Mobile robot and method of controlling the same

Patent metadata

Field	Value
Publication number	US-11226633-B2
Application number	US-201716473758-A
Country	US
Kind code	B2
Filing date	Dec 26, 2017
Priority date	Dec 26, 2016
Publication date	Jan 18, 2022
Grant date	Jan 18, 2022

Abstract

A mobile robot includes: a sensor unit configured to sense an object present in a traveling direction; a camera configured to, in response to sensing of the obstacle by the sensor unit, photograph the obstacle; a data unit configured to store information regarding a plurality of obstacles; a controller configured to control an operation by recognizing the obstacle based on the information stored in the data unit; a travel unit configured to perform a designated operation according to a control command from the controller; and a speaker configured to output a designated sound according to a control command from the controller, wherein the controller comprises: an obstacle recognizer configured to analyze an image of the obstacle photographed by the camera, compare the image of the obstacle with data stored in the data unit, recognize the obstacle, and determine a type of the obstacle; and a motion controller configured to, in response to a type of the obstacle recognized by the obstacle recognizer, perform a designated operation according to setting stored in the data, and accordingly, it is possible to determine a type of an obstacle by recognizing the obstacle, effectively cope with obstacles by performing different operations according to types of the obstacles, improve cleaning efficiency, enable the mobile robot to recognize an obstacle and determine a type thereof within a short period of time, allow a user to modify an operation responsive to the type of the obstacle, and perform an operation suitable for characteristics of the obstacle, an area to be cleaned, or a surrounding environment.

First claim

The invention claimed is:

1. A moving robot comprising:
a sensor unit configured to sense an object present in a traveling direction;
a camera configured to, in response to sensing of the obstacle by the sensor unit, photograph the obstacle;
a data unit configured to store information regarding a plurality of obstacles;
a controller configured to control an operation by recognizing the obstacle based on the information stored in the data unit;
a travel unit configured to move a main body of the moving robot while performing a designated operation according to a control command from the controller; and
a speaker configured to output a designated sound according to a control command from the controller,
wherein the controller comprises:
an obstacle recognizer configured to analyze an image of the obstacle photographed by the camera, compare the image of the obstacle with the information stored in the data unit, recognize the obstacle, and determine a type of the obstacle; and
a motion controller configured to, in response to the type of the obstacle recognized by the obstacle recognizer, perform a designated operation according to a setting stored in the data unit,

wherein
the controller designates and stores a basic motion corresponding to the type of the obstacle, and resets the basic motion according to the setting, and
with respect to the obstacle or the type of the obstacle to which a motion is not specified, the controller operates according to the basic motion, and when a new motion for the obstacle is set, the controller operates according to the new motion corresponding to the type of the obstacle.

2. The mobile robot of claim 1 , wherein the obstacle recognizer is configured to analyze the image of the obstacle, determine a shape of the obstacle, compare the shape of the obstacle with pre-stored obstacle recognition data, recognize the shape of the obstacle, and determine the type of the obstacle.

3. The mobile robot of claim 1 , wherein the obstacle recognizer is configured to recognize the obstacle based on the image of the obstacle and a position and a motion of the obstacle sensed by the sensor unit.

4. The mobile robot of claim 1 , wherein the motion controller is configured to, based on information on a motion set according to the type of the obstacle, perform a distinct operation according to the type of the recognized obstacle.

5. The mobile robot of claim 1 , wherein the obstacle recognizer is configured to determine the type of the obstacle by categorizing the obstacle as a normal obstacle, a dangerous obstacle, a biological obstacle, or a floor obstacle.

6. The mobile robot of claim 1 , wherein the motion controller is configured to control an operation according to a motion set responsive to the type of the obstacle and an individual motion set responsive to an individual obstacle included in the type of the obstacle.

7. The mobile robot of claim 1 , wherein the motion controller is configured to, in response to the obstacle, perform a motion that constitutes a combination of at least one operation from among stopping, decelerating, accelerating, reversing, waiting, changing a traveling direction, and staying away from proximity.

8. The mobile robot of claim 1 , wherein the motion controller is configured to, in response to the obstacle, output any one of a sound effect, an alert sound, and a voice guidance through the speaker.

9. The mobile robot of claim 1 , wherein the data unit is configured to store obstacle recognition data for analyzing the image of the obstacle and recognizing the obstacle, motion data on a motion to be performed according to the type of the obstacle, and change data including changed information regarding the obstacle or the motion.

10. The mobile robot of claim 1 , further comprising a communication unit configured to communicate with a terminal or a server.

11. The mobile robot of claim 10 ,
wherein the controller is configured to receive, from the terminal, information on an obstacle present in a travel area to be cleaned and motion information responsive to the obstacle, and store the received information,
wherein the obstacle recognizer is configured to, based on the stored information on the obstacle present in the travel area, recognize a sensed obstacle, and
wherein the motion controller is configured to control an operation according to the motion information that is set responsive to the obstacle.

12. The mobile robot of claim 10 , wherein the controller is configured to, when no motion responsive to the recognized obstacle is set or when a new obstacle is sensed, request motion setting to the terminal.

13. The mobile robot of claim 10 , wherein the controller is configured to, when the obstacle is unrecognizable or when a new obstacle is sensed, transmit obstacle information including the image of the obstacle to an external server, store obstacle data received from the server in the data unit, and re-recognize the obstacle.

14. A mobile robot system comprising:
a mobile robot configured to, in response to traveling in a set travel area, perform cleaning and perform a motion that is set responsive to a sensed obstacle;
a terminal configured to transmit a cleaning command to the mobile robot and transmit information on the obstacle present in the travel area together with the cleaning command; and
a server configured to collect and analyze information on the obstacle sensed by the mobile robot and generate obstacle recognition data including feature information for recognizing the obstacle, and motion information responsive to the obstacle,
wherein
the mobile robot designates and stores a basic motion corresponding to a type of the obstacle, and resets the basic motion according to a setting, and
with respect to the obstacle or the type of the obstacle to which a motion is not specified, the mobile robot operates according to the basic motion, and when a new motion for the obstacle is set, the mobile robot operates according to the new motion corresponding to the type of the obstacle.

15. The mobile robot system of claim 14 , wherein the terminal is configured to set any one motion responsive to the obstacle present in the travel area from among the motion information set by the server, and transmit the set motion to the mobile robot.

16. The mobile robot system of claim 15 , wherein the terminal is further configured to categorize the obstacle present in the travel area by type and set a motion responsive to the type of the obstacle or an individual obstacle included in the type of the obstacle.

17. The mobile robot system of claim 15 , wherein the terminal is further configured to set the mobile robot to, in response to the obstacle, perform a motion that constitutes a combination of at least one operation from among stopping, decelerating, accelerating, reversing, waiting, changing a traveling direction, and staying away from proximity.

18. The mobile robot system of claim 15 , wherein the terminal is configured to set the motion to, in response to the obstacle, output any one of a sound effect, an alert sound, and a voice guidance.

19. The mobile robot of claim 15 , wherein the controller is configured to, when a control screen including an obstacle selection menu for setting an obstacle present in the travel area is displayed and any one obstacle is selected through the obstacle selection menu, display a control screen including a motion setting menu for categorizing the obstacle and setting a motion.

20. The mobile robot system of claim

Assignees

• Lg Electronics Inc

Inventors

• Kim Junghwan
• Kim Jaewon
• Kim Hyunji

Classifications

• G05D2111/10

  Optical signals · CPC title

• G05D2107/40

  Indoor domestic environment · CPC title

• G05D1/243

  Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) · CPC title

• G05D2101/20

  using external object recognition · CPC title

• G05D2105/10

  for cleaning, vacuuming or polishing · CPC title