Patent ID: 9582711
Date: 2017-02-28
CPC Classifications: A47L,G05D,G06F,G06K,G06T,Y10S

Claim:
1. A robot cleaner comprising: a camera to obtain an image comprising a user of the robot cleaner; and a control unit to extract from the user image an arm image of an arm of the user, calculate an angle of the arm from the arm image, and determine a function intended by the calculated angle of the arm to control an execution of the determined function, wherein the control unit comprises: an image processing unit to divide the arm image into a plurality of cell images; a histogram calculation unit to locate gradients on the plurality of cell images and calculate histograms in each gradient direction; and a primary angle calculation unit to calculate primary angles for each cell image based on the calculated histogram of each cell image, wherein the primary angle calculation unit calculates, as a primary angle of a calculated histogram, an angle corresponding to a bin having a highest value and having a value equal to or larger than a reference value for each histogram.