Cleaner and controlling method thereof
First Claim
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1. A cleaner which performs an autonomous driving, the cleaner comprising:
- a cleaner body;
a motor that moves the cleaner body;
a sensor that detects three-dimensional (3D) coordinate information associated with a region within a range of the sensor;
a memory that stores pattern information related to an appearance of a charging station;
a controller that compares the detected 3D coordinate information with the pattern information related to the charging station, and determines that the charging station is positioned within the region when the detected 3D coordinate information corresponds to the pattern information related to the charging station, anda transceiver that receives a signal emitted from the charging station, wherein the charging station emits a short-distance signal that is detectable by the transceiver within a first distance from the charging station, and a long-distance signal that is detectable by the transceiver within a second distance from the charging station that is greater than the first distance, andwherein the controller furtherdetermines whether the signal detected by the transceiver includes one or more of the long-distance signal or the short-distance signal,when the received signal includes the long-distance signal, manages the motor to move the cleaner body toward the charging station, andactivates the sensor to acquire the 3D coordinate information associated with the charging station when the received signal includes the short-distance signal.
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Abstract
A cleaner which performs an autonomous driving, includes: a cleaner body; a driving unit for moving the cleaner body; a camera for detecting 3D coordinate information; a memory for storing pattern information related to a charging station; and a controller for comparing the 3D coordinates information detected by the camera with the pattern information related to the charging station stored in the memory, and for determining whether the charging station is positioned near the cleaner body based on a result of the comparison.
42 Citations
20 Claims
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1. A cleaner which performs an autonomous driving, the cleaner comprising:
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a cleaner body; a motor that moves the cleaner body; a sensor that detects three-dimensional (3D) coordinate information associated with a region within a range of the sensor; a memory that stores pattern information related to an appearance of a charging station; a controller that compares the detected 3D coordinate information with the pattern information related to the charging station, and determines that the charging station is positioned within the region when the detected 3D coordinate information corresponds to the pattern information related to the charging station, and a transceiver that receives a signal emitted from the charging station, wherein the charging station emits a short-distance signal that is detectable by the transceiver within a first distance from the charging station, and a long-distance signal that is detectable by the transceiver within a second distance from the charging station that is greater than the first distance, and wherein the controller further determines whether the signal detected by the transceiver includes one or more of the long-distance signal or the short-distance signal, when the received signal includes the long-distance signal, manages the motor to move the cleaner body toward the charging station, and activates the sensor to acquire the 3D coordinate information associated with the charging station when the received signal includes the short-distance signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 16, 17, 18)
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8. A cleaner which performs an autonomous driving, the cleaner comprising:
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a cleaner body; a motor that moves the cleaner body; a sensor that detects three-dimensional (3D) coordinate information and a signal emitted from a charging station; a controller that activates the sensor to detect the 3D coordinate information based on the sensor detecting the signal emitted from the charging station, and controls the motor to move the cleaning body toward the charging station based on the 3D coordinate information, wherein the charging station emits a short-distance signal that is detected by the sensor within a first distance from the charging station, and a long-distance signal that is detected by the sensor within a second distance from the charging station that is greater than the first distance, the controller further; determines whether the signal from the charging station includes one or more of the long-distance signal or the short-distance signal, and activates the sensor to acquire the 3D coordinate information when the received signal includes the short-distance signal, and controls the motor to move the cleaner body toward the charging station further based on determining that the received signal includes the long-distance signal and does not include the short-distance signal. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 19, 20)
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Specification