KR20040110822A - Automatic robot vacuum cleaner and the Method for controlling the thereof - Google Patents

Abstract

PURPOSE: An obstacle-sensing robot vacuum cleaner and a control method thereof are provided to effectively determine an area to clean by sensing obstacles on a path of a robot vacuum cleaner. CONSTITUTION: An obstacle-sensing robot vacuum cleaner comprises many infrared ray sensors having infrared ray emitting members and infrared ray receiving members of all-directional band width around a vacuum cleaner, an approximate sensing control unit having the function of self-direction measurement and obstacle avoiding, and a wheel drive unit and a brush drive unit driven by the approximate sensing control unit. The area of a place to clean and the existence of obstacles are detected by the infrared ray sensors(2009,2010,2011). The wheels of the robot vacuum cleaner is driven according to the sensed result(2013).

Description

Obstacle-detecting robot cleaner and its control method

The present invention relates to an obstacle detecting robot cleaner and a control method for cleaning the floor while moving by itself, and more particularly, to detect and avoid obstacles on the path of the moving robot cleaner by using an infrared sensor and to effectively clean the area. The present invention relates to an obstacle detecting robot cleaner and a control method thereof.

Conventionally, there is a vacuum cleaner as a device for cleaning, but the vacuum cleaner should be carried by the user carrying the inlet for injecting impurities directly, and the length of the suction pipe which is a passage through which impurities connecting the inlet and the cleaner body are sucked into the cleaner. There is no limit to the production, there is no problem when cleaning a narrow space, but when cleaning a large space was very inconvenient because the cleaner body and the inlet must be moved from time to time to clean.

In addition, the cleaner's behavior is restricted by the power line for applying power, and especially when cleaning in a large space, it is necessary to move and plug the power cord frequently, or the short-wired connection is impossible. If there is no power supply means for supplying power to the uncleaned space, there are many problems such as the need to use a power source using a separate extension line, and the user needs to clean it with a vacuum cleaner. There was a problem in that it gives a significant inconvenience to life because it has to be cleaned while entering.

Accordingly, recently, a robot cleaner has been proposed, which performs cleaning while traveling by moving the space to be cleaned by the control means mounted in the cleaner body by itself.

Conventionally, such a robot cleaner has a suction motor 20 for generating a suction force according to an operation in the main body 10, as shown in FIGS. 1 and 2, the bottom surface of the main body 10 The suction port 30 is provided to suck the dust according to the suction force, and a dust collecting chamber 40 is formed between the suction motor 20 and the suction port 30 to store the sucked dust.

The bottom edge of the main body 10 is rotatably provided with rotation brushes 50R and 50L for sweeping dust and the like toward the suction port 30 to facilitate the suction of the dust. Drive wheels 70R and 70L which are driven by the control of the control unit 60 inside are rotatably installed back and forth.

Therefore, in the conventional robot cleaner configured as described above, when suction power is generated according to the operation of the suction motor 20, the dust and the like are sucked through the suction port 30 and the suctioned dust is collected in the dust collecting chamber 40 and is controlled. Under the control of the unit 60, the driving wheels 70R and 70L clean themselves while traveling.

And, by rotating the rotary brush (50R) (50L) provided on both sides of the suction port 30 by the separate drive means to sweep the dust to the suction port 30 side to enable the cleaning of the corners.

However, this conventional technique is not easy to suck the dust formed in the periphery of the rotary brush (50R) (50L) by the suction of the dust is made only in the suction port 30, and thus in the corners or walls of the bottom surface Not only the cleaning efficiency is significantly lowered, but also a separate driving means for driving the rotary brushes 50R and 50L is complicated, which increases the power consumption and also increases the manufacturing cost. There were three problems.

Accordingly, the present invention has been proposed to solve the above-described problems, and the obstacle detection robot cleaner and its control for detecting and avoiding obstacles on the path of the robot cleaner being moved using an infrared sensor and calculating an efficient cleaning area. The purpose is to provide a method.

