Location mark detecting method for robot cleaner and robot cleaner using the method
First Claim
1. A location mark detecting method used by a robot cleaner, which includes an upwardly-looking camera capturing an area on which location marks are disposed, a control unit recognizing a current location based on an image captured by the camera and reference location marks stored in a storage, and a driving unit being driven in accordance with a signal of the control unit, in the location mark detecting method the control unit detecting the location marks from the image, the method comprising the steps of:
- obtaining from the image object marks to be compared with the stored reference location marks;
determining whether the shapes of the object marks are identical to those of the stored reference location marks;
determining whether the distance between the object marks is identical to the distance between the reference location marks if it is determined that the shapes are identical;
determining whether a surrounding image of the object marks is identical to that of the reference location marks if it is determined that the distances are identical; and
identifying the object marks as the location marks if it is determined that the surrounding images are identical.
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Accused Products
Abstract
A location mark detecting method of a robot cleaner capable of accurately detecting location marks from an image captured by an upwardly looking camera. The location mark detecting method comprises the steps of obtaining from the image object marks to be compared with the reference location marks, determining whether shapes of the object marks are identical to those of the reference location marks, determining whether a distance separating the object marks is identical to that between the reference location marks if it is determined that the shapes are identical, determining whether a surrounding image of the object marks is identical to that of the reference location marks if it is determined that the distances are identical, and identifying the object marks as the location marks if it is determined that the surrounding images are identical. A robot cleaner capable of wirelessly communicating with an external device comprises a driving unit, an upwardly-looking camera for capturing an image of a ceiling above an area to be cleaned on which location marks are disposed, and a control unit for detecting the location marks from the image captured by the upwardly-looking camera, the control unit commanding the driving unit utilizing information of the current location to perform a work command.
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Citations
13 Claims
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1. A location mark detecting method used by a robot cleaner, which includes an upwardly-looking camera capturing an area on which location marks are disposed, a control unit recognizing a current location based on an image captured by the camera and reference location marks stored in a storage, and a driving unit being driven in accordance with a signal of the control unit, in the location mark detecting method the control unit detecting the location marks from the image, the method comprising the steps of:
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obtaining from the image object marks to be compared with the stored reference location marks;
determining whether the shapes of the object marks are identical to those of the stored reference location marks;
determining whether the distance between the object marks is identical to the distance between the reference location marks if it is determined that the shapes are identical;
determining whether a surrounding image of the object marks is identical to that of the reference location marks if it is determined that the distances are identical; and
identifying the object marks as the location marks if it is determined that the surrounding images are identical. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robot cleaner performing an operation while wirelessly communicating with an external device, the robot cleaner comprising:
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a driving unit for driving a plurality of wheels;
an upwardly-looking camera for capturing a ceiling above an area to be cleaned on which location marks are disposed; and
a control unit for detecting the location marks from the image captured by the upwardly looking camera by referencing shapes, distance, and surrounding image of the stored reference location marks, to thereby perceive the current location of the robot cleaner, the control unit commanding the driving unit utilizing information of the current location to perform a work command. - View Dependent Claims (11, 12, 13)
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Specification