Cleaner and method for controlling same

Patent metadata

Field	Value
Publication number	US-12059115-B2
Application number	US-201917054814-A
Country	US
Kind code	B2
Filing date	May 16, 2019
Priority date	May 16, 2018
Publication date	Aug 13, 2024
Grant date	Aug 13, 2024

Abstract

A self-driving cleaner includes a main body and a driving unit for driving in a cleaning area. The cleaner suctions foreign material on the floor in the cleaning area. The cleaner includes a first pattern irradiation unit and a second pattern irradiation unit on the front surface of the main body, the first and second pattern irradiation units radiating light in a preset pattern towards the front lower side and the front upper side of the main body, respectively. The cleaner includes a camera on the front surface of the main body, for capturing, at a preset interval, an image including a first light pattern and a second light pattern formed by the first and the second pattern irradiation units, respectively. The cleaner includes a control unit for determining whether a first obstacle exists at a location upwardly spaced apart from the floor, using the image captured by the camera.

First claim

What is claimed is:

1. A self-driving cleaner comprising:
a main body for driving in a cleaning area and suctioning a foreign material on a floor in the cleaning area;
a driving unit for moving the main body within the cleaning area;
a first pattern irradiation unit arranged on a front surface of the main body, for radiating light in a predetermined pattern towards a front lower side of the main body;
a second pattern irradiation unit arranged on the front surface of the main body, for radiating light in a predetermined pattern towards a front upper side of the main body;
a camera arranged on the front surface of the main body, for capturing, at a preset interval, an image comprising a first light pattern formed by the first pattern irradiation unit and a second light pattern formed by the second pattern irradiation unit; and
a control unit for determining whether a first obstacle exists at a position upwardly spaced apart from the floor, by using the image captured by the camera,
wherein the control unit distinguishes the first obstacle and a second obstacle placed on the floor,
wherein the first obstacle is one surface protruding from one side connected to the floor of an obstacle having a step,
wherein the second obstacle is the one side,
wherein the control unit controls the driving unit such that the main body moves along the first obstacle in a state where one side surface of the main body faces the first obstacle when it is determined that the first obstacle exists,
wherein the control unit:
detects the second light pattern from the image, and detects a distance between the first obstacle and the main body based on a shape of the detected second light pattern,
controls the driving unit such that the main body moves backward from the first obstacle based on the distance between the first obstacle and the main body,
controls the driving unit such that the main body rotates by a predetermined angle when the distance between the first obstacle and the main body enters a preset distance range, and
stops the rotation of the main body when the one side surface of the main body faces the first obstacle, and controls the driving unit such that the main body moves while the one side surface of the main body faces the first obstacle.

2. The cleaner of claim 1 , wherein the control unit detects the first light pattern from the image and calculates a distance between the second obstacle and the main body based on a shape of the detected first light pattern.

3. The cleaner of claim 1 , wherein the control unit controls the driving unit to reduce a moving speed of the main body based on the distance between the first obstacle and the main body.

4. The cleaner of claim 3 , wherein the control unit controls the driving unit such that the main body moves backward after the main body is stopped by the speed reduction control.

5. The cleaner of claim 2 , wherein the control unit controls the driving unit to maintain a distance between the main body and the second obstacle at a predetermined distance.

6. The cleaner of claim 2 , wherein the control unit controls the driving unit to maintain the distance between the main body and the first obstacle, using at least one of the distance between the first obstacle and the main body and the distance between the second obstacle and the main body.

7. The cleaner of claim 4 , wherein the control unit sets a shape of a second light pattern, detected from an image captured at a time when the rotation of the main body is completed, to a reference shape.

8. The cleaner of claim 7 , wherein the control unit, whenever an image is captured by the camera, compares a second light pattern detected from the image with the reference shape, and controls the driving unit based on a result of the comparison.

9. The cleaner of claim 8 , wherein the control unit controls the driving unit such that the second light pattern corresponds to the reference shape.

10. The cleaner of claim 6 , wherein the control unit monitors a change in the distance between the main body and the first obstacle, and
selects at least one of the distance between the first obstacle and the main body and the distance between the second obstacle and the main body as a reference of a travel control, based on a result of the monitoring.

11. The cleaner of claim 2 , wherein the control unit distinguishes a first portion formed on the floor of the cleaning area and a second portion formed on the second obstacle in the first light pattern, and
controls the driving unit to maintain the distance between the main body and the first obstacle at a predetermined distance based on a length of the second portion.

Assignees

• Lg Electronics Inc

Inventors

• Sung Chulmo
• Jeon Hyungjin

Classifications

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• G05D1/249

  from positioning sensors located off-board the vehicle, e.g. from cameras · CPC title

• G05D1/65

  Following a desired speed profile · CPC title

• G01B11/026

  by measuring distance between sensor and object (G01B11/0608 takes precedence) · CPC title

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title