for determining the X coordinate is received from the remote controller 2 (step 800). When the X coordinate determination key signal is received and the movement key signal of the cleaning robot 1 is received later, the cleaning robot 1 is moved corresponding to the movement key signal.

The moving distance measuring unit 19 and the rotating angle measuring unit 20 measure the moving distance and the rotating angle according to the movement of the cleaning robot 1 (step 802).

The control unit 13 determines whether a Y coordinate determination key signal is received while the cleaning robot 1 is moving (step 804).

When the Y coordinate determination key signal is received, the zone setting unit 21 determines the moving distance and the rotation angle with respect to the position at the time when the Y coordinate determination key signal is received from the start position as the X coordinate in the corresponding cleaning zone ( Step 806).

On the other hand, when the Y coordinate determination key signal is received and then the moving key signal of the cleaning robot 1 is received, the control unit 13 causes the cleaning robot 1 to move corresponding to the moving key signal.

When the moving key signal is input, the moving distance measuring unit 19 and the rotating angle measuring unit 20 measure the moving distance and the rotating angle according to the movement of the cleaning robot 1 (step 808).

Thereafter, the controller 13 determines whether a movement path key signal is received (step 810).

When the movement path key signal is received, the zone setting unit 21 moves from the position at the time of receiving the Y coordinate determination key signal (the end position of the X coordinate) to the position at the time when the movement path determination key signal is received. The distance and rotation angle are determined by the Y coordinate in the cleaning zone in question (step 812).

Then, the control unit 13 of the cleaning robot 1 determines whether or not the movement path determination key signal is received (step 814), and if the movement key signal is received after the movement path determination key signal, the control unit 13 cleans. The robot 1 moves in correspondence with the movement key signal.

When the cleaning robot moves, as in step 802, the moving distance measuring unit 19 and the rotation angle measuring unit 20 measure the moving distance and the rotation angle according to the movement of the cleaning robot 1 (step 816).

Thereafter, the controller 13 moves to step 800 to determine whether a key signal for determining the X coordinate is received from the remote controller 2, and when a key signal for determining the X coordinate is received, the movement path setting unit ( 22) shows the moving distance and rotation angle from the position at the time of receiving the movement path determination key signal (the end position of the Y coordinate) to the position at the time the X coordinate determination key signal is received, in the n-1th cleaning zone. The path to the first cleaning zone is determined (step 818).

On the other hand, after the moving path is determined, the cleaning robot 1 repeatedly performs the steps after step 802 until the setting of the cleaning area is completed (step 820).

The process described in FIG. 8 has a width of 6m, a length of 3m, and a cleaning space in which an obstacle exists in the center.

9 and 10, in setting the first cleaning zone Rectangle 1, when the X coordinate determining key signal and the moving key signal are received at a predetermined starting position 900, the cleaning robot 1 is directed to the right. Move to (①). The Y coordinate determination key signal can be received from the remote controller 2 at the end position of?.

In this case, as shown in FIG. 9, the zone setting unit 21 of the cleaning robot is based on the direction of the cleaning robot (the Y-axis direction is 0 ° and the X-axis direction is 90 °) set as a default at the starting position 900. As a result, the movement distance and the rotation angle from the reception of the X coordinate determination key signal to the reception of the Y coordinate determination key signal are determined as the X coordinates of the first cleaning zone.

As shown in FIG. 10, the X coordinate of the first cleaning zone may be (2, 90 °).

Meanwhile, after receiving the Y coordinate determination key signal at the end of ①, the cleaning robot 1 moves in the direction ② according to the movement key signal, and the movement path determination key signal may be received at the wall point.

At this time, the zone setting unit 21 of the cleaning robot determines the movement distance and rotation angle from the reception of the Y coordinate determination key signal to the reception of the movement path determination key signal based on the direction of the cleaning robot at the end position of ①. 1 Determined by the Y coordinate of the cleaning area.

In this case, the Y coordinate of the first cleaning zone may be (3, -90 °).

After the movement path determination key signal is received at the end of ②, the cleaning robot 1 moves in the direction ③ according to the movement key signal, and the X coordinate determination key signal may be received at the obstacle point.

At this time, the movement path setting unit 22 of the cleaning robot determines the movement distance and rotation angle from the reception of the movement path determination key signal to the reception of the X coordinate determination key signal based on the direction of the cleaning robot at the end position of ②. Determine the path of travel from the first cleaning zone to the second cleaning zone Rectangle2 (to the start position to the second cleaning zone).

Here, the movement path from the first cleaning zone to the second cleaning zone may be (1,180 °).

In this manner, the X and Y coordinates for the second cleaning zone, the path of travel from the second cleaning zone to the third cleaning zone, and the X and Y coordinates for the third cleaning zone can be determined.

The X and Y coordinates and the travel paths for the first to third cleaning zones are the same as in FIG. 10, in which the travel paths from the second cleaning zone to the third cleaning zone are (3,180 °) and (2, 90 °). This is because it is necessary to follow two paths in the direction ⑥ and ⑦ to move from the end position of the second cleaning zone to the start position of the third cleaning zone.