In order to achieve the above object, the present invention provides a robot cleaner for detecting an obstacle and cleaning a predetermined space.

A plurality of infrared detection sensor means having at least one infrared light emitting member and a light receiving member in a circular shape around the cleaner, and self-direction measurement and obstacle avoidance functions under the control of the infrared sensor and the central processing unit (CPU). It includes a proximity sensing control means, a wheel driving means driven in accordance with the proximity sensing control means, and a brush and an auxiliary brush driving means.

The infrared light emitting member and the light receiving member have a bandwidth of at least an omnidirectional distribution of at least front, rear, left, and right directions, and the proximity sensing control unit senses and controls a distance area, detects and controls an obstacle, and detects and controls a floor surface.

The light emitting member may include a light emitting part and a light receiving part in two regions in one unit, and the light emitting member narrows the deflection of the light emitting part to improve directivity.

The robot cleaner includes a battery power supply means for supplying a power voltage to the control means and the driving means, and an analog / digital converter and a multiplexer that automatically detects battery power and controls charging operation according to the battery power supply means. It is further provided.

The infrared sensor detects a distance or an obstacle by modulating and transmitting different carriers, and the infrared sensor is also used for wall tracking.

The present invention provides a method for controlling a robot cleaner that senses an obstacle and performs cleaning of a predetermined space, the method comprising: starting a cleaning operation by checking a battery discharge and a bumper switch when power is input to the robot cleaner and an operation is started; When the cleaning operation is started, the step of detecting the size and obstacles of the cleaning space by the operation of the infrared sensor and driving the wheel of the robot cleaner according to the detection result, calculating the number of revolutions of the wheel according to the wheel drive of the robot cleaner and the fan Collecting dust by driving a motor, a brush motor, and an auxiliary brush motor; and collecting the garbage and automatically moving to a charger when the cleaning is completed, and then charging the used battery. .

When the battery is discharged or the brush movement is abnormal, a warning sound is generated, and when a specific sound such as a clapping sound occurs while charging or stopping the battery, a buzzer sound is generated.

When the user lifts the robot cleaner during the cleaning operation, the inclination angle is detected to stop the cleaning operation.

1 and 2 is a view showing a conventional robot cleaner.

3 and 4 are a plan view and a side cross-sectional view of the robot cleaner to which the present invention is applied.

5 is a layout view of the infrared sensor of the obstacle detection robot cleaner according to an embodiment of the present invention.

6 is a detailed view of the distance detection infrared sensor and the obstacle detection infrared sensor of FIG.

Figure 7a is a wide angle light receiver for communication installed protruding circularly to the robot cleaner front part of the present invention, Figure 7b is a detailed view showing the operation principle of the wide angle light receiver.

Figure 8 is a detailed view showing the operation principle of the bottom detection infrared sensor of FIG.

9 is a control block diagram of an obstacle detecting robot cleaner according to an embodiment of the present invention.

10a and 10b is a flow chart according to the overall operating state of the obstacle detection robot cleaner according to an embodiment of the present invention.

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

3 and 4 are a plan view and a side cross-sectional view of the robot cleaner to which the present invention is applied.

As shown in Figure 3 and 4, the robot cleaner 300 is equipped with a suction motor 310 for generating a suction force for sucking dust or foreign matter.

The front of the robot cleaner 300 emits infrared rays (IRDA), and receives the signal reflected by the emitted infrared rays hit the obstacle to detect the presence or absence of obstacles in front of the obstacle, of course, described later As shown in FIG. 5, the robot cleaner 300 is separated from the obstacle and the robot cleaner 300 is separated from the front, rear, left, and right sides of the robot cleaner 300 to detect the skewed angle from the obstacle, and It is equipped with multiple infrared sensors to detect the floor.

