ROBOT CLEANER AND REMOTE MONITORING SYSTEM AND METHOD OF THE SAME

• US 20120271502A1
• Filed: 04/11/2012
• Published: 10/25/2012
• Est. Priority Date: 04/19/2011
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Yoon, Jeongsuk, Sung, Chulmo, Noh, Dongki, Baek, Seungmin, LEE, Seongsoo
• Granted Patent: US 9,423,797 B2
• Time in Patent Office: Days
• US Class Current: 701/26
• 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:

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

an obstacle detection unit having a light pattern sensor, and configured to detect an obstacle by using the light pattern sensor and to output obstacle information; 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 irradiate a light pattern based on the position information.

2. The robot cleaner of claim 1, wherein the light pattern sensor includes:

a light source module configured to irradiate a light pattern based on the position information;

a camera module configured to capture an image included in a region to which the light pattern has been irradiated; and

an image processing module configured to detect an obstacle by processing the image.

3. The robot cleaner of claim 2, wherein the light source module is configured to irradiate a light pattern when a position change of the light pattern sensor has occurred.

4. The robot cleaner of claim 3, wherein the controller periodically drives the light source module when a position change of the light pattern sensor has occurred.

5. The robot cleaner of claim 3, wherein the controller stops driving the light source module when a position change of the light pattern sensor has not occurred.

6. The robot cleaner of claim 1, wherein the light pattern sensor is configured to detect an obstacle by comparing a light pattern before irradiation with a light pattern of the image after irradiation.

7. The robot cleaner of claim 6, wherein the controller creates a cleaning map based on the obstacle information.

8. The robot cleaner of claim 7, wherein the controller corrects the cleaning map based on the position information.

9. The robot cleaner of claim 1, wherein the position recognition unit includes a camera installed toward an upper side or a front side, and configured to capture the periphery of the robot cleaner and to output image information.

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

an acceleration sensor configured to recognize each speed and each position of the robot cleaner which is moving;

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; and

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

11. A robot cleaner, comprising:

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

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

a storage unit configured to store the obstacle information and the cleaning map.

12. The robot cleaner of claim 11, further comprising a position recognition unit having one or more sensors, and configured to recognize a position of the robot cleaner and to output position information.

13. The robot cleaner of claim 12, wherein the light pattern sensor includes:

a light source module configured to irradiate a light pattern based on the position information;

a camera module configured to capture an image included in a region to which the light pattern has been irradiated; and

an image processing module configured to detect an obstacle by processing the image.

14. The robot cleaner of claim 13, wherein the camera module is a structured light camera, and the light source module is implemented as a laser diode (LD) or a light emitting diode (LED).

15. The robot cleaner of claim 13, wherein the image processing module detects an obstacle based on a shape, an area and a change of the light pattern, or by extracting a pattern of which axis is toward a predetermined direction and then by converting the axis direction of the extracted pattern to another direction.

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

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

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

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

a power unit having chargeable power supply means, and configured to supply power into the robot cleaner.

17. A method for controlling a robot cleaner having a light pattern sensor for detecting an obstacle by using a light pattern, the method comprising:

detecting a position change of the robot cleaner;

irradiating a light pattern upon detection of the position change;

capturing an image included in a region to which the light pattern has been irradiated; and

detecting an obstacle from the image.

18. The method of claim 17, wherein in the step of irradiating a light pattern, the light pattern is periodically irradiated when a position change of the light pattern sensor has occurred.

19. The method of claim 17, wherein in the step of irradiating a light pattern, driving of the light pattern sensor is stopped when a position change of the light pattern sensor has not occurred.

20. The method of claim 17, further comprising creating a cleaning map based on the obstacle.