Robot cleaner and method for auto-correcting 3d sensor of the robot cleaner

Patent metadata

Field	Value
Publication number	US-2016144512-A1
Application number	US-201314904401-A
Country	US
Kind code	A1
Filing date	Jul 15, 2013
Priority date	Jul 15, 2013
Publication date	May 26, 2016
Grant date	—

Abstract

A robot cleaner includes a 3D sensor unit installed on a main body to sense nearby objects and output sensing information; a secondary sensor unit configured to sense nearby objects and output sensing information; a storage unit configured to set a diagnostic algorithm according to a diagnostic mode in advance; an input unit configured to input an execution command for the diagnostic mode; a control unit configured to auto-correct the diagnostic mode for the 3D sensor and a parameter of the 3D sensor unit using the diagnostic algorithm in response to the execution command; and an output unit configured to output an execution result of the diagnostic mode and a correction message.

First claim

1 . A robot cleaner comprising:
a 3D sensor unit installed on a main body to sense nearby objects and output sensing information; a secondary sensor unit configured to sense nearby objects and output sensing information; a storage unit configured to set a diagnostic algorithm according to a diagnostic mode in advance; an input unit configured to input an execution command for the diagnostic mode; a control unit configured to auto-correct the diagnostic mode for the 3D sensor and a parameter of the 3D sensor unit using the diagnostic algorithm in response to the execution command; and an output unit configured to output an execution result of the diagnostic mode and a correction message.

2 . The robot cleaner according to claim 1 , wherein the 3D sensor unit comprises a laser module that irradiates a target with a laser pattern, and a camera module that obtains an image including the laser pattern.

3 . The robot cleaner according to claim 1 , wherein the control unit moves the robot cleaner to a preset point to perform correction based on the sensing information from the secondary sensor unit when as a result of a diagnosis execution of the 3D sensor, there is need to correct the parameter of the 3D sensor unit.

4 . The robot cleaner according to claim 1 , wherein the secondary sensor unit comprises one or more of an obstacle sensor that signalizes a sensing signal and senses a front obstacle based on a reflected and received signal, a cliff sensor that transmits a sensing signal to a floor surface and senses a cliff based on a reflected and received signal, and a lower camera sensor that takes an image on the floor surface to output image data.

5 . The robot cleaner according to claim 1 , further comprising:
a power supply unit installed at a lower part of the main body and including a rechargeable battery to supply actuating power; an actuating unit configured to actuate left and right main wheels provided at opposite sides of a lower part of the main body to move the robot cleaner; and a cleaning unit installed at the lower part of the main body and configured to suck up filth or dust from the floor surface or in air.

6 . The robot cleaner according to claim 1 , wherein the control unit extracts a laser line image in an image that is obtained in a state in which a laser beam is projected through the 3D sensor unit, and diagnoses presence or absence of an error to be corrected.

7 . The robot cleaner according to claim 6 , wherein it is determined that there is the error to be corrected, when the laser line image in the image obtained by the 3D sensor unit gets out of a designated position.

8 . The robot cleaner according to claim 1 , wherein the control unit moves the robot cleaner to a preset point for correction, performs characteristic point matching on a recharging base taken at the preset point, performs correction to a camera module based on the characteristic point matching, uses the camera module to obtain an image including a laser line image after the laser module is powered on or off, and corrects the parameter of the 3D sensor unit based on the laser line existing in the recharging base from the obtained image.

9 . The robot cleaner according to claim 8 , wherein in order to perform the characteristic point matching of the recharging base, the control unit obtains an image of the recharging base through the camera module after the laser module is powered off, extracts the characteristic point of the recharging base from the image of the recharging base, and compares the extracted characteristic point of the recharging base with pre-stored image information on the recharging base to perform the characteristic point matching.

10 . The robot cleaner according to claim 8 , wherein in order to perform the correction of the parameter of the 3D sensor unit, the control unit extracts pre-stored 3D data on the recharging base according to a position of the laser line obtained from the image, estimates 3D coordinates of the laser line projected to the recharging base based on the extracted 3D data on the recharging base, estimates a laser plane equation from the estimated 3D coordinates of the laser line, and performs correction to the parameter of the 3D sensor unit by using the estimated laser plane equation.

11 . A method of automatically correcting a 3D sensor unit of a robot cleaner that comprises the 3D sensor unit configured to sense nearby objects and output sensing information and comprises a plurality of operation modes, the method comprising:
receiving an execution command for a diagnostic mode among the plurality of operation modes; actuating the 3D sensor unit according to the diagnostic mode when the execution command is received; and using the sensing information output from the 3D sensor unit to diagnose a state of the 3D sensor unit and perform auto-correction.

12 . The method according to claim 11 , wherein the using of the sensing information comprises:
moving the robot cleaner to a preset point for auto-correction; performing characteristic point matching on a recharging base taken at the preset point; performing auto-correction to a camera module based on the characteristic point matching; and using the camera module to obtain an image including a laser line image after a laser module is powered on or off, and automatically correcting a parameter of the 3D sensor unit based on the laser line existing in the recharging base from the obtained image.

13 . The method according to claim 12 , wherein the performing of the characteristic point matching on the recharging base comprises:
obtaining an image of the recharging base through the camera module after the laser module is powered off; extracting the characteristic point of the recharging base from the image of the recharging base; and comparing the extracted characteristic point of the recharging base with pre-stored image information on the recharging base to perform the characteristic point matching.

14 . The method according to claim 12 , wherein the correcting of the parameter of the 3D sensor unit comprises;
using the camera module to obtain an image including a laser line image after the laser module is powered on, and detecting the laser line existing in the recharging base from the obtained image; moving and then stopping the robot cleaner to the recharging base to a predetermined distance, and obtaining an image taken in a state in which the laser module is powered on and an image taken in a state in which the laser module is powered off to detect the laser line through a difference between two images; and estimating 3D coordinates of the laser line projected to the recharging base from the detected laser line to perform correction on the parameter of the 3D sensor unit.

15 . The method according to claim 14 , wherein the detecting of the laser line comprises calculating a difference between an image taken in a state in which the laser module is powered on and an image taken in a state in which the laser module is powered off, to detect the laser line.

16 . The method according to claim 14 , wherein the performing of the correction on the parameter of the 3D sensor unit comprises:
extracting pre-stored 3D data on the recharging base according to a position of the laser line obtained from the image; estimating 3D coordinates of the laser line projected to the recharging base based on the extracted 3D data on the recharging base; estimating a laser plane equation from the estimated 3D coordinates of the laser line; and performing correction on the parameter of the 3D sensor u

Assignees

• Lg Electronics Inc

Inventors

• Kim Yeonsoo

Classifications

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• H04N13/271

  wherein the generated image signals comprise depth maps or disparity maps · CPC title

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title

• A47L9/009

  Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles · CPC title

• B25J9/1674

  characterised by safety, monitoring, diagnostic · CPC title