Artificial intelligence cleaner and method for operating same

A method for operating an artificial intelligence cleaner, the method comprising:

• collecting a plurality of cleaning histories for a cleaning space;
• dividing the cleaning space into a plurality of cleaning areas using a simultaneous localization and mapping (SLAM) map of the cleaning space and the plurality of collected cleaning histories;
• determining a cleaning path of the artificial intelligence cleaner in consideration of the divided cleaning areas;
• controlling a travel driver that drives the artificial intelligence cleaner according to the determined cleaning path;
• and
• when an abnormal situation occurs during cleaning based on the determined cleaning path, modifying the cleaning path by applying path simplification to a preset area from among the remaining cleaning areas,
• wherein the method further comprises:
• identifying at least one candidate area where path simplification is possible from among the remaining cleaning areas;
• determining a priority of the at least one candidate area;
• and
• determining the preset area based on the priority level,
• wherein the path simplification is sequentially applied to the candidate areas arranged in ascending priority order such that the path simplification is first applied to a lowest-priority candidate area and is finally applied to a highest-priority candidate area, and
• wherein the priority is determined based on the number of vertices compared to a preset area based on the SLAM map.

A non-transitory computer readable medium storing computer-executable instructions that when executed by a processor of an artificial intelligence cleaner, cause the processor to perform operations of:

• collecting a plurality of cleaning histories for a cleaning space;
• dividing the cleaning space into a plurality of cleaning areas using a simultaneous localization and mapping (SLAM) map of the cleaning space and the plurality of collected cleaning histories;
• determining a cleaning path of the artificial intelligence cleaner in consideration of the divided cleaning areas;
• controlling a travel driver that drives the artificial intelligence cleaner according to the determined cleaning path;
• and
• when an abnormal situation occurs during cleaning based on the determined cleaning path, modifying the cleaning path by applying path simplification to a preset area from among the remaining cleaning areas,
• wherein the operations further include:
• identifying at least one candidate area where path simplification is possible from among the remaining cleaning areas;
• determining a priority of the at least one candidate area;
• and
• determining the preset area based on the priority level,
• wherein the path simplification is sequentially applied to the candidate areas arranged in ascending priority order such that the path simplification is first applied to a lowest-priority candidate area and is finally applied to a highest-priority candidate area, and
• wherein the priority is determined based on the number of vertices compared to a preset area based on the SLAM map.