ROBOT CLEANER SYSTEM AND CONTROL METHOD OF THE SAME

• US 20140116469A1
• Filed: 10/24/2013
• Published: 05/01/2014
• Est. Priority Date: 10/26/2012
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: Younggie Kim
• Inventors: KIM, Sangyun, KIM, Younggie
• Granted Patent: US 9,675,226 B2
• Time in Patent Office: Days
• US Class Current: 134/18
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4013 Contaminants collecting devices, i.e. hoppers, tanks or the like
• CPC Class Codes: A47L 11/4044 Vacuuming or pick-up tools; Squeegees
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G08C 17/02 using a radio link

Abstract

A robot cleaner system may include a robot cleaner that may be automatically driven while performing a cleaning operation, a recharging base that receives the robot cleaner, and a remote control device that remotely controls the robot cleaner. The remote control device may also generate mapping information between an actual region and a virtual region based on image information generated by a camera provided on the robot cleaner, and/or image information generated by a camera on the recharging base.

Claims

1. A robot cleaner system, comprising:

a robot cleaner configured to perform a cleaning operation;

a recharging base configured to receive the robot cleaner; and

a remote control device operably coupled to the robot cleaner to control the robot cleaner remotely,

wherein the remote control device generates mapping information between an actual region and a virtual region based on image information generated by a camera provided on the robot cleaner and a region near the robot cleaner, or based on image information generated by a camera provided on the recharging base and a region near the recharging base.

2. The robot cleaner system of claim 1, wherein the remote control device generates location information of the robot cleaner, or generates location information of the recharging base by sensing a position of the robot cleaner or a position of the recharging base based on the image information generated by the camera.

3. The robot cleaner system of claim 2, wherein the remote control device also generates posture information related to an orientation of the robot cleaner, or generates posture information related to an orientation of the recharging base.

4. The robot cleaner system of claim 1, wherein the remote control device generates the mapping information between the actual region and the virtual region by comparing an actual shape of the robot cleaner with a relate shape of the robot cleaner recognized from the image information, or by comparing an actual shape of the recharging base with a relative shape of the recharging base recognized from the image information.

5. The robot cleaner system of claim 1, further comprising at least one recognition device provided on at least one of the robot cleaner or the recharging base, wherein the robot cleaner and the recharging base are recognized in the image information based on detection of the at least one recognition device.

6. The robot cleaner system of claim 5, wherein the remote control device generates the mapping information by comparing actual shape information of the at least one recognition device with relative shape information recognized in the image information.

7. The robot cleaner system of claim 6, wherein the remote control device comprises:

a display configured to display the image information; and

an input device configured to receive a control command for the robot cleaner.

8. The robot cleaner system of claim 7, wherein the display comprises a touch sensor configured to sense a touch input, wherein the input device includes the touch sensor.

9. The robot cleaner system of claim 8, wherein the remote control device is configured to perform a location based service of the robot cleaner in response to the touch input received at the display.

10. The robot cleaner system of claim 5, wherein the at least one recognition device comprises a recognition mark provided on an outer surface of a case of the robot cleaner, or on an outer surface of a case of the recharging base.

11. The robot cleaner system of claim 10, wherein the recognition mark is selectively detachable from the outer surface of the respective case.

12. The robot cleaner system of claim 5, wherein the at least one recognition device comprises a plurality of recognition devices provided on an outer surface of a case of the robot cleaner.

13. The robot cleaner system of claim 5, wherein the at least one recognition device comprises a light source provided in a case of the robot cleaner or a case of the recharging base, wherein the light source is configured to emit light from an inside of the case toward an outside of the case.

14. The robot cleaner system of claim 13, wherein the light source is an LED light source.

15. The robot cleaner system of claim 13, wherein an outer wall of the case comprises a color layer and a reflective layer provided on an interior facing side of the color layer, and

wherein the light source is positioned under the reflective layer such that the light source is not visible from outside of the case when the light source is deactivated.

16. The robot cleaner system of claim 13, wherein the light source is activated in response to a control signal generated by the remote control device to implement an application for controlling the robot cleaner.

17. A method of controlling a robot cleaner system comprising a robot cleaner, a recharging base and a remote control having a camera and a display, the method comprising:

capturing image information of the robot cleaner and a region near the robot cleaner using the camera;

displaying a virtual region on the display corresponding to an area to be cleaned by the robot cleaner system;

mapping an actual region to the virtual region displayed on the display based on the image information captured by the camera; and

performing a location based service of the robot cleaner through the virtual region displayed on the display.

18. The method of claim 17, wherein mapping an actual region to the virtual region comprises:

detecting at least one of the robot cleaner or the recharging base from the image information; and

generating location information related to the at least one of the robot cleaner or the recharging base based on the detection.

19. The method of claim 18, further comprising improving an image quality of the image information after detecting at least one for the robot cleaner or the recharging base, comprising at least one of adjusting image brightness, eliminating noise, or correcting color of the image information.

20. The method of claim 17, wherein performing a location based service comprises converting an input received via touch input on the virtual region displayed on the display for driving the robot into a driving command signal for driving the robot cleaner in the actual region based on the mapping of the actual region to the virtual region.

21. The method of claim 17, wherein performing a location based service comprises at least one of setting a passage, designating a cleaning region, designating a do-not clean region, or setting a move to user function.

22. The method of claim 17, further comprising:

activating a recognition device provided in the robot cleaner or the recharging base.