Moving robot

A moving robot is provided. A moving robot according to an embodiment of the present invention determines the location of a preset light device within a driving area and controls the light device based on the location. A moving robot according to an embodiment of the present invention includes a control unit controlling on/off of a light device through a communication unit and determining the location of a light device while moving a main body to a location where illuminance is changed based on an image obtained by an image acquisition unit.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority under 35 U.S.C. § 119 to Korean Application No. 10-2017-0007216 filed on Jan. 16, 2017, whose entire disclosure is hereby incorporated by reference.

BACKGROUND

The present invention relates to a moving robot, and more particularly, to a moving robot determining the location of a light device through communication with the light device.

A moving robot is an apparatus which autonomously travels an area to be cleaned and automatically cleans the area by sucking an alien substance, such as dust, from a floor surface.

The moving robot is equipped with a rechargeable battery and can freely move and autonomously move using the operating power of the battery. The moving robot is configured to perform cleaning by sucking an alien substance on the floor surface while in motion, and to return to a charging stand and charge the battery, if necessary.

In general, the moving robot detects the distance to an obstacle, such as furniture, office supplies or a wall disposed in a driving area, and performs an obstacle avoidance operation by controlling the driving of a left wheel and a right wheel.

In the IoT (Internet of Things) environment, devices capable of communication can perform communication and may be connected through wired or wireless communication. In this case, a specific device may remotely control another device. In such an IoT environment, a moving robot may obtain information about other devices by performing communication with other devices, and may control other devices. For example, the moving robot may obtain information about a washing machine, a refrigerator, a light device, an air-conditioner and other home appliances capable of communication, and may remotely control them.

The moving robot may generate the map of a driving area by obtaining surrounding images and sensing surrounding objects. Information about the map of the driving area may be previously stored information or may be externally provided information. The moving robot may move to a specific location within the driving area based on the map of the driving area, and may determine the current location.

The moving robot may determine the current location in such a way as to extract feature points from a captured image of a surrounding environment. Furthermore, the moving robot may detect variety of types of objects from the captured image.

In the environment in which illuminance is insufficient, however, there is a problem in that it is difficult for the moving robot to determine the current location or detect an object through a captured image. Accordingly, if at least one light device that may be remotely controlled by the moving robot is present in a driving area, it is necessary for the moving robot to determine the location of the light device that may be controlled.

Furthermore, if the location of a light device is to be determined, when it is impossible to determine the current location or detect an object based on a captured image because surroundings are dark, it is necessary for the moving robot to secure illuminance by controlling an adjacent light device.

Furthermore, during a user's absence, it is necessary to reduce energy in such a manner that the moving robot turns on only a necessary light and turns off an unnecessary light.

DETAILED DESCRIPTION

The present disclosure and methods of accomplishing the same may be understood more readily by reference to the following detailed description of embodiments and the accompanying drawings. However, the present disclosure may be embodied in many different forms, and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully covey the concept of the invention to those skilled in the art, and the present disclosure will only be defined by the appended claims. Like reference numerals designate like elements throughout the specification.

A moving robot according to an embodiment of the present invention may remotely control a light device whose communication is connected in the IoT environment.

The moving robot controls the light device so that it is turned on off and flickers, and may determine the location of the light device by detecting the light device that generates an illuminance change based on an image captured by an image acquisition unit. The moving robot may determine the location of the light device in response to a user's input received through an input unit.

The moving robot may generate the light map of a driving area where the location of a light device is indicated by displaying the location of the light device determined in the map of a previously stored driving area.

Thereafter, in determining the current location or detecting an object based on an acquisition image, if illuminance is insufficient, the moving robot may turn on a light device corresponding to the location of the moving robot using the generated light map and secure necessary illuminance.

Hereinafter, various embodiments of the present invention are described in detail with reference to the drawings. An outward appearance and configuration of a moving robot according to an embodiment of the present invention are described with reference toFIGS. 1 to 5. Examples in which the moving robot according to an embodiment of the present invention determines the location of a light device and controls the light device are described with reference toFIGS. 6 to 11.

FIG. 1is a perspective view showing a moving robot according to an embodiment of the present invention and a charging stand for charging the moving robot.FIG. 2is a diagram showing the top portion of the moving robot according to an embodiment of the present invention.FIG. 3is a diagram showing the front portion of the moving robot according to an embodiment of the present invention.FIG. 4is a diagram showing the bottom portion of the moving robot according to an embodiment of the present invention.

As shown inFIGS. 1 to 4, the moving robot100includes a main body110and an image acquisition unit (or image sensor or sensor)120configured to obtain images around the main body110. Hereinafter, in defining each portion of the main body110, a portion directed toward a ceiling within a driving area is defined as a top portion (refer toFIG. 2), a portion directed toward a bottom within the driving area is defined as a bottom portion (refer toFIG. 4), and a portion that belongs to portions forming the circumference of the main body110between the top portion and the bottom portion and that is directed toward a driving direction is defined as a front portion (refer toFIG. 3).

The moving robot100includes a driving unit (or motor)160configured to move the main body110. The driving unit160includes at least one driving wheel136configured to move the main body110. The driving unit160includes a driving motor (not shown) connected to the driving wheel136to rotate the driving wheel. The driving wheel136may be provided on the right and left sides of the main body110. Hereinafter, a wheel on the left side and a wheel on the right side are called a left wheel136(L) and a right wheel136(R), respectively.

The left wheel136(L) and the right wheel136(R) may be driven by a single driving motor, but may be equipped with a left wheel driving motor for driving the left wheel136(L) and a the right wheel driving motor for driving the right wheel136(R), if necessary. The rotation speed of the left wheel136(L) and the rotation speed of the right wheel136(R) have a difference, so the driving direction of the main body110may switch to the left or right side.

An intake port110hfor sucking air may be formed in the bottom portion of the main body110. An intake device (not shown) that provides a suction force so that air can be sucked through the intake port110hand a dust canister (not shown) that collects dust sucked along with air through the intake port110hmay be provided within the main body110.

The main body110may include a case111that forms the space in which a variety of types of parts forming the moving robot100are received. An opening part for the insertion or detachment of the dust canister may be formed in the case111. A dust canister cover112that opens or shuts the opening part may be provided rotatably with respect to the case111.

A roll type main brush134having brushes exposed through the intake port110hand an auxiliary brush135located on the front side of the bottom portion of the main body110and having a plurality of radially extended wings may be provided. Dust is separated from the bottom within the driving area by the rotation of the brushes134and135. The dust separated from the bottom is sucked through the intake port110hand collected by dust canister.

A battery138supplies power necessary for an overall operation of the moving robot100in addition to the driving motor. When the battery138is discharged, the moving robot100may perform driving for returning to a charging stand200for charging purposes. During such return driving, the moving robot100may autonomously detect the location of the charging stand200.

The charging stand200may include a signal transmitter (not shown) for transmitting a specific return signal. The return signal may be an ultrasonic signal or an infrared signal, but does not need to be necessarily limited thereto.

The moving robot100may include a signal detector (not shown) for receiving a return signal. The charging stand200transmits an infrared signal through the signal transmitter. The signal detector may include an infrared sensor for detecting an infrared signal. The moving robot100moves to the location of the charging stand200in response to an infrared signal transmitted by the charging stand200, and docks on the charging stand200. By such docking, charging is performed between the charging terminal133of the moving robot100and the charging terminal210of the charging stand200.

The image acquisition unit120photographs the driving area and may include a digital camera. The digital camera may include at least one optical lens, an image sensor (e.g., a CMOS image sensor) configured to include a plurality of photodiodes (e.g., pixels) on which an image is focused by light passing through the optical lens, and a digital signal processor (DSP) configured to form an image based on signals output by the photo diodes. The DSP may generate a moving image formed of frames consisting of a still image in addition to a still image.

The image acquisition unit120may be provided in the top portion of the main body110to obtain an image of the ceiling within the driving area, but the location and photographing range of the image acquisition unit120do not need to be necessarily limited thereto. For example, the image acquisition unit120may be provided to obtain an image of the front of the main body110.

Furthermore, the moving robot100may further include an obstacle detection sensor131for detecting an obstacle at the front. The moving robot100may further include a cliff detection sensor132for detecting whether a cliff is present on the floor within the driving area and a lower camera sensor139for obtaining an image of the floor.

Furthermore, the moving robot100includes an input unit137capable of receiving On/Off or a variety of types of commands. A variety of types of control commands necessary for an overall operation of the moving robot100may be received through the input unit137. Furthermore, the moving robot100includes an output unit (not shown), so it can display reservation information, a battery state, an operating mode, an operating state, and an error state.

FIG. 5is a block diagram for illustrating the elements of the moving robot according to an embodiment of the present invention. Referring toFIG. 5, the moving robot100may include an image acquisition unit (or image sensor)120, an input unit (or user interface)137, a control unit (or controller)140, a storage unit (or memory)150, a driving unit (or motor)160, a cleaning unit (or suction head)170, an output unit (or display)180, and a communication unit (or communication interface)190.

The moving robot100may receive a command for an operation transmitted by a remote controller (not shown) or a mobile terminal (not shown) through the communication unit190.

The mobile terminal is equipped with an app for controlling the moving robot100, and may display the map of a driving area to be cleaned by the moving robot100through the execution of the app and designate an area in the map so that a specific area is cleaned. The mobile terminal may be a remote controller, a PDA, a laptop, a smart phone or a tablet PC in which an app for setting a map is installed, for example.

The mobile terminal may display the current location of the moving robot100along with a map through communication with the moving robot, and may display information about a plurality of areas. Furthermore, the mobile terminal updates the location of the moving robot as the moving robot travels, and displays the updated location.

The control unit140controls an overall operation of the moving robot100by controlling the image acquisition unit120, the input unit137, and the driving unit160forming the moving robot100.

The storage unit150records a variety of types of information necessary for control of the moving robot100, and may include a volatile or non-volatile recording medium. The recording medium stores data to be readable by a microprocessor), and may include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), ROM, RAM, CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

The storage unit150may store the map of a driving area. The map may be input by the mobile terminal capable of exchanging information through wired or wireless communication with the moving robot100or may be generated by the autonomous learning of the moving robot100.

The location of rooms within a driving area may be indicated in a map. Furthermore, the current location of the moving robot100may be indicated in the map. The current location of the moving robot100in the map may be updated in a driving process. The mobile terminal stores the same map as a map stored in the storage unit150.

While the control unit140controls the driving of the moving robot100, it may drive the cleaning unit170so that dust or an alien substance around the moving robot100can be absorbed. At this time, a brush (not shown) within the cleaning unit170is driven to make dust or an alien substance around the moving robot100the state in which the dust or alien substance can be easily sucked. An intake device (not shown) provided in the cleaning unit170can suck the dust or alien substance.

The control unit140may control the moving robot100so that it performs cleaning while moving to a specific area through the driving unit160.

The control unit140may include a driving control module141, a section division module142, a learning module143, and a recognition module144. The driving control module141controls the driving of the moving robot100and controls the driving of the driving unit160according to driving setting. Furthermore, the driving control module141may check the moving path of the moving robot100based on an operation of the driving unit160. For example, the driving control module141may check the current or past moving speed, driving distance, etc. of the moving robot100based on the rotation speed of the driving wheel136, and may also check a current or past direction switch process based on the rotation direction of each of the driving wheels136(L) and136(R). The location of the moving robot100in a map may be updated based on the checked driving information of the moving robot100.

The section division module142may divide a driving area into a plurality of sections according to a specific criterion. The driving area may be defined as a scope, including all of sections on the plane on which the moving robot100has driven and all of sections on the plane on which the moving robot100now drives.

