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Robot cleaner and remote monitoring system and method of the same

  • US 9,423,797 B2
  • Filed: 04/11/2012
  • Issued: 08/23/2016
  • Est. Priority Date: 04/19/2011
  • Status: Active Grant
First Claim
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1. A robot cleaner, comprising:

  • an input device configured to receive a control command with respect to the robot cleaner;

    a position recognition device having one or more sensors, and configured to recognize a position of the robot cleaner and to output position info illation;

    an obstacle detection device having a light pattern sensor, and configured to detect an obstacle by using the light pattern sensor and to output obstacle information; and

    a storage unit to store a light pattern including a vertical component and a horizontal component; and

    a controller configured to control the robot cleaner based on the obstacle information and the position information,wherein the light pattern sensor is configured to be disposed at a side of the robot cleaner and to irradiate the stored light pattern based on the position information, and the light pattern sensor to detect an obstacle based on the vertical component and the horizontal component of the light pattern corresponding to the obstacle,wherein the light pattern sensor includes a light source module configured to irradiate a light pattern based on the position information, wherein first and second camera modules are configured to capture first and second images from a region to which the light pattern has been irradiated and an image processing module configured to detect an obstacle by processing the first and second images,wherein the light pattern sensor includes a filter connected to a front end of the light source module, and the filter is configured to pass only a predetermined frequency of a light pattern irradiated from the light source module,wherein the controller is configured to start moving or rotating of the robot cleaner by using the obstacle information or the control command,wherein the controller is configured to detect whether a position of the light pattern sensor is changed or not by using the position recognition device while the robot cleaner is moving or rotating,wherein the controller to perform the following in sequence;

    (a) when the position of the light pattern sensor is detected to not have changed, the light pattern sensor to stop irradiating the light pattern,(b) when the position of the light pattern sensor is detected to have changed by moving of the robot cleaner, the light pattern sensor to irradiate the light pattern periodically, and(c) when the position of the light pattern sensor is detected to have changed by rotating of the robot cleaner in a same location, the light pattern sensor to irradiate the light pattern periodically,wherein the controller controls at least one of a form and a duty ratio of the light pattern based on the position information.

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