가정용 청소로봇의 실내 문턱 및 낙하영역 감지를 위한 성능평가에 관한 연구

A Study on the Performance Evaluation for Indoor Threshold and Drop Zone Recognition of Household Cleaning Robot

To improve performance of cleaning robots for general household, sensor modules those are useful to Korean residential environment for recognizing floor condition and identifying floor material have been developed. The structure of most korean houses is composed of rooms, a living room and a floor whose boundary is a doorsill. Even Korean house may have a hollow spot. So accurate perception of floor condition that is required for uneven Korean house can prevent a cleaning robot from unstable function and damage due to crash or falling. Standardizing different criteria those are used by several manufacturers for height sensing and condition of the floor makes it possible to keep performance and technical levels of the cleaning robot consistent and to enhance them better. In this research, standardization of performance evaluation on the indoor threshold recognition for household cleaning robot is proposed.