Cleaning robot and method for controlling the same

• US 10,254,756 B2
• Filed: 04/19/2017
• Issued: 04/09/2019
• Est. Priority Date: 06/13/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Lee, Dong Hun, Park, Heum yong
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/491,422
• Publication Number:
  US 20170220038A1
• Time in Patent Office: 720 Days
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06F 3/00 Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 40/107 Static hand or arm
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A cleaning robot including a main body, a moving assembly to move the main body, a cleaning tool provided at a bottom part of the main body to collect foreign substances on a floor, and an imager to collect images around the main body. The cleaning robot also including a controller to recognize motion of a hand by performing image processing of the collected images, identify a control command corresponding to the motion of the hand, plan a moving direction and a moving distance of the main body as movement information based on the control command, and control operations of the moving assembly and the cleaning tool based on the planned movement information. Since the user directly controls movement of the cleaning robot, it is possible to improve interactivity between human and cleaning robot, to reduce the effort by the user and increase convenience.

Claims

1. A cleaning robot comprising:

a main body;

a moving assembly to move the main body;

a cleaning tool provided at a bottom part of the main body to collect foreign substances on a floor;

an imager to collect images around the main body; and

a controller to recognize a marker in the collected images, identify a change in position of the marker, plan moving information including a moving direction of the main body and a moving distance of the main body based on the identified change in position, and control operations of the moving assembly and the cleaning tool based on the planned movement information,

wherein when a virtual wall setting command has been input, the controller;

recognizes a start position at a start point and an end position at an end point based on an identified change in position for setting up a virtual wall; and

sets up the virtual wall by connecting the start position to the end position based on the identified change in position.

2. The cleaning robot according to claim 1, wherein the controller determines a moving speed of the marker based on a time and the moving distance, and controls a moving speed of the main body based on the determined moving speed of the marker.

3. The cleaning robot according to claim 1, wherein the controller controls the moving assembly such that the main body moves autonomously if the marker is not recognized in the collected images.

4. The cleaning robot according to claim 1, wherein the controller controls the moving assembly to move the main body forward if the marker moves forward, controls the moving assembly to move the main body backward if the marker moves backward, and controls the moving assembly to rotate the main body if the marker rotates.

5. The cleaning robot according to claim 1, wherein the controller controls movement of the main body based on a same distance as a moving distance of the marker, and controls movement of the main body in a same direction as a moving direction of the marker.

6. The cleaning robot according to claim 1, wherein if a traveling pattern setting command has been input, the controller recognizes positions of the marker over time, and sets a traveling pattern by connecting the recognized positions.

7. A method for controlling a cleaning robot having a moving assembly and a cleaning tool provided at a bottom part of a main body, comprising:

collecting images around the main body by using an imager;

recognizing a marker in the collected images;

recognizing motion of the marker in the collected images;

planning movement information including a moving direction of the main body and a moving distance of the main body based on the motion of the marker; and

controlling operations of the moving assembly and the cleaning tool based on the planned movement information,

wherein when a virtual wall setting command has been input;

recognizing a start position at a start point and an end position at an end point based on an identified change in position for setting up a virtual wall; and

setting up the virtual wall by connecting the start position to the end position based on the identified change in position.

8. The method according to claim 7, wherein the marker is provided in a square shape attached to a hand of the user.

9. The method according to claim 7, further comprising:

tracking positions of the marker in the collected images at predetermined time intervals;

setting a traveling pattern by connecting the tracked positions of the marker in the collected images; and

controlling movement of the moving assembly based on the set traveling pattern.

10. The method according to claim 7, wherein the marker matches a predefined marker image.

11. The method according to claim 10, wherein the planning of the moving direction and the moving distance of the main body comprises:

recognizing the predefined marker image in the collected images;

identifying a change in position of the recognized marker image; and

planning the moving direction and the moving distance of the main body based on the identified change in position.