Left and right driving motors 311 and 312 and auxiliary brush motors 320 and 321 which generate driving force to move the robot cleaner 300 to the left or right side are mounted in left and right symmetry, and the left and right sides are mounted. A timing belt for transmitting a driving force applied from the driving motors 311 and 312 to the left and right power wheels 311a and 312a is mounted on the shafts of the left and right driving motors 311 and 312.

On the back of the robot cleaner 300, a cable assembly in which a power cable drawn or drawn under the control of a control means described later when the robot cleaner 300 runs under the driving of the power wheels 311a and 312a is wound. Is equipped.

A dust collecting chamber 430, a first filter 431, and a second filter 432 are formed on the front surface of the robot cleaner 300 to accumulate dust or foreign matter sucked into the suction port 410. On the rear bottom surface of the 300), the non-powered wheel 440, which is not connected to a power source such as a motor, is installed on the front and two total three auxiliary wheels are installed on the front to support the rear load of the robot cleaner 300. Three non-powered wheels 440 is used that can be rotated 360 ° so that the robot cleaner 300 is easy to change the driving path.

A brush 450 is installed between the non-powered wheel 440 and the power wheel 311a and 312a to collect dust or foreign matter on the floor, and the dust sucked through the brush 450 may be hood 460. Accumulated in the dust collecting chamber 430 through.

FIG. 5 is a layout view of an infrared sensor of an obstacle detecting robot cleaner according to an embodiment of the present invention, and includes eight distance detecting infrared sensors 501 to 508 in eight directions including up, down, left, and right of the robot cleaner 300; Four obstacle detecting infrared sensors 511 to 514 at regular intervals along the 180 degree angle toward the front of the robot cleaner 300, and a predetermined interval along the 180 degree angle toward the front bottom surface of the robot cleaner 300. Three sets of bottom sensing infrared sensors 521 to 523 are provided.

The infrared sensors 501 to 508 for detecting the eight directions have a detection range at four angles of up, down, left, and right, and the sensors detect near and long distances and walls while the robot moves.

The four infrared sensors 511 to 514 located in front of the robot cleaner 300 detect a front obstacle close to the width of the robot cleaner 300.

The three sets of bottom sensing infrared sensors 521 to 523 are installed in three directions of the front surface of the robot cleaner 300 to recognize safety of the robot cleaner 300 by recognizing a high step and step.

As shown in the embodiment of FIG. 5, the robot cleaner 300 includes a bumper 550 in addition to an infrared distance measuring sensor as an obstacle detection system.

The bumper 550 is provided with two touch tact (TACT) sensors therein, and each sensor is activated when it detects or contacts an obstacle.

The activated signal is controlled by a central processing unit (CPU) and the controlled signal drives two wheels provided at right angles of the robot cleaner 300.

The wheels are connected to the respective gearbox and timing belt, and a magnetic encoder (described later) using a hall effect is installed on the shaft of the motor.

The pulse waveform output from the magnetic encoder is input to the central processing unit that controls the robot cleaner 300.

The auxiliary wheel located at the rear part of the robot cleaner 300 has a heavy center of gravity of the device to be balanced with the wheels so that the robot cleaner 300 can easily overcome obstacles of low height.

The bumper 550 detects an obstacle on the movement path of the robot cleaner 300 and provides information for the robot cleaner 300 to avoid the obstacle, as shown in FIG. 6. The light emitting part 601 used has a narrow angle of deflection of up, down, left, and right in the omnidirectional angle of +20, -20.

Infrared light emitted from the light emitting unit 601 is modulated by a carrier wave of 38 kHz, and infrared light reflected by an object is detected by the light receiving unit 602 to recognize distance measurement and obstacles.

In other words, the use of a wide-angle light emitting unit means that the error of the linear distance inevitably increases in distance measurement.

The light receiving unit 602 is composed of a module of a 38Khz band pass filter built-in to detect the reflected infrared rays.

FIG. 6 is a detailed view of the distance detecting infrared sensor and the obstacle detecting infrared sensor of FIG. 5, wherein each of the infrared detecting sensors includes a light emitting sensor 601 emitting infrared rays and reflected infrared rays reflected by an obstacle. It consists of a light receiving sensor 602 for detecting.

