Mobile robot
First Claim
Patent Images
1. A mobile robot comprising:
- a main body;
an image sensor provided on the main body and configured to captured an image of a predetermined area at a front side of the main body;
a first light source provided on the main body and configured to emit a first pattern of light to a first sub-area of the predetermined area; and
a second light source provided on the main body at a position below the first light source and configured to emit a second pattern of light to a second sub-area of the predetermined area, the first sub-area being located lower than the second sub-area,wherein, when the main body is viewed from a lateral side while the main body is positioned on a horizontal floor;
a first path in which the first pattern of light is emitted and a second path in which the second pattern of light is emitted intersect each other,a first point (d1), corresponding to vertically projecting a point where the first pattern of light and the second pattern of light intersect each other on to the horizontal floor, is located closer to the main body than a second point (d2) on the horizontal floor where the image is captured by the image sensor, anda first distance between the second point (d2) and a third point (d3) at which the first pattern of light is emitted on to the horizontal floor is greater than a second distance between the first point (d1) and the second point (d2).
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Accused Products
Abstract
A robot cleaner of the present disclosure comprises a main body configured to travel in a cleaning zone and to suction a foreign substance on a floor in the cleaning zone, an image sensor provided on the main body and configured to obtain an image of a predetermined area at a front side of the main body, a first light source provided on the main body and configured to emit a first pattern of light to a first sub-area of the predetermined area and a second light source provided on the main body at a position below the first light source and configured to emit a second pattern of light to a second sub-area of the predetermined area, the first sub-area being located lower than the second sub-area.
23 Citations
18 Claims
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1. A mobile robot comprising:
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a main body; an image sensor provided on the main body and configured to captured an image of a predetermined area at a front side of the main body; a first light source provided on the main body and configured to emit a first pattern of light to a first sub-area of the predetermined area; and a second light source provided on the main body at a position below the first light source and configured to emit a second pattern of light to a second sub-area of the predetermined area, the first sub-area being located lower than the second sub-area, wherein, when the main body is viewed from a lateral side while the main body is positioned on a horizontal floor; a first path in which the first pattern of light is emitted and a second path in which the second pattern of light is emitted intersect each other, a first point (d1), corresponding to vertically projecting a point where the first pattern of light and the second pattern of light intersect each other on to the horizontal floor, is located closer to the main body than a second point (d2) on the horizontal floor where the image is captured by the image sensor, and a first distance between the second point (d2) and a third point (d3) at which the first pattern of light is emitted on to the horizontal floor is greater than a second distance between the first point (d1) and the second point (d2). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A mobile robot comprising:
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an image sensor configured to capture images of a predetermined area in front of the robot; a first light source configured to emit a first pattern of light to a first sub-area of the predetermined area; a second light source positioned below the first light source and configured to emit a second pattern of light to a second sub-area of the predetermined area that is above the first sub-area; and a controller configured to; activate the first light source to determine whether an obstacle is present in the predetermined area, and selectively activate the second light source to determine a height of the obstacle based on determining that the obstacle is present in the predetermined area. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification