Robot cleaner and controlling method thereof

• US 9,429,949 B2
• Filed: 11/11/2010
• Issued: 08/30/2016
• Est. Priority Date: 11/17/2009
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Lee, Jeihun, Choe, Suuk, Son, Hyuksoo, Yi, Donghoon, Kim, Younggie, Yoon, Jeongsuk, Lee, Seongsoo, Park, Taegon, Kim, Yiebin, Choi, Yoojin, Na, Sangik, Baek, Seungmin
• Primary Examiner(s): Holloway, Jason
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US13/509,342
• Publication Number:
  US 20120232697A1
• Time in Patent Office: 2,119 Days
• Field of Search: 700/245, 700/253, 700/254, 700/258, 700/259, 700/262, 901/1, 901/9, 901/47, 318/568.12, 318/587, 134/18, 134/56.R, 134/57.R, 134/167.R, 134/6, 134/21, 153/19
• US Class Current: 1/1
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

Disclosed are a robot cleaner capable of performing a cleaning operation by selecting a cleaning algorithm suitable for the peripheral circumstances based on an analysis result of captured image information, and a controlling method thereof. The robot cleaner comprises an image sensor unit configured to capture image information when an operation instructing command is received, and a controller configured to analyze the image information captured by the image sensor unit, and configured to control a cleaning operation based on a first cleaning algorithm selected from a plurality of pre-stored cleaning algorithms based on a result of the analysis.

Claims

1. A robot cleaner, comprising:

an input unit configured to receive a user input;

an image sensor unit configured to capture image information when the user input is received;

a controller configured to analyze the image information captured by the image sensor unit, and to control a cleaning operation based on a first cleaning algorithm,

an output unit configured to output predetermined information;

wherein the controller determines whether the image information can be analyzed or not,

when the controller determines that image information is capable of being analyzed, the controller selects one cleaning algorithm as the first cleaning algorithm based on image information from among a plurality of pre-stored cleaning algorithms,

when the controller determines that the image information can not be analyzed, the controller selects one cleaning algorithm as the first cleaning algorithm based on a predetermined information being different from the image information from among a plurality of pre-stored cleaning algorithms,

wherein the image sensor unit captures image information at a preset time interval under control of the controller during the cleaning operation,

wherein the controller analyzes the image information captured at the preset time interval, and selects a second cleaning algorithm, from among the plurality of pre-stored cleaning algorithms, based on a result of the analysis, wherein when the controller determines that the image information can be analyzed, the controller selects one cleaning algorithm as the second cleaning algorithm based on image information among the plurality of pre-stored cleaning algorithms,

when the controller determines that the image information can not be analyzed, the controller selects another cleaning algorithm as the cleaning algorithm based on a predetermined information being different from the image information from among a plurality of pre-stored cleaning algorithms,

wherein the controller generates guidance information indicating the change of the cleaning operation to output the guidance information on the output unit.

2. The robot cleaner of claim 1, wherein the image sensor unit captures an upper side or a front side, and outputs information on the captured upper or front side.

3. The robot cleaner of claim 1, wherein when the controller selects, from the plurality of cleaning algorithms, the first cleaning algorithm, the first cleaning algorithm corresponds to an analysis result of the image information, and controls a cleaning operation based on the selected first cleaning algorithm.

4. The robot cleaner of claim 1, wherein the controller controls a cleaning operation based on the first cleaning algorithm when the first and second cleaning algorithms are equal to each other,

wherein the controller controls a cleaning operation based on the second cleaning algorithm when the first and second cleaning algorithms are different from each other.

5. The robot cleaner of claim 1, wherein the controller compares preset first priority information corresponding to the first cleaning algorithm, with preset second priority information corresponding to the second cleaning algorithm, and controls a cleaning operation based on a cleaning algorithm having a higher priority.

6. The robot cleaner of claim 1, wherein when the controller determines that no obstacle exists based on the result of the analysis, the controller selects the first cleaning algorithm to clean a place having no obstacle among the plurality of pre-stored cleaning algorithm.

7. The robot cleaner of claim 1, wherein while the robot cleaner performs the cleaning operation based on the selected first cleaning algorithm, the controller makes a cleaning map based on a moving path of the robot cleaner.

8. The robot cleaner of claim 7, wherein the robot cleaner displays the made cleaning map on a display unit, wherein the displayed cleaning map includes information on a cleaned region and a non-cleaned region.

9. The robot cleaner of claim 1, wherein when an operation instructing command is received, the image sensor unit captures the image information and then the controller controls the cleaning operation based on the first cleaning algorithm or the second cleaning algorithm.

10. A controlling method of a robot cleaner, the method comprising:

receiving, at an input unit, a user input for capturing image information;

capturing first image information when an operation instructing command is received;

analyzing the captured first image information;

determining whether the first image information can be analyzed or not;

selecting a first cleaning algorithm or a second cleaning algorithm from a plurality of cleaning algorithms, wherein one cleaning algorithm is selected as the first cleaning algorithm based on the first image information from among the plurality of cleaning algorithms when the first image information is determined as being able to be analyzed, and wherein one cleaning algorithm is selected as the first cleaning algorithm based on criteria other than a predetermined information being different from the first image information from among a plurality of pre-stored cleaning algorithms when the determining determines that the first image information can not be analyzed; and

controlling a cleaning operation based on the selected first cleaning algorithm;

capturing second image information at a preset time interval during the cleaning operation;

analyzing the captured second image information;

determining whether the second image information can be analyzed or not;

selecting a second cleaning algorithm from the plurality of cleaning algorithms, wherein one cleaning algorithm is selected as the second cleaning algorithm based on the second image information from among the plurality of cleaning algorithms, when the determining determines that the second image information can be analyzed, and

wherein one cleaning algorithm is selected as the second cleaning algorithm based on a predetermined information being different from the second image information from among a plurality of pre-stored cleaning algorithms, when the determining determines that the second image information can not be analyzed;

controlling a cleaning operation based on the selected second cleaning algorithm; and

generating guidance information indicating the change of the cleaning operation to output the guidance information on an output unit,

wherein the controlling of the cleaning operation based on the second cleaning algorithm comprises;

checking whether the first cleaning algorithm firstly selected is equal to the second cleaning algorithm secondly selected;

when the first cleaning algorithm firstly selected is equal to the second cleaning algorithm secondly selected as a check result, controlling a cleaning operation based on the first or second cleaning algorithms; and

when the first cleaning algorithm firstly selected is different from the second cleaning algorithm secondly selected as a check result, controlling a cleaning operation based on the second cleaning algorithm.

11. The method of claim 10, wherein the capturing of the first image information comprises:

capturing an upper side or a front side by an image sensor unit; and

outputting information on the captured upper or front side.

12. The method of claim 10, further comprising:

comparing preset first priority information corresponding to the first or second cleaning algorithms, with preset second priority information corresponding to the second cleaning algorithm; and

controlling a cleaning operation based on a cleaning algorithm having a higher priority as a result of the comparison.

13. The method of claim 10, wherein the selecting the first cleaning algorithm includes selecting the first cleaning algorithm to clean a place having no obstacle among the plurality of cleaning algorithms when it is determined that no obstacles exists based on the analysis result.

14. The method of claim 10, wherein the controlling the cleaning operation based on the selected first cleaning comprises making a cleaning map based on a moving path of the robot cleaner while the robot cleaner performs the cleaning operation based on the selected first cleaning algorithm.