FIG. 7A illustrates a communication wide-angle light receiving unit and an operation switch unit protruding circularly on the robot cleaner front part of the present invention, and FIG. 7B is a detailed view illustrating an operation principle of the wide-angle light receiving unit.

The wide-angle light receiving unit 700 is configured in a circular shape to receive, for example, an external control signal controlled by a remote controller, and is provided in the front part of the robot cleaner 300, but in some cases, the rear part or the side part may also be It can be installed protrudingly.

The operation switch unit 710 is composed of operation switches for controlling various operations of the robot cleaner 300.

An infrared ray sensor 701 is installed in the wide-angle light receiving part 700, and a conical or parabolic mirror 702 is provided to surround the infrared ray sensor 701 to receive an optical signal 703 from the outside. It can be received at all angles.

FIG. 8 is a detailed view illustrating the operation principle of the bottom sensing infrared sensor of FIG. 5, wherein each infrared sensing sensor includes a light emitting sensor 801 that emits infrared rays to the floor and a reflection of the emitted infrared rays by all means. It consists of a light receiving sensor 802 for detecting infrared rays.

The angle of the infrared beam 810 between the light emitting sensor 801 and the light receiving sensor 802 maintains a predetermined angle 811, and the measurement distance 820 by the beam that reflects infrared rays has a predetermined value. .

The bottom sensing infrared sensor shown in FIG. 8 includes a light emitting unit 801 and a light receiving unit 802 in a sealed structure, and two angles are 60 degrees, so that the amount of reflection at a predetermined depth or less and a reflection amount at or above a predetermined depth are shown. 1 and 0 are detected.

At this time, it is possible to adjust the distance between the light emitting unit 801 and the light receiving unit 802 according to the depth of the bottom surface to be detected.

9 is a block diagram illustrating an obstacle detecting robot cleaner according to an exemplary embodiment of the present invention, wherein the battery power supply unit 910 converts DC power supplied from a battery into a predetermined constant voltage required for driving the robot cleaner 300. The CPU 900 is a central processing unit that initializes the robot cleaner 300 by receiving a constant voltage supplied from the battery power supply unit 910 and controls the overall driving operation of the robot cleaner 300.

The wheel driving unit 920 controls the driving wheels of the robot cleaner 300 under the control of the CPU 900, and the wheel driving unit 920 moves the left wheel motor to move the robot cleaner 300 to the right. The left (L) wheel motor driver 921 for driving the 923, and the right (R) wheel motor driver 922 for driving the right wheel motor 924 to move the robot cleaner 300 to the left In addition, as the left wheel motor 923 and the right wheel motor 924 of the robot cleaner 300 operate, the left wheel motor encoder 925 and the right wheel motor encoder which calculates and transmits an encoder value to the CPU 900 are provided. 926 is configured.

The left wheel motor encoder 925 and the right wheel motor encoder 926 detect the travel distance of the robot cleaner 300 which is moved by the wheel driving unit 920, and the left wheel motor encoder 925 during rotation. ) And the right wheel motor encoder 926 generates a pulse signal according to the number of revolutions of the left wheel motor 923 to detect the travel distance the robot cleaner 300 moves to the right, and the rotation of the right wheel motor 924. Generates a pulse signal according to the number to detect the travel distance moved by the robot cleaner 300 to the left, and when going straight, the left wheel motor encoder 925 and the right wheel motor encoder 926 is left, right wheel motor 923 A pulse signal is generated according to the rotation speed of 924 to detect the traveling distance of the robot cleaner 300 moving to the left and the right.