According to the present invention, if there is a cleaning zone divided from the currently designated cleaning zone, the cleaning zone may be connected to another cleaning zone by inputting a Goto coordinate value (moving path information). For example, if a relative coordinate is set for the new cleaning space Rectangle2 in the currently designated first cleaning zone Rectangle1, the end point of the first cleaning zone (2, 3 in FIG. 9) is set. Set the starting point of the second cleaning zone to the Goto coordinate value, and set the width (width, X coordinate) and height (height, Y coordinate) of the second cleaning zone.

In the above manner, the user inputs the information about the cleaning space to the cleaning robot, and the robot proceeds with the cleaning based on this information. The completion of the robot's work is determined by the Goto coordinate value when the end point is reached. If the Goto coordinate value exists, as in the case of the first cleaning zone and the second cleaning zone of FIGS. 9 to 10, the stored distance and direction are determined. Will move to the next space, but if the Goto coordinates are not stored, as in the third cleaning zone, all cleaning will end.

Meanwhile, in the above description, the remote controller 2 spaced apart from the cleaning robot 1 has been described as transmitting a key signal for setting a cleaning area. However, this is only an example, and the corresponding keypad part is provided in the cleaning robot 1 itself. It will be apparent to those skilled in the art that this can be done.

In order to prove the effectiveness of the method according to the present invention, the present inventors defined four simulation types (cleaning algorithm types) as follows, and measured cleaning performance for each type for each different cleaning map. Performance evaluation is based on the progress of cleaning over time and the time required to achieve consistent work.

FIG. 11 illustrates different cleaning spaces applied to the present experiment, in which the cleaning area 1a to (d) denotes an area to be cleaned, and all four cleaning spaces have the same cleaning area. The area to be cleaned is 8.2 (m) x 4.5 (m) based on (a).

Here, the cleaning robot of the present invention has the same size as that of Fig. 12 (0.32 (m) x 0.32 (m)) and a speed of 0.3 m / sec.

In addition, the cleaning algorithm type of the cleaning robot used in this experiment is provided in four types, as shown in FIG.

Type 0 applies a roomba algorithm corresponding to a random method, and type 1 divides a cleaning space at random by applying a virtual wall to the random method. Type 2 applies an area filling algorithm and provides only a simple starting position. On the other hand, Type 3 is to apply the area filling algorithm after dividing the cleaning space into a plurality of cleaning zones as in the present invention. Type 3 uses travel path information corresponding to X, Y coordinates and Goto coordinates for the divided cleaning zones as well as the starting position.

14 to 17 are graphs showing the progress of cleaning according to the time of types 0 to 3 for each cleaning space of FIG. 11, and FIGS. 18 to 21 are the cleaning robots of FIG. It shows the time taken to clean a certain area of.

14 to 17 was compared only the performance time interval of 1 to 10 minutes. This is because the type 2 and type 3 cleaning processes are all completed within 8 minutes. In addition, since Type 0 and Type 1 require more than about 60 to 70 minutes to perform more than 95% of cleaning, the cleaning progress rate was evaluated only up to 10 minutes.

In the random cleaning method, about 50% of the initial total area was performed at a relatively similar time as the region filling algorithm, but the time required to perform more than 90% was increased exponentially. This is because as the work progresses, the case of duplicate work increases.

In FIG. 21, in the case of the type 3 cleaning robot, cleaning was performed by setting the cleaning spaces to 6 cleaning zones, and in the case of type 2, cleaning was performed by simply specifying a start position. As a result, Type 2 completed its work at up to 73.82%, while Type 3 went up to 97.32%.

Through this, it was possible to provide information about the cleaning space to the cleaning robot, that is, how cleaning by dividing the cleaning area into several cleaning zones affects the performance. In addition, it was confirmed from FIG. 19 through the performance evaluation table that when the type 1 divides the cleaning space through the virtual wall, the wrong division is worse than that without the division. This shows that when the user divides the map space inefficiently, it is less efficient than otherwise.

1 is a block diagram of a cleaning robot system according to an embodiment of the present invention.

2 is a schematic flowchart of a cleaning zone setting process according to the present invention;

3 is a diagram showing the basic motion of the region filling algorithm applied to the present invention.

4 is a view showing the keypad portion of the cleaning robot and the remote controller according to the present invention.

5 shows a basic instruction set of a cleaning robot according to the present invention.

6 is a view showing a movement template of the cleaning robot according to the present invention.

7 is a diagram illustrating a movement execution of a cleaning robot according to a basic instruction set according to the present invention.

8 is a detailed flowchart of a cleaning zone setting process according to the present invention.

9 is a diagram for an example of a cleaning zone setting process according to the present invention;

FIG. 10 is a diagram illustrating X, Y coordinates, and moving path coordinate values for a plurality of cleaning zones in the cleaning space of FIG. 9. FIG.