The section division module142divides a driving area into a plurality of small sections. The small sections may be divided based on respective rooms within the driving area. Furthermore, the section division module142may divide a driving area into a plurality of separated large section in terms of the driving capability. For example, two indoor spaces fully separated in terms of the flow may be divided into two large sections. For another example, the large sections within the same indoor space may be divided based on respective layers within the driving area.

The learning module143may generate the map of a driving area. Furthermore, the learning module143recognizes a global location by processing images of locations obtained by the image acquisition unit120and associating the images with a map.

The recognition module144recognizes the current location by estimating the current location. The recognition module144may recognize the current location through estimation although the location of the moving robot100is suddenly changed by checking a location in association with the learning module143using image information of the image acquisition unit120.

The moving robot100may recognize a location during continuous driving through the section division module142, and may learn a map and estimate the current location through the learning module143and the recognition module144without the section division module142.

While the moving robot100drives, the image acquisition unit120obtains images around the moving robot100. Hereinafter, an image obtained by the image acquisition unit120is defined as an “acquisition image.” The acquisition image includes several features of lights located in a ceiling, an edge, a corner, blob, and a ridge. Hereinafter, the feature may also be expressed as a feature point.

The learning module143detects features from each of the acquisition images. In the computer vision technology field, various methods (feature detection) of detecting a feature from an image are known. Several feature detectors suitable to detect such features are known. For example, the feature detectors may include Canny, Sobel, Harris & Stephens/Plessey, SUSAN, Shi & Tomasi, Level curve curvature, FAST, Laplacian of Gaussian, Difference of Gaussians, Determinant of Hessian, MSER, PCBR, and Grey-level blobs detector.

The learning module143calculates a descriptor based on each feature point. The learning module143may transform the feature point into the descriptor using a scale invariant feature transform (SIFT) scheme for the feature detection. The descriptor may be marked as an n-dimension vector.

The SIFT may detect an invariant feature (i.e., rotation-invariant) although the same area is photographed at a varying posture of the moving robot100because an invariant feature for the scale, rotation and brightness change of an object to be photographed can be sensed by the SIFT, but the present invention is not limited thereto. Other various schemes (e.g., histogram of oriented gradient (HOG), Haar feature, Fems, local binary pattern (LBP), and modified Census transform (MCT)) may be applied.

The learning module143may divide at least one descriptor into a plurality of groups according to a specific lower classification rule for each acquisition image based on descriptor information obtained through an acquisition image of each location, and may transform descriptors included in the same group into a lower representative descriptor according to a specific lower representative rule.

For another example, the learning module143may classify all of descriptors collected from acquisition images within a specific section, such as a room, into a plurality of groups according to a specific lower classification rule, and may transform descriptors included in the same group into respective lower representative descriptors according to the specific lower representative rule.

The learning module143may calculate a feature distribution of each location through such a process. The feature distribution of each location may be expressed as a histogram or n-dimension vector. For another example, the learning module143may estimate an unknown current location based on a descriptor calculated from each feature point without experiencing a specific lower classification rule and a specific lower representative rule.

If the current location of the moving robot100is in the unknown state for a reason, such as a location jump, the learning module143may estimate the current location based on data, such as a previously stored descriptor or a lower representative descriptor.

The moving robot100obtains an acquisition image from an unknown current location through the image acquisition unit120. Several features, such as lights located in the ceiling, an edge, a corner, blob, and a ridge, are checked through images.

The recognition module144detects features in an acquisition image. In the computer vision technology field, various methods of detecting features from an image and several feature detectors suitable to detect such features are described above.

The recognition module144calculates a recognition descriptor based on each recognition feature point through a recognition descriptor calculation step. In this case, the recognition feature point and the recognition descriptor are used to describe a process performed by the recognition module144, and are different from terms that describe a process performed by the learning module143. However, features in the outside world of the moving robot100are merely defined as different terms.

