Robot cleaner and method for controlling the same
First Claim
1. A method for controlling a robot cleaner configured to project light of a predetermined pattern to a floor of an area in front of the robot cleaner in a specific direction and to acquire an image of the area to which the light is projected, comprising:
- (a) acquiring an image of an area in front of the robot cleaner;
(b) detecting patterns from the acquired image; and
(c) determining a first pattern and a second pattern from among the detected patterns, the first pattern formed by light directly projected from the robot cleaner, the second pattern formed after reflection of the first pattern, and discriminating the first pattern from the second pattern based on geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired,wherein, when a position of a third pattern formed by light directly projected to the floor is defined as a reference position in the acquired image, step (c) comprises selecting a pattern detected at the reference position as the first pattern when one of the two or more patterns is detected at the reference position and at least one other pattern is detected from a region above the reference position,wherein the method further comprises (d) updating the reference position,wherein step (d) comprises;
(d-1) acquiring an image of an area in front of the robot cleaner;
(d-2) detecting a fourth pattern formed by light directly projected to the floor from the robot cleaner from the image acquired in step (d-1);
(d-3) comparing a distance between the fourth pattern and the reference position with a predetermined allowable distance; and
(d-4) updating the reference position to a position of the fourth pattern based on a comparison result in step (d-3).
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Accused Products
Abstract
A method for controlling a robot cleaner configured to project light of a predetermined pattern to a floor of an area in front thereof in a specific direction and to acquire an image of the area to which the light is projected, according to the present disclosure, includes: (a) acquiring a front view image of the robot cleaner; (b) detecting the pattern from the image acquired in (a); and (c) discriminating a pattern formed by reflected light from a pattern formed by light directly projected from the robot cleaner, from among patterns indicated in the acquired image, on the basis of geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired when two or more patterns are detected from the image.
16 Citations
14 Claims
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1. A method for controlling a robot cleaner configured to project light of a predetermined pattern to a floor of an area in front of the robot cleaner in a specific direction and to acquire an image of the area to which the light is projected, comprising:
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(a) acquiring an image of an area in front of the robot cleaner; (b) detecting patterns from the acquired image; and (c) determining a first pattern and a second pattern from among the detected patterns, the first pattern formed by light directly projected from the robot cleaner, the second pattern formed after reflection of the first pattern, and discriminating the first pattern from the second pattern based on geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired, wherein, when a position of a third pattern formed by light directly projected to the floor is defined as a reference position in the acquired image, step (c) comprises selecting a pattern detected at the reference position as the first pattern when one of the two or more patterns is detected at the reference position and at least one other pattern is detected from a region above the reference position, wherein the method further comprises (d) updating the reference position, wherein step (d) comprises; (d-1) acquiring an image of an area in front of the robot cleaner; (d-2) detecting a fourth pattern formed by light directly projected to the floor from the robot cleaner from the image acquired in step (d-1); (d-3) comparing a distance between the fourth pattern and the reference position with a predetermined allowable distance; and (d-4) updating the reference position to a position of the fourth pattern based on a comparison result in step (d-3). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling a robot cleaner configured to project light in front of the robot cleaner in a specific direction and to acquire an image of the area to which the light is projected, comprising:
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acquiring an image of an area in front of the robot cleaner; detecting patterns from the acquired image; and determining a first pattern and a second pattern from among the detected patterns, wherein the first pattern being provided by light from the robot cleaner, and the second pattern provided after reflection of the first pattern, and discriminating the first pattern from the second pattern based on geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired when two or more patterns are detected from the image, wherein when a position of a third pattern formed by light projected to a floor is defined as a reference position in the acquired image, the discriminating of the first pattern from the second pattern includes selecting a pattern detected at the reference position as the first pattern when one of the two or more patterns is detected at the reference position and at least one other pattern is detected from a region above the reference position, wherein the method further comprises updating the reference position, wherein the updating of the reference position includes; acquiring an image of an area in front of the robot cleaner; detecting a fourth pattern formed by light projected to a floor from the robot cleaner from the acquired image; comparing a distance between the fourth pattern and the reference position with a predetermined allowable distance; and updating the reference position to a position of the fourth pattern based on a result of the comparing. - View Dependent Claims (11, 12, 13, 14)
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Specification