Robot cleaner, robot cleaning system and method for controlling same
First Claim
1. A robot cleaner for performing a cleaning operation by communicating wirelessly with an apparatus external to the robot cleaner, comprising:
- a driving unit for driving a plurality of wheels;
an upper camera disposed on a main body in order to photograph an upper image perpendicular to a direction of driving the robot cleaner; and
a controller for controlling the driving unit to allow the robot cleaner to drive within a cleaning area defined by a predetermined driving pattern, and for arranging the driving path by analyzing the image photographed by the upper camera.
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Accused Products
Abstract
A robot cleaner, robot cleaning system, and a method for controlling the same, the robot cleaner cleaning by wirelessly communicating with an external apparatus having a driving unit for driving a plurality of wheels; an upper camera disposed on a main body for photographing an upper image perpendicular to a direction of driving the robot cleaner; and a controller for controlling the driving unit to allow the robot cleaner to drive with a cleaning area according to a predetermined driving pattern, and compensating the driving path by analyzing the image photographed by the upper camera. In other embodiments, the robot cleaner may include a second forwardly directed camera which may be utilized to provide a three dimensional image of the cleaning area, and also sensors for sensing the walls defining a cleaning area or obstacles in the cleaning area. In yet another embodiment, and to reduce the image computing load on the robot cleaner, transmission of the image to an external processor/controller may be effected by a radio antenna. The robot cleaner, the robot cleaning system, and the method for controlling the same, can recognize the robot cleaner position more accurately as the position is recognized by using an upper image that does not experience as much alteration as does a floor. Therefore, a movement error to a target position is reduced, and a commanded work can be performed more easily.
97 Citations
17 Claims
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1. A robot cleaner for performing a cleaning operation by communicating wirelessly with an apparatus external to the robot cleaner, comprising:
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a driving unit for driving a plurality of wheels;
an upper camera disposed on a main body in order to photograph an upper image perpendicular to a direction of driving the robot cleaner; and
a controller for controlling the driving unit to allow the robot cleaner to drive within a cleaning area defined by a predetermined driving pattern, and for arranging the driving path by analyzing the image photographed by the upper camera. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robot cleaning system including:
- a driving unit for driving a plurality of wheels;
a robot cleaner having an upper camera disposed on a main body for photographing an upper image perpendicular to a driving direction; and
a remote controller for wirelessly communicating with the robot cleaner,wherein the remote controller controls the robot cleaner to drive within a cleaning area defined by a predetermined driving pattern, and arranges a driving track by transmitting the image being photographed by the upper camera and analyzing the photographed image. - View Dependent Claims (9, 10, 11, 12, 13, 14, 17)
- a driving unit for driving a plurality of wheels;
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15. A method for controlling a robot cleaner having an upper camera for photographing an upper image, comprising the steps of:
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creating and storing an image map of an upper area, located above an area to be cleaned, from an image photographed by the upper camera by driving the robot cleaner according to a predetermined driving pattern within the cleaning area;
recognizing a position of the robot cleaner by comparing a stored image of the recorded image map and a current image photographed from the upper camera, and calculating a driving path from the recognized position to a target position, upon receiving a signal for cleaning; and
driving the robot cleaner according to the calculated driving path.
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16. A method for controlling a robot cleaner having an upper camera for photographing an upper image, comprising the steps of:
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creating a cleaning area map by driving the robot cleaner within a cleaning area and storing the map;
calculating a driving path corresponding to a cleaning command, when a command signal for cleaning is received;
driving the robot cleaner according to the calculated driving path; and
arranging the driving path by analyzing an image photographed from the upper camera.
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Specification