Dust detection method and apparatus for cleaning robot
First Claim
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1. A dust detection method of a cleaning robot, comprising:
- acquiring a floor image as a current floor image of a predetermined place at a current location of the cleaning robot in the predetermined place;
obtaining a difference image between the current floor image and a background image selected from a feature map including a plurality of floor images of the predetermined place; and
detecting a dusty area based on the difference image and adjusting a cleaning power of the cleaning robot.
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Abstract
A dust detection method and apparatus of a cleaning robot. The dust detection method involves acquiring a floor image as a current floor image of a predetermined place at a current location of the cleaning robot in the predetermined place; obtaining a difference image between the current floor image and a background image selected from a feature map consisting of a plurality of floor images of the predetermined place; and detecting a dusty area based on the difference image and adjusting a cleaning power of the cleaning robot.
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Citations
25 Claims
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1. A dust detection method of a cleaning robot, comprising:
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acquiring a floor image as a current floor image of a predetermined place at a current location of the cleaning robot in the predetermined place;
obtaining a difference image between the current floor image and a background image selected from a feature map including a plurality of floor images of the predetermined place; and
detecting a dusty area based on the difference image and adjusting a cleaning power of the cleaning robot. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computer-readable recording medium encoded with processing instructions for causing a processor to execute a dust detection method of a cleaning robot, the method comprising:
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acquiring a floor image as a current floor image of a predetermined place at a current location of the cleaning robot in the predetermined place;
obtaining a difference image between the current floor image and a background image selected from a feature map including a plurality of floor images of the predetermined place; and
detecting a dusty area based on the difference image and adjusting a cleaning power of the cleaning robot.
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9. A dust detection apparatus of a cleaning robot, comprising:
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an image acquisition unit which acquires a floor image as a current floor image of a predetermined place at a current location of the cleaning robot in the predetermined place;
and a control unit which obtains a difference image between the current floor image and a background image selected from among the plurality of floor images of a feature map having a plurality of floor images of the predetermined place, detects a dusty area based on the difference image, and adjusts the cleaning power of the cleaning robot. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A cleaning robot, comprising:
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an image acquisition unit acquires floor images of a predetermined place in which the cleaning robot moves while performing a cleaning process;
an image processing unit which performs treatments on the acquired floor image; and
a control unit which obtains a obtain difference images between the acquired floor images and a plurality of floor images of a feature map, detects an area with the use of the difference images, and adjusts the cleaning power of the cleaning robot. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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24. A method of controlling a cleaning robot, comprising:
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loading a feature map;
detecting a dusty area;
adjusting the cleaning power of the cleaning robot to a calculated cleaning power;
determining whether the dusty area is larger than one grid, which is a maximum cleaning area of the cleaning robot in any location;
moving the cleaning robot to a grid nearest to a current location, when the dusty area is determined to be larger than one grid, modifying an existing cleaning path, performs a cleaning operation in the nearest grid, and upon completing the cleaning operation, returning to the current location;
performing a cleaning operation by following an existing cleaning path when the dusty area is smaller than one grid, displaying grids which have already been cleaned and other grids which are yet to be cleaned by the cleaning robot; and
judging whether the cleaning robot has completed its cleaning operation in all grids zones and, when the cleaning robot has not yet completed its cleaning operation in all grids repeating the detecting, adjusting, determining, moving, performing, and judging.
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25. A computer-readable recording medium encoded with processing instructions for causing a processor to execute a method of controlling a cleaning robot, the method comprising:
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loading a feature map;
detecting a dusty area;
adjusting the cleaning power of the cleaning robot to a calculated cleaning power;
determining whether the dusty area is larger than one grid, which is a maximum cleaning area of the cleaning robot in any location;
moving the cleaning robot to a grid nearest to a current location, when the dusty area is determined to be larger than one grid, modifying an existing cleaning path, performs a cleaning operation in the nearest grid, and upon completing the cleaning operation, returning to the current location;
performing a cleaning operation by following an existing cleaning path when the dusty area is smaller than one grid, displaying grids which have already been cleaned and other grids which are yet to be cleaned by the cleaning robot; and
judging whether the cleaning robot has completed its cleaning operation in all grids zones and, when the cleaning robot has not yet completed its cleaning operation in all grids repeating the detecting, adjusting, determining, moving, performing, and judging.
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Specification