MOBILE ROBOT AND METHOD OF CONTROLLING THE SAME
First Claim
Patent Images
1. A mobile robot, comprising:
- a main body configured to travel in an area to be cleaned and to suck foreign materials on a floor of the area to be cleaned;
a camera provided on a front portion of the main body and configured to capture an image of a prescribed area;
a first light source provided on the front portion of the main body and configured to emit a first patterned light at a downward angle toward a first sub-region of the prescribed area; and
a controller configured to;
detect whether the image captured by camera includes a first optical pattern corresponding to the first patterned light,identify an obstacle in the prescribed area based on the first optical pattern, andcontrol a movement of the main body relative to the obstacle,wherein the controller, when identifying the obstacle, is further configured to determine that the obstacle includes a cliff based on at least one of a shape or location of the first optical pattern in the image.
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Abstract
A mobile robot of the present disclosure includes a first pattern emission unit configured to emit a first patterned light downward and forward from the main body on a floor of an area to be cleaned; and an image acquisition unit configured to acquire an image of first patterned light emitted by the first pattern emission unit and incident on an obstacle. A pattern is detected from the acquired image to determine an obstacle, and a cliff is detected based on at least one of a shape or a position of the pattern in the image. The mobile robot may identify a travel path that does not lead to the cliff.
25 Citations
20 Claims
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1. A mobile robot, comprising:
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a main body configured to travel in an area to be cleaned and to suck foreign materials on a floor of the area to be cleaned; a camera provided on a front portion of the main body and configured to capture an image of a prescribed area; a first light source provided on the front portion of the main body and configured to emit a first patterned light at a downward angle toward a first sub-region of the prescribed area; and a controller configured to; detect whether the image captured by camera includes a first optical pattern corresponding to the first patterned light, identify an obstacle in the prescribed area based on the first optical pattern, and control a movement of the main body relative to the obstacle, wherein the controller, when identifying the obstacle, is further configured to determine that the obstacle includes a cliff based on at least one of a shape or location of the first optical pattern in the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification