Robot cleaner and controlling method of the same
First Claim
1. A robot cleaner that divides a full region into a plurality of sectors to perform a cleaning operation, the robot cleaner comprising:
- one or more detecting devices configured to detect objects within the plurality of sectors and configured to output corresponding detection data; and
a controller configured to generate a partial map for each of the a plurality of sectors based on the detection data, and configured to generate a full map corresponding to the full region based on a relative position of the plurality of sectors, wherein the controller comprises;
a feature line extracting module configured to extract one or more feature lines for each of the plurality of sectors based on the detection data;
a partial map generating module configured to generate a partial map for each of the plurality of sectors based on the one or more feature lines; and
a full map generating module configured to generate a topological map indicating a position of each of the plurality of sectors and a relative position between the plurality of sectors, and configured to generate the full map based on the topological map, wherein the full map generating module matches feature lines respectively corresponding to two separate sectors, and determines whether the two separate sectors overlap each other based on a level of matching of the feature lines.
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Accused Products
Abstract
A robot cleaner and a method for controlling the same are provided. A region to be cleaned may be divided into a plurality of sectors based on detection data collected by a detecting device, and a partial map for each sector may be generated. A full map of the cleaning region may then be generated based on a position of a partial map with respect to each sector, and a topological relationship between the partial maps. Based on the full map, the robot cleaner may recognize its position, allowing the entire region to be completely cleaned, and allowing the robot cleaner to rapidly move to sectors that have not yet been cleaned.
43 Citations
15 Claims
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1. A robot cleaner that divides a full region into a plurality of sectors to perform a cleaning operation, the robot cleaner comprising:
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one or more detecting devices configured to detect objects within the plurality of sectors and configured to output corresponding detection data; and a controller configured to generate a partial map for each of the a plurality of sectors based on the detection data, and configured to generate a full map corresponding to the full region based on a relative position of the plurality of sectors, wherein the controller comprises; a feature line extracting module configured to extract one or more feature lines for each of the plurality of sectors based on the detection data; a partial map generating module configured to generate a partial map for each of the plurality of sectors based on the one or more feature lines; and a full map generating module configured to generate a topological map indicating a position of each of the plurality of sectors and a relative position between the plurality of sectors, and configured to generate the full map based on the topological map, wherein the full map generating module matches feature lines respectively corresponding to two separate sectors, and determines whether the two separate sectors overlap each other based on a level of matching of the feature lines. - View Dependent Claims (2, 3, 4)
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5. A method of controlling a robot cleaner, the method comprising:
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dividing a cleaning region into a plurality of sectors; detecting objects within each of the plurality of sectors; extracting one or more feature lines based on the detection of objects within each of the plurality of sectors; generating a partial map for each of the plurality of sectors using the one or more feature lines; and generating a full map of the cleaning region based on a relative position of the partial maps corresponding to the plurality of sectors, wherein extracting one or more feature lines comprises; accumulating detection data; extracting a plurality of feature points from the detection data; grouping the plurality of feature points into respective clusters to form feature lines; and calculating a length and a reliability of the feature lines of each of the clusters. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13)
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14. A non-transitory storage medium including an algorithm provided therein, the algorithm comprising:
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dividing a full region into a plurality of sectors; detecting objects within each of the plurality of sectors from data captured by a detector mounted on a cleaner; extracting one or more feature lines based on the detection of objects within the plurality of sectors; generating a partial map for each of the plurality of sectors using the one or more feature lines; and generating a full map of the full region based on a relative position of the partial maps, wherein extracting one or more feature lines comprises; accumulating detection data; extracting a plurality of feature points from the detection data; grouping the plurality of feature points into respective clusters to form feature lines; and calculating a length and a reliability of the feature lines of each of the clusters. - View Dependent Claims (15)
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Specification