Mobile robot and method of controlling the same
First Claim
1. A mobile robot, comprising:
- a main body configured to travel in an area to be cleaned and to provide suction to a floor of the area;
a camera provided on a front portion of the main body and configured to capture an image of a prescribed area facing the front portion of the main body;
a first light source provided on the front portion of the main body and configured to emit a first patterned light downward to a first sub-area of the prescribed area;
a second light source provided on the front portion of the main body and below the first light source, the second light source being configured to emit a second patterned light to a second sub-area of the prescribed area, the second sub-area being above the first sub-area; and
a controller configured to;
identify a first optical pattern, corresponding to the first patterned light, in the image captured by the camera,detect an obstacle based on at least one of a shape of the first optical pattern or a position of the first optical pattern in the image,detect a second optical pattern corresponding to the second patterned light in the image captured by the camera, wherein the controller detects the obstacle further based on at least one of a shape of the second optical pattern or position of the second optical pattern in the image, andcause the main body to move relative to the obstacle,wherein controller, when causing the main body to move relative to the obstacle, is further configured to;
determine that the mobile robot is stuck in a region having a plurality of obstacles, including the detected obstacle and one or more additional obstacles, when mobile robot is positioned in the region for at least a threshold duration,detect, based on determining that mobile robot is stuck in the region, attributes of two or more of the obstacles in the region,identify, based on the attributes of two or more of the obstacles in the region, an escape path, andcontrol the main body to travel along the escape path.
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Accused Products
Abstract
A mobile robot of the present disclosure includes a first pattern emission unit configured to emit a first patterned light downward and forward from the main body on a floor of an area to be cleaned; and an image acquisition unit configured to acquire an image of first patterned light emitted by the first pattern emission unit and is incident on an obstacle, so as to determine an obstacle based on a pattern detected from the acquired image. Accordingly, based on the information on the nearby obstacles, by determining whether the mobile robot is in a stuck state where traveling of the mobile robot is limited by a plurality of obstacles, and by setting up an escape for traveling, traveling state of the mobile robot and obstacles may be determined rapidly and a corresponding operation may be performed, thereby enabling effective traveling to escape from the stuck state.
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Citations
19 Claims
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1. A mobile robot, comprising:
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a main body configured to travel in an area to be cleaned and to provide suction to a floor of the area; a camera provided on a front portion of the main body and configured to capture an image of a prescribed area facing the front portion of the main body; a first light source provided on the front portion of the main body and configured to emit a first patterned light downward to a first sub-area of the prescribed area; a second light source provided on the front portion of the main body and below the first light source, the second light source being configured to emit a second patterned light to a second sub-area of the prescribed area, the second sub-area being above the first sub-area; and a controller configured to; identify a first optical pattern, corresponding to the first patterned light, in the image captured by the camera, detect an obstacle based on at least one of a shape of the first optical pattern or a position of the first optical pattern in the image, detect a second optical pattern corresponding to the second patterned light in the image captured by the camera, wherein the controller detects the obstacle further based on at least one of a shape of the second optical pattern or position of the second optical pattern in the image, and cause the main body to move relative to the obstacle, wherein controller, when causing the main body to move relative to the obstacle, is further configured to; determine that the mobile robot is stuck in a region having a plurality of obstacles, including the detected obstacle and one or more additional obstacles, when mobile robot is positioned in the region for at least a threshold duration, detect, based on determining that mobile robot is stuck in the region, attributes of two or more of the obstacles in the region, identify, based on the attributes of two or more of the obstacles in the region, an escape path, and control the main body to travel along the escape path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification