METHOD OF CONTROLLING A CLEANER
First Claim
1. A method of controlling a cleaner comprising a movable body for suctioning and a following body for collecting dust particles suctioned by the movable body, the method comprising:
- acquiring, by an image acquisition unit, an image of a view around the following body;
acquiring, by a controller, position information of the movable body in a real space based on the image;
acquiring, by the controller, position information of an obstacle in the real space based on the image;
setting, by the controller, a travel direction such that the following body avoids the obstacle to follow the movable body based on the movable body position information and the obstacle position information; and
controlling the following body to travel in the set travel direction.
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Abstract
Disclosed herein is a method of controlling a cleaner including a movable body for suctioning and a following body for collecting the dust suctioned by the movable body, the method including: (a) acquiring an image for a view around the following body; (b) acquiring position information of the movable body in an real space, based on the image; (c) acquiring position information of an obstacle in the real space, based on the image; (d) setting a travel direction such that the following body avoids the obstacle to follow the movable body, based on the position information of the movable body and the position information of the obstacle; and (e) controlling the following body to travel in the set travel direction.
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Citations
20 Claims
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1. A method of controlling a cleaner comprising a movable body for suctioning and a following body for collecting dust particles suctioned by the movable body, the method comprising:
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acquiring, by an image acquisition unit, an image of a view around the following body; acquiring, by a controller, position information of the movable body in a real space based on the image; acquiring, by the controller, position information of an obstacle in the real space based on the image; setting, by the controller, a travel direction such that the following body avoids the obstacle to follow the movable body based on the movable body position information and the obstacle position information; and controlling the following body to travel in the set travel direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A cleaner comprising:
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a movable body to suction particles; a following body to follow the movable body and collect the particles suctioned by the movable body; a travel unit to allow the following body to travel; an image acquisition unit to acquire an image of a view around the following body; and a controller to acquire position information of the movable body in a real space, wherein, based on the image, the controller acquires position information of an obstacle in the real space, sets a travel direction such that the following body avoids the obstacle to follow the movable body based on the movable body position information and the obstacle position information, and controls the travel unit such that the following body travels in the set travel direction. - View Dependent Claims (17, 18, 19, 20)
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Specification