Cleaning robot and method for controlling the same
First Claim
1. A method for controlling a cleaning robot having a moving assembly and a cleaning tool provided at a bottom part of a main body, comprising:
- identifying a cleaning mode;
determining whether the identified cleaning mode is an interactive mode;
collecting images around the main body by using an imager upon determining that the cleaning mode is the interactive mode;
recognizing a hand image of a hand of a user in the collected images;
recognizing motion of the hand in the recognized hand image;
planning a moving direction and a moving distance of the main body as movement information based on the motion of the hand;
controlling operations of the moving assembly and the cleaning tool based on the planned movement information;
determining whether an operation command corresponding to the motion of the hand is a command for setting up a virtual wall;
recognizing a start position at a start point and an end position at an end point of recognition of the motion of the hand for setting up the virtual wall upon determining that the operation command is the command for setting up the virtual wall; and
setting up the virtual wall by connecting the start position to the end position.
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Accused Products
Abstract
A cleaning robot includes a main body, a moving assembly to move the main body, a cleaning tool provided at a bottom part of the main body to collect foreign substances on a floor, an imager to collect images around the main body and a controller to recognize motion of a hand by performing image processing of the collected images, identify a control command corresponding to the motion of the hand, plan a moving direction and a moving distance of the main body as movement information based on the control command, and control operations of the moving assembly and the cleaning tool based on the planned movement information. Since the user directly controls movement of the cleaning robot, it is possible to improve interactivity between human and cleaning robot, reduce the user'"'"'s labor and increase convenience.
6 Citations
16 Claims
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1. A method for controlling a cleaning robot having a moving assembly and a cleaning tool provided at a bottom part of a main body, comprising:
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identifying a cleaning mode; determining whether the identified cleaning mode is an interactive mode; collecting images around the main body by using an imager upon determining that the cleaning mode is the interactive mode; recognizing a hand image of a hand of a user in the collected images; recognizing motion of the hand in the recognized hand image; planning a moving direction and a moving distance of the main body as movement information based on the motion of the hand; controlling operations of the moving assembly and the cleaning tool based on the planned movement information; determining whether an operation command corresponding to the motion of the hand is a command for setting up a virtual wall; recognizing a start position at a start point and an end position at an end point of recognition of the motion of the hand for setting up the virtual wall upon determining that the operation command is the command for setting up the virtual wall; and setting up the virtual wall by connecting the start position to the end position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification