Robot cleaner and method for controlling a robot cleaner

• US 9,974,422 B2
• Filed: 08/22/2014
• Issued: 05/22/2018
• Est. Priority Date: 08/23/2013
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Lee, Haesoo, Choe, Seunghoe, Lee, Kangyoul, Bae, Weonho, Kang, Minjung
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US14/466,041
• Publication Number:
  US 20150052703A1
• Time in Patent Office: 1,369 Days
• Field of Search: 700245, 700250, 700253, 700258, 700259, 901 1, 901 46, 901 47, 31856812, 31856816
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/2815 using optical detectors
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• 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: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot cleaner having a monitoring function and minimizing power consumption and/or securing communication efficiency and a method of controlling a robot cleaner are provided. The robot cleaner may include at least one sound obtaining device; at least one image obtaining device; and a controller configured to determine whether a sound obtained through the at least one sound obtaining device is abnormal, sense a direction in which an abnormal sound is generated, and obtain images in the direction in which the abnormal sound is generated. The robot cleaner may automatically recognize a surrounding situation, and when necessary, the robot cleaner may rotate and/or move in a corresponding direction and/or position to obtain images or transmit the obtained images to a remote terminal, thereby minimizing power consumption of the robot cleaner with limited power.

Claims

1. A robot cleaner, comprising:

at least one sound obtaining device;

at least one image obtaining device;

a sound database (DB) configured to store various daily life sound; and

a controller configured to determine whether a sound obtained through the at least one sound obtaining device is abnormal, sense a direction in which an abnormal sound is generated, and obtain images in the direction in which the abnormal sound is generated through the at least one image obtaining device, wherein the controller calculates a similarity between the sound obtained by the at least one sound obtaining device and sounds stored in the sound DB to determine whether the obtained sound is abnormal.

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

a drive configured to rotate or more the robot cleaner, wherein the controller controls the drive to rotate move the robot cleaner in the direction in which the abnormal sound is generated to obtain images related to the direction.

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

a drive configured to rotate or move the robot cleaner, wherein the controller detects a sound source of the abnormal sound and controls the drive to rotate or move the robot cleaner in a direction toward the sound source of the abnormal sound to obtain images related to the sound source.

4. The robot cleaner of claim 1, wherein the controller filters out only sounds having a sound pressure equal to or higher than a predetermined level, and determines whether the filtered sounds are abnormal.

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

an infrared sensor, wherein when heat having a temperature equal to or higher than a predetermined temperature is sensed by the infrared sensor, the controller operates the at least one image obtaining device to obtain images.

6. The robot cleaner of claim 5, wherein when the sound obtained through the at least one sound obtaining device is determined as being abnormal, the infrared sensor is operated.

7. The robot cleaner of claim 1, wherein the controller processes the images obtained through the at least one image obtaining device, and when a human body image is sensed, the controller determines that a current situation is abnormal.

8. The robot cleaner of claim 1, wherein the controller processes the images obtained through the at least one image obtaining device to sense an animal image, and when a movement change speed of an image is equal to or greater than a predetermined speed, or when a sound pressure of the sound obtained with respect to a subject is equal to or higher than a predetermined level, the controller determines that a current situation is abnormal.

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

a communication device configured to transmit an alarm signal to a remote terminal or a server, when the controller determines that a current situation is abnormal.

10. A method for controlling a robot cleaner including a sound database (DB) configured to store various daily life sounds, the method comprising:

obtaining a sound through, at least one sound obtaining device;

determining whether the sound is abnormal;

obtaining images in a direction in which the abnormal sound is generated through at least one image obtaining device; and

calculating a similarity between the obtained by the at least one sound obtaining device and sounds stored in the sound DB to determine whether the obtained sound is abnormal.

11. The method of claim 10, further comprising:

sensing a direction in which the abnormal sound is generated.

12. The method of claim 10, further comprising:

moving or rotating via a drive the robot cleaner the direction in which the abnormal sound is generated.

13. A robot cleaner, comprising:

at least one sound obtaining device;

at least one image obtaining device;

an infrared sensor; and

a controller configured to determine whether a sound obtained through the at least one sound obtaining device is abnormal, sense a direction in which an abnormal sound is generated, and obtain images in the direction in which the abnormal sound is generated through the at least one image obtaining device, wherein when heat having a temperature equal to or higher than a predetermined temperature is sensed by the infrared sensor, the controller operates the at least one image obtaining device to obtain images.

14. The robot cleaner of claim 13, wherein when the sound obtained through the at least one sound obtaining device is determined as being abnormal, the infrared sensor is operated.

15. A robot cleaner, comprising:

at least one sound obtaining device;

at least one image obtaining device; and

a controller configured to determine whether a sound obtained through the at least one sound obtaining device is abnormal, sense a direction in which an abnormal sound is generated, and obtain images in the direction in which the abnormal sound is generated through the at least one image obtaining device, wherein the controller processes the images obtained through the at least one image obtaining device to sense an animal image, and when a movement change speed of an image is equal to or greater than a predetermined speed, or when a sound pressure of the sound obtained with respect to a subject is equal to or higher than a predetermined level, the controller determines that a current situation is abnormal.