The infrared sensor unit 930 detects the running angle of the robot cleaner 300 in the predetermined area to be cleaned by the robot cleaner 300, the distance to the wall or the floor obstacle, and the obstacle from the obstacle. The unit 930 radiates infrared rays to the left and right eight directions and obstacles before and after the robot cleaner 300, and receives the reflected signal, that is, the echo signal by hitting the wall or obstacle, and the presence or absence of the obstacle and the wall or obstacle. It consists of a distance sensor 931 and the floor sensor 932 for detecting the distance to.

The brush driver 940 is a brush motor driver 942 for driving the brush motor 941 so that the robot cleaner 300 performs a cleaning function under the control of the CPU 900, and a fan for driving the fan motor 943. The motor driver 944, the first auxiliary brush motor driver 946 for driving the first auxiliary brush motor 945, and the second auxiliary brush motor driver 948 for driving the second auxiliary brush motor 947. It is composed.

The first and second auxiliary brush motor driving units 946 and 947 drive the first and second auxiliary brushes. The first and second auxiliary brush motors are used to clean the blind spots that cannot be cleaned.

The first and second auxiliary brushes are located in front of the center of the robot cleaner 300. When the robot cleaner 300 has a wall while the robot cleaner 300 is running, the CPU 900 senses a wall by an infrared sensor and the Activate auxiliary brush

The memory unit 950 is a memory unit that is built in or external to the CPU 900. The memory unit 950 is a memory for controlling the overall operation of the robot cleaner 300. The memory unit 950 uses EPROM, EEPROM, DRAM, or the like. .

The communication unit 960 supports RS-232C protocol communication for serial communication with the inside or outside of the robot cleaner 300, and the A / D converter 965 is an analog power consumption detection signal input from the outside of the CPU 900. Converts the digital signal to the CPU 900 and converts the digital signal output from the CPU 900 into an analog signal and transmits the analog signal to the outside of the CPU 900.

The multiplexer 967 multiplexes the charging-related status signals input from the outside and transmits the multiplexed signals to the A / D converter 965 and the CPU 900.

The robot cleaner 300 of the present invention is operated by a supply voltage of the battery power source 910 during cleaning, and is mounted on a cradle of an external charging device (not shown) to perform a charging operation when not being cleaned.

The clock unit 970 supplies a predetermined clock signal to the CPU 900, and the DMA (Direct Memory Access) 975 is a memory provided in the CPU 900, which is directly accessed by the CPU 900. .

10A and 10B are flowcharts according to the overall operating state of the obstacle detecting robot cleaner according to an embodiment of the present invention. When the operation is started, the robot cleaner 300 is in a state in which power is input to the robot cleaner 300. When no operation is performed, the CPU 900 is in a sleep mode, which is a power saving mode, and waits for the signal of the operation switch 710 or the remote controller 1002.

At this time, when the operation signal by the operation switch 710 is detected (2003), the CPU 900 is switched to the active mode (on) (on) (2004) first.

Thereafter, the discharge state of the battery power supply unit 910 is checked (2005), and when the battery falls below a predetermined power, a warning sound is generated (2006) and the charging station is located.

At this time, if the voltage is low enough to not go to the charging station or if the charging station is not found within a few minutes, the robot cleaner 300 is stopped and goes back to the sleep mode.

As a result of checking the discharge state of the battery power supply unit 910 (2005), if the power supply voltage of the battery power supply unit 910 is above a certain voltage, it is checked whether the bumper switch is pressed (2007). After moving about 10cm, the next cleaning operation starts (2008).

If all states are not abnormal, the robot cleaner 300 operates a plurality of various infrared distance sensors 931 and performs normal cleaning.

First, the robot cleaner 300 advances from the charging station, moves a predetermined distance (about 50 cm), and then measures the size of the cleaning space using a plurality of infrared distance sensors 931 (2009) to classify the area to be cleaned. After the memory is stored in the RAM of the internal memory of the memory unit 950, the cleaning is performed according to a predetermined vector. In the middle of cleaning, the stairs are formed using a plurality of infrared floor sensors 932 and a plurality of infrared distance sensors 931. And check whether the obstacle is detected (2010).

If an obstacle is found as a result of checking the obstacle detection (2010), the robot cleaner 300 avoids the obstacle (2011) and continues cleaning.

The robot cleaner 300 first generates a pulse width modulation (PWM) signal from the CPU 900 (2012) in order to drive the left and right wheels, and the PWM signal is a wheel driving unit each configured with a TR (transistor). Operation 920 (2013) to drive the wheel motor 311 or 312 is connected to the wheel.

At this time, the encoder of the wheel motor 311 or 312, the encoder (925, 926) consisting of a sensor using the Hall effect and a multipolar magnet is installed to the wheel motor (311 or 312) by the encoder (925, 926). The number of revolutions of is supplied to the CPU 900 (2014).

The CPU 900 calculates (2015) a time shift from the reference frequency generated from the internal counter by measuring the period of the pulse wave input from the encoders 925 and 926, and precisely shifts using this time shift. Determination of distance and correction of errors caused by differences in floor surface will continue cleaning.

In addition, the robot cleaner 300 drives (2016) the fan motor 943 for cleaning while driving, which causes the PWM signal output to the CPU 900 to drive the fan motor 943 via the fan motor driver 944 circuit. do.

The fan motor 943 is provided with a structure such as a propeller for intake of air, so that the air is sucked in from the inlet 410 (2017) and the sucked air flows out of the cleaner via the dust collecting chamber 430. Will be.

The dust collecting chamber 430 is equipped with a dual structure air purification filter for purification of the exhaust air is exhausted out of the clean air only.

In order to clean the air by inhaling (2017), a strong suction force is required, but in order to increase the suction power in the battery-embedded product, the rating of the fan motor 943 must be increased. There is a limit to increasing the rating of.

So, in order to facilitate the inflow of dust is equipped with a cylindrical brush, which serves to collect the dust or rubbish of a predetermined size or more to the suction port 410 can facilitate the intake of garbage.

The brush is connected to the brush motor 941 and the gear, and the brush motor 941 is also driven (2018) while rotating at a constant speed under the control of the CPU (900).

The CPU 900 measures the current flowing through the brush motor 941 to determine whether the brush motor 941 is operating smoothly during operation. It is determined that normal operation is not possible to generate a warning sound (2006) to convey the presence or absence of abnormalities to the user.

In the robot cleaner 300 of the present invention, blind spots that cannot be cleaned when driving the corners and walls of the cleaning space according to the length and radius of the brush are generated on the front left and right wheels to minimize the blind spots. The auxiliary brush is mounted and the auxiliary brush detects the wall surface by the distance sensor 931 provided on both sides of the device while driving, and the first and second auxiliary brush motors 945 and 947 in the direction of the wall. Is driven 2020 and the dust induced by the auxiliary brush is sucked into the suction port.

In addition, the robot cleaner 300 is equipped with a bumper 980 for detecting an obstacle when there are obstacles not detected by the distance sensor 931 and the floor sensor 932, and the bumper is provided with a tact switch therein. If the obstacle is in contact with the bumper while driving, the tact switch inside the bumper is activated to detect the obstacle 2021.

If the consumer lifts the cleaner while the robot cleaner 300 is in operation, the inclination switch 981 installed therein stops the cleaning operation by detecting the operation 2022. At this time, the robot cleaner 300 is initialized (2023). do.

An operation switch unit 710 for operating various functions is provided on the front surface of the robot cleaner 300, and an LED indicator for displaying an operation state of the switch is provided.

After performing the above-described cleaning, the controller 2020 determines whether the cleaning is completed. If the cleaning is not completed, the cleaning operation is continued (2025). When the cleaning is completed, the cleaner automatically finds the charging device. After the movement 2026, the charging is performed. In this case, the wide angle receiver 700 provided at the upper part of the robot cleaner 300 receives a signal from the charging device and searches for the charging device by itself.

