Mobile robot and method of controlling the same
First Claim
Patent Images
1. A mobile robot, comprising:
- a main body configured to travel in an area to be cleaned and to suck foreign materials on a floor of the area to be cleaned;
a camera provided on a front portion of the main body and configured to capture an image of a prescribed area;
a first light source provided on the front portion of the main body and configured to emit a first patterned light at a downward angle toward a first sub-region of the prescribed area; and
a controller configured to;
detect whether the image captured by camera includes a first optical pattern corresponding to the first patterned light,identify an obstacle in the prescribed area based on the first optical pattern, andcontrol a movement of the main body relative to the obstacle,wherein the controller, when identifying the obstacle, is further configured to determine that the obstacle includes a cliff based on at least one of a shape or location of the first optical pattern in the image,wherein the controller, when controlling the movement of the main body, is further configured to cause the mobile robot to move in a first direction to another location after detecting the cliff,wherein the camera is further configured to capture another image at the other location, andwherein the controller is further configured to;
identify, in the other image, another first optical pattern corresponding to at least a portion of the first patterned light emitted by the first light source at the other location,compare one or more dimensions of the other first optical pattern to one or more dimensions of the first optical pattern, andcontrol the movement of the main body based on comparing the one or more dimensions of the other first optical pattern to the one or more dimensions of the first optical pattern.
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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 incident on an obstacle. A pattern is detected from the acquired image to determine an obstacle, and a cliff is detected based on at least one of a shape or a position of the pattern in the image. The mobile robot may identify a travel path that does not lead to the cliff.
23 Citations
20 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 suck foreign materials on a floor of the area to be cleaned; a camera provided on a front portion of the main body and configured to capture an image of a prescribed area; a first light source provided on the front portion of the main body and configured to emit a first patterned light at a downward angle toward a first sub-region of the prescribed area; and a controller configured to; detect whether the image captured by camera includes a first optical pattern corresponding to the first patterned light, identify an obstacle in the prescribed area based on the first optical pattern, and control a movement of the main body relative to the obstacle, wherein the controller, when identifying the obstacle, is further configured to determine that the obstacle includes a cliff based on at least one of a shape or location of the first optical pattern in the image, wherein the controller, when controlling the movement of the main body, is further configured to cause the mobile robot to move in a first direction to another location after detecting the cliff, wherein the camera is further configured to capture another image at the other location, and wherein the controller is further configured to; identify, in the other image, another first optical pattern corresponding to at least a portion of the first patterned light emitted by the first light source at the other location, compare one or more dimensions of the other first optical pattern to one or more dimensions of the first optical pattern, and control the movement of the main body based on comparing the one or more dimensions of the other first optical pattern to the one or more dimensions of the first optical pattern. - 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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20. A mobile robot, comprising:
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a main body configured to travel in an area to be cleaned and to suck foreign materials on a floor of the area to be cleaned; a camera provided on a front portion of the main body and configured to capture an image of a prescribed area; a first light source provided on the front portion of the main body and configured to emit a first patterned light at a downward angle toward a first sub-region of the prescribed area; and a controller configured to; detect whether the image captured by camera includes a first optical pattern corresponding to the first patterned light, identify an obstacle in the prescribed area based on the first optical pattern, and control a movement of the main body relative to the obstacle, wherein the controller, when identifying the obstacle, is further configured to determine that the obstacle includes a cliff based on at least one of a shape or location of the first optical pattern in the image, and wherein the controller is further configured to determine that the cliff is located in a travelling direction of the mobile robot when controller determines that the image excludes the first optical pattern.
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Specification