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

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Lee, Seongsoo, Noh, Dongki, Sung, Chulmo, Baek, Seungmin, Yoon, Jeongsuk
• Primary Examiner(s): To, Tuan C.
• Assistant Examiner(s): SMITH, ISAAC G
• Application Number:
  US13/444,038
• Publication Number:
  US 20120271502A1
• Time in Patent Office: 1,595 Days
• Field of Search: 701/2, 701/23, 701/26, 701/28, 701/50, 15/211, 153/19, 320/104, 320/107, 700/245, 700/253, 700/259, 700/258, 356/3.14, 356/4.01, 356/4.03, 382/104, 382/154, 345/419
• US Class Current: 1/1
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Disclosed are a robot cleaner and a method for controlling the same. Firstly, an obstacle may be detected by using a light pattern sensor, and a user'"'"'s inconvenience due to irradiation of a light pattern may be solved. Secondly, an obstacle may be precisely detected in a three dimensional manner by using the light pattern sensor. This may allow precise creation of a cleaning map. Thirdly, a user'"'"'s eyes may be prevented from being continuously exposed to a light source. This may enhance the user'"'"'s convenience.

Claims

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.

2. The robot cleaner of claim 1, wherein the vertical component of the light pattern is extracted from the first image captured by the first camera module and the horizontal component of the light pattern is extracted from the second image captured by the second camera module.

3. The robot cleaner of claim 1, wherein the controller periodically drives a light source module in response to a position change of the light pattern sensor.

4. The robot cleaner of claim 1, wherein the light pattern sensor is configured to detect an obstacle by comparing the light pattern before irradiation with a light pattern included in the first and second images after irradiation.

5. The robot cleaner of claim 4, wherein the controller creates a cleaning map based on the obstacle information.

6. The robot cleaner of claim 5, wherein the controller corrects the cleaning map based on the position information.

7. The robot cleaner of claim 1, wherein the position recognition device includes a camera installed at an upper portion or a front portion of the robot cleaner, wherein the camera is configured to capture an image at a periphery of the robot cleaner and to output image information.

8. The robot cleaner of claim 1, wherein the position recognition device includes at least one of:

an acceleration sensor configured to recognize speed and position as the robot cleaner moves;

an encoder connected to a wheel motor for driving wheels of the robot cleaner, and configured to detect a moving distance and a speed of the robot cleaner;

or

a gyro sensor configured to detect a rotation speed of the robot cleaner.

9. A robot cleaner, comprising:

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

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

a controller configured to drive the light pattern sensor in response to a position change of the robot cleaner, configured to create a cleaning map based on the obstacle information, and configured to control the robot cleaner based on the cleaning map;

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

a storage device configured to store the obstacle information, the cleaning map and a predetermined image data related with a light pattern including a vertical component and a horizontal component,

wherein the light pattern sensor is configured to be disposed at a side of the robot cleaner and to irradiate the stored light pattern using the predetermined image data based on the position information to a region, and to detect the 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, and

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, and

(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 while at 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.

10. The robot cleaner of claim 9, wherein the light pattern sensor includes:

a light source module configured to irradiate the light pattern based on the position information, wherein first and second camera modules are configured to capture in first and second images from the 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.

11. The robot cleaner of claim 10, wherein the first and second camera modules are a structured light camera, and the light source module is a laser diode (LD) or a light emitting diode (LED).

12. The robot cleaner of claim 10, wherein the image processing module detects an obstacle based on a shape, an area and a change of the light pattern.

13. The robot cleaner of claim 10, further comprising:

an output device configured to display, on a screen, at least one of the light pattern, the obstacle information, the position information or the cleaning map;

a driving device having a wheel motor for rotating wheels, and configured to move the robot cleaner by driving the wheel motor; and

a power device including a chargeable power supply device configured to supply power to the robot cleaner.

14. A method for controlling a robot cleaner having a light pattern sensor disposed at a side of the robot cleaner for detecting an obstacle using a light pattern, the method comprising:

receiving an obstacle information or a control command;

starting movement or rotation of the robot cleaner by using the obstacle information or the control command;

recognizing, by a position recognition device of the robot cleaner, a position of the robot cleaner and outputting position information;

detecting, by a controller of the robot cleaner, whether a position of the robot cleaner is changed;

detecting, by a controller of the robot cleaner, whether a position of the light pattern sensor is changed; and

determining, by a controller of the robot cleaner, whether the light pattern sensor irradiates the light pattern or does not irradiate the light pattern,

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 to a region, and

(c) when the position of the light pattern sensor is detected to have changed by the robot cleaner rotating at a same location, the light pattern sensor to irradiate the light pattern periodically to a region,

wherein the controller controls at least one of a form and a duty ratio of the light pattern based on the position information,

wherein when the light pattern sensor irradiates the light pattern, the method further comprising;

capturing, by first and second camera modules, first and second images included in the region to which the light pattern has been irradiated, wherein the capturing includes capturing the first image using the first camera module and capturing the second image using the second camera module; and

passing, by a filter connected to a front end of a light source module, a predetermined frequency of a light pattern irradiated from the light source module,

detecting, by an obstacle detection device of the robot cleaner, an obstacle based on a vertical component and a horizontal component of the light pattern corresponding to the obstacle.

15. The method of claim 14, further comprising periodically irradiating, by the light pattern sensor, the light pattern when the position change of the light pattern sensor has occurred.

16. The method of claim 14, wherein detecting the obstacle includes extracting, by the controller, the vertical component of the light pattern from the first image captured by the first camera module and extracting, by the controller, the horizontal component of the light pattern from the second image captured by the second camera module.

17. The method of claim 14, further comprising creating, by the controller, a cleaning map based on the obstacle information.