11 shows different cleaning spaces applied for testing the performance of the cleaning method according to the invention.

12 shows the size and speed of a cleaning robot applied to test the performance of the cleaning method according to the invention.

13 shows a type of cleaning robot applied to test the performance of the cleaning method according to the invention.

14 to 17 are graphs showing the progress of cleaning according to time of types 0 to 3 for each cleaning space of FIG.

18 to 21 are views showing the time required for cleaning robots of type 0 to 3 to clean a predetermined area of each cleaning space of FIG.

Claims (18)

In the cleaning robot, A zone setting unit that determines X and Y coordinates for n cleaning zones (n is a natural number of two or more) through the movement of the cleaning robot; And a moving path setting unit for determining a moving path from the n-1th cleaning zone ending position to the nth cleaning zone starting position, The zone setting unit sets a cleaning zone by using at least one of a rotation angle and a movement distance according to the movement of the cleaning robot, and the rotation angle is an angle range obtained by dividing 360 degrees into m pieces (m is two or more natural numbers). Having a cleaning robot. delete delete The method of claim 1, Cleaning robot further comprises at least one of a gyroscope sensor and a magnetic bypass sensor for measuring the rotation angle. The method of claim 1, Cleaning robot further comprises at least one of a laser sensor and an ultrasonic sensor for measuring the moving distance. The method of claim 1, And a control unit for controlling the set n cleaning zones to be cleaned through a region filling algorithm. The method of claim 1, And a controller communication unit configured to receive the key signals transmitted from the remote controller so that the zone setting unit and the movement path setting unit determine the n cleaning zones and the movement paths. The method of claim 7, wherein The remote controller includes at least one of a key button for determining X and Y coordinates for setting n cleaning areas, a key button for determining a moving path to a next cleaning area, and a key button for moving the cleaning robot. Cleaning robot. The method of claim 8, The zone setting unit sets the rotation angle and the movement distance according to the movement of the cleaning robot from the predetermined starting position until the key signal for determining the Y coordinate is received after the key signal for determining the X coordinate is n-1th. Cleaning robot determined by the X coordinate of the cleaning area. The method of claim 9, The zone setting unit sets the rotation angle and the movement distance according to the movement of the cleaning robot from the X coordinate position until the key signal for determining the Y coordinate is received after the key signal for the Y coordinate determination is n-1th. Cleaning robot determined by Y coordinate of cleaning area. The method of claim 10, The moving path setting unit rotates according to the movement of the cleaning robot from the Y coordinate position from receiving the key signal for determining the moving path until at least one of the key signal or the ending key signal for determining the X coordinate is received. And a cleaning robot that determines the moving distance as a moving path from the n-1th cleaning zone to the nth cleaning zone. In the control method of the cleaning robot, (a) determining X and Y coordinates for n cleaning zones (n being two or more natural numbers) through the movement of the cleaning robot; (b) determining a movement path from the n−1 th cleaning zone end position to the n th cleaning zone start position; And (c) performing cleaning using a predetermined algorithm for the determined cleaning zone, The steps (a) and (b) use at least one of a rotation angle and a movement distance according to the movement of the cleaning robot, and the rotation angle is an angle range obtained by dividing 360 degrees into m (m is a natural number of two or more). Cleaning robot control method having a. delete The method of claim 12, And said preset algorithm is an area filling algorithm. The method of claim 12, In the step (a), the rotation angle and the movement distance according to the movement of the cleaning robot from the predetermined starting position from the reception of the key signal for determining the X coordinate according to the user's request until the key signal for the determination of the Y coordinate is received. The cleaning robot control method comprising the step of determining the X coordinate of the n-1 th cleaning zone. The method of claim 15, In the step (a), the rotation angle and the movement according to the movement of the cleaning robot from the X coordinate position from the reception of the key signal for determining the Y coordinate to the movement path determination after receiving the key signal according to the user's request And determining the distance as the Y coordinate of the n-1th cleaning zone. The method of claim 16, Step (b) is the cleaning robot from the Y coordinate position from receiving the key signal for determining the movement path according to the user's request until at least one of the key signal or the end key signal for the X coordinate determination is received And determining the rotation angle and the movement distance according to the movement of the movement path from the n-1 th cleaning zone to the n th cleaning zone. As a recording medium tangibly embodied and readable by a digital processing device, a program of instructions that can be executed by a digital processing device for setting a cleaning area of a cleaning robot, (a) determining X and Y coordinates for n cleaning zones (n being two or more natural numbers) through the movement of the cleaning robot; And (b) determining a movement path from the n-1th cleaning zone end position to the nth cleaning zone start position, The steps (a) and (b) use at least one of a rotation angle and a movement distance according to the movement of the cleaning robot, and the rotation angle is an angle range obtained by dividing 360 degrees into m (m is a natural number of two or more). A recording medium having a computer readable program recorded thereon.

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