Robot cleaner and method of caring for human using the same

• US 9,427,863 B2
• Filed: 01/15/2015
• Issued: 08/30/2016
• Est. Priority Date: 01/17/2014
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Lee, Haesoo
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US14/598,084
• Publication Number:
  US 20150202771A1
• Time in Patent Office: 593 Days
• Field of Search: 700/259, 700/245, 700/255, 700/258, 901/1, 901/47, 134/18, 318/568.11, 318/568.12, 318/568.16
• US Class Current: 1/1
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 7/0085 adapted for special purposes not related to cleaning
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• 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: G08B 21/0476 Cameras to detect unsafe condition, e.g. video cameras
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot cleaner and a method of performing a human care using the same. Specifically, the robot cleaner can include a main body with a cleaning module, a driving unit to move the main body, one or more cameras to generate image information on a management object, a communication unit to communicate with an external communication device and transmit the image information to the external communication device, and a control unit to recognize the management object and control the robot cleaner such that the management object is included in the image information while following a position change of the management object.

Claims

1. A robot cleaner, comprising:

a main body including a cleaning module;

a driving unit to move the main body;

one or more cameras to generate image information on a management object;

a communication unit to communicate with an external communication device and to transmit the image information to the external communication device;

a control unit to recognize the management object and control the robot cleaner such that the management object is maintained in the image information while following a position change of the management object; and

a microphone to detect a voice,

wherein the control unit is configured to selectively switch a mode of the robot cleaner to a normal mode performing an automatic cleaning function or a care mode generating the image information on the management object according to an external input signal and obtain location information on the management object in case of switching to the care mode,

wherein the management object is recognized based on such a personal identification information as a shape or voice of the management object stored in a storing unit in advance,

wherein the control unit is configured to recognize the management object in a manner of determining whether voice information detected by the microphone is matched with voice information of the management object stored in advance, and

wherein if the voice information of the management object is detected by the microphone, the control unit is configured to obtain location information on a location in which the detected voice has occurred and move the main body near the location in which the voice has occurred.

2. The robot cleaner of claim 1, wherein the one or more cameras focus on the management object and wherein the control unit controls the image generation unit to contain a whole body of the management object in an image screen or controls the driving unit to make a distance between the main body and the management object vary.

3. The robot cleaner of claim 1, wherein if the voice information of the management object is detected by the microphone, the control unit obtains location information on a location in which the detected voice has occurred and moves the main body near the location in which the voice has occurred.

4. The robot cleaner of claim 1, wherein the control unit controls the robot cleaner to specify the management object based on a management object specific command signal received from the external communication device and controls the robot cleaner to follow the specified management object.

5. The robot cleaner of claim 1, further comprising:

a receiver to receive a signal from a following guidance system generating the specific signal while being carried by the management object,

wherein the control unit recognizes an object on which the following guidance system is attached as the management object based on the signal detected by the receiver.

6. The robot cleaner of claim 5, wherein if the signal is received by the receiver, the control unit switches the mode of the robot cleaner from the normal mode to the care mode.

7. The robot cleaner of claim 1, wherein if a text message is received from an external terminal, the control unit outputs audio data corresponding to the text message.

8. The robot cleaner of claim 1, wherein if voice information of the management object is recognized, the control unit transmits a text message corresponding to the voice information to an external terminal.

9. The robot cleaner of claim 1, wherein the control unit outputs schedule information received from the external communication device or living information by audio.

10. The robot cleaner of claim 1, wherein the control unit outputs schedule information by audio based on the information on the schedule stored in a storing unit at an appropriate time corresponding to the schedule.

11. The robot cleaner of claim 1, wherein if living essential audio data stored in a storing unit as a sound of a footstep, shower sound, or the like of the management object is not detected for more than a prescribed time, the control unit transmits an abnormal signal to the external communication device.

12. A method of performing a human care using a robot cleaner, comprising the steps of:

specifying a management object to be cared by the robot cleaner and obtaining location information of the management object;

recognizing the management object in a manner that the robot cleaner moves to a point near the location information;

generating image information on the management object while following the management object by the robot cleaner; and

if an external communication device requests transmission of the image information, transmitting the image information to the external communication device,

wherein in order to obtain the location information of the management object, further comprising the steps of;

transmitting the location information of the management object by the external communication device;

generating a surrounding image while the robot cleaner moves according to the location information;

transmitting the surrounding image to the external communication device; and

if the management object is contained in the surrounding image, transmitting a command signal by the external communication device to make the robot cleaner recognize the management object.

13. The method of claim 12, further comprising:

the step of selectively switching, by the controller, a mode of the robot cleaner to a normal mode performing an automatic cleaning function or a care mode generating the image information on the management object based on an external input signal.

14. The method of claim 12, wherein the management object is specified and the location information of the management object is obtained based on information, which is stored in a storing unit, capable of identifying the management object.

15. The method of claim 14, further comprising the steps of:

detecting, by the controller, a voice of the management object using a microphone within the robot cleaner;

determining, by the controller, a direction and a distance of a location in which the voice detected by a control unit of the robot cleaner has occurred; and

moving, by the controller, the robot cleaner based on the measured direction and the distance.

16. The method of claim 12, further comprising the steps of:

receiving, by the controller, a guide signal from a following guidance system by a receiver of the robot cleaner;

obtaining, by the controller, the location information of the management object possessing the following guidance system; and

moving, by the controller, the robot cleaner based on the location information.

17. The method of claim 12, further comprising the steps of:

storing, by the controller, the image information in a storing unit of the robot cleaner;

requesting image information of a specific time by the external communication device; and

transmitting, by the controller, the image information of the specific time according to the request of the external communication device.

18. The method of claim 12, further comprising the steps of:

receiving, by the controller, a text message from the external communication device;

converting, by the controller, the text message into audio data; and

outputting, by the controller, the audio data.

19. The method of claim 12, further comprising the steps of:

detecting, by the controller, a voice of the management object;

converting, by the controller, the detected voice into a text message data; and

transmitting, by the controller, the text message data to the external communication device.

20. The method of claim 12, further comprising the step of:

outputting, by the controller, schedule information stored in a storing unit of the robot cleaner, wherein said outputting is by audio.

21. The method of claim 12, further comprising the steps of:

detecting, by the controller, living noises generated around the management object using a microphone of the robot cleaner; and

if a volume of the detected living noises is less than a strength of living essential audio data stored in a storing unit of the robot cleaner, transmitting, by the controller, an abnormal signal to the external communication device.