In this case, the robot cleaner 300 determines whether the charging device is normally found (2027). If for some reason, the robot cleaner 300 does not find the charging device within a few minutes, the robot cleaner 300 stops all operations on the spot (2028).

As a result of the determination 2027, if the charging device is found within a few minutes, the robot cleaner 300 is mounted on the charging device to execute the charging operation normally (2029).

When the robot cleaner 300 enters a power saving mode while charging, when a consumer claps to check the location of the cleaner when entering the power saving mode, the robot cleaner 300 amplifies a signal from a microphone provided in the cleaner and passes through a filter. Supply to the CPU 900.

If the CPU 900 determines a hand and a noise, and determines that the hand is a hand, the CPU 900 generates a buzzer sound 2031 with a buzzer provided therein, and the consumer knows the position of the cleaner.

All programs operated by the CPU 900 are stored in a ROM, EPROM, EEPROM, FLASH memory, etc. of the memory unit 950, and various data generated during the operation are stored in RAM, which is a temporary storage medium, and used by calling a program. It is done.

All communication protocols for operating the robot cleaner 300 of the present invention adopt the RS-232C communication protocol method.

As described in detail above, the present invention detects and avoids obstacles on the path of a moving robot cleaner using an infrared sensor, and calculates an effective cleaning area, thereby providing a better performance and a lower cost robot cleaner. There is.

Claims (12)

In the robot cleaner which detects an obstacle and cleans a predetermined space, the robot cleaner A plurality of infrared detection sensor means including an infrared light emitting member and a light receiving member having a circularly distributed bandwidth around at least in front, rear, left, and right directions of the cleaner; Proximity detection control means having a magnetic orientation measurement and obstacle avoidance function under the control of the infrared sensor and the central processing unit (CPU), Obstacle detection robot cleaner comprising a wheel drive means and a brush drive means driven in accordance with the proximity detection control means. The method according to claim 1, The proximity sensing control means detects and controls a distance area, detects and controls an obstacle and detects and controls a floor surface. The robot cleaner of claim 1, wherein the robot cleaner is Battery power supply means for supplying a power voltage to the control means and the drive means; Obstacle detection robot cleaner characterized in that it further comprises an analog / digital converter and a multiplexer for detecting when the battery power is exhausted according to the battery power supply means and automatically controls the charging operation. The method according to claim 1, The light emitting member is obstacle detection robot cleaner, characterized in that the light emitting unit and the light receiving unit may be included in two areas in one unit. The method according to claim 4, The light emitting member is obstacle detection robot cleaner, characterized in that the deflection of the light emitting portion is narrow to improve the directivity. The method according to claim 1, The infrared sensor detects a distance or an obstacle by modulating and transmitting different carriers to the obstacle detection robot cleaner. The method according to claim 1, The infrared sensor is obstacle detection robot cleaner, characterized in that used for wall tracking. The method according to claim 1, Obstacle detection robot cleaner, characterized in that the brush drive means comprises an auxiliary brush drive means. In the control method of the robot cleaner for detecting an obstacle and cleaning a certain space, Starting the cleaning operation by checking the battery discharge and the bumper switch when power is supplied to the robot cleaner and the operation starts; Detecting the size and obstacle of the cleaning space by the operation of the infrared sensor when the cleaning operation is started, and driving the wheel of the robot cleaner according to the detection result; Calculating the wheel rotation speed according to the wheel driving of the robot cleaner and collecting the dust by driving a fan motor, a brush motor, and an auxiliary brush motor; Collecting the dust and when the cleaning is complete, the obstacle detection robot cleaner control method comprising the step of automatically moving to the charging device is seated and charged to the spent battery. The method of claim 9, And a warning sound is generated when the battery is discharged or the brush movement is abnormal. The method of claim 9, And a buzzer sound when a specific sound such as a clapping sound is generated while the battery is being charged or stopped. The method of claim 9, When the user lifts the robot cleaner during the cleaning operation, an obstacle detection robot cleaner control method for detecting a tilt angle to stop the cleaning operation.