The recognition module144may transform a recognition feature point into a recognition descriptor using a scale invariant feature transform (SIFT) scheme for such feature detection. The recognition descriptor may be expressed as an n-dimension vector.

As described above, the SIFT is an image recognition scheme for selecting a feature point that may be easily identified, such as a corner point in an acquisition image, and calculating an n-dimension vector in which a sudden degree of a change in each direction is expressed as a numerical value for each dimension with respect to distribution characteristics (e.g., a direction in a change of brightness and a sudden degree of a change) of the bright gradient of pixels that belong to a specific section around each feature point.

The recognition module144transforms at least one piece of recognition descriptor information, obtained through an acquisition image of an unknown current location, into location information (e.g., a feature distribution of each location), that is, an object of comparison, and information (e.g., a lower recognition feature distribution) that may be compared according to a specific lower transform rule.

Each similarity may be calculated by comparing each location feature distribution with each recognition feature distribution according to a specific lower comparison rule. Similarity (or probability) corresponding to each location may be calculated for each location, and a location having the greatest probability may be determined to be the current location.

As described above, the control unit140may divide a driving area and generate a map including a plurality of regions or may recognize the current location of the main body110based on a previously stored map. When a map is generated, the control unit140transmits the generated map to the mobile terminal through the communication unit190. Furthermore, when a map is received from the mobile terminal as described above, the control unit140may store the map in the storage unit150.

Furthermore, if a map is updated during driving, the control unit140transmits updated information to the mobile terminal so that a map stored in the mobile terminal and a map stored in the moving robot100are the same. Since the maps stored in the mobile terminal and the moving robot100are identically maintained, the moving robot100can clean a designated area in response to a cleaning command from the mobile terminal. Furthermore, the current location of the moving robot can be displayed in the mobile terminal.

In this case, the map includes a cleaning area divided into a plurality of areas and a connection passage connecting the plurality of areas. The map further includes information about an obstacle within each area. As described above, the cleaning area is divided into a small area and a large area by the section division module142.

When a cleaning command is received, the control unit140determines whether a location in a map is identical with the current location of the moving robot. The cleaning command may be received from the remote controller, the input unit or the mobile terminal.

If the current location is not identical with a location in a map or the current location cannot be confirmed, the control unit140recognizes the current location, restores the current location of the moving robot100, and controls the driving unit so that the moving robot moves to a designated area based on the current location.

If the current location is not identical with a location in a map or the current location cannon be confirmed, the recognition module144may estimate the current location based on a map by analyzing an acquisition image received from the image acquisition unit120. Furthermore, the section division module142or the learning module143may recognize the current location as described above.

After the location is recognized and the current location of the moving robot100is recovered, the driving control module141calculates a moving path from the current location to a designated area and controls the driving unit160so that the moving robot moves to the designated area. If at least one of a plurality of areas is selected through the mobile terminal, the driving control module141sets the selected area as a designated area and calculates a moving path. After the moving robot moves to the designated area, the driving control module141performs cleaning.

If a plurality of areas is selected as a designated area, the driving control module141determines whether the priority area of the plurality of areas is set or whether the cleaning sequence of the plurality of selected designated areas is set, and the moving robot performs cleaning after moving to the designated area.

If any one of a plurality of designated area is set as a priority area, the driving control module141moves to the priority area of the plurality of designated area, first cleans the priority area, then moves to the remaining designated areas, and cleans them. Furthermore, if a cleaning sequence is assigned to designated areas, the driving control module141performs control so that the moving robot performs cleaning while sequentially moving to the designated areas according to the designated cleaning sequence.

Furthermore, if a specific area is newly set regardless of the division of a plurality of areas in a map, the driving control module141performs control so that the moving robot moves to the set designated area and performs cleaning.

When the cleaning of a set designated area is completed, the control unit140stores a cleaning record in the storage unit150. The control unit140transmits the operating state or cleaning state of the moving robot100to the mobile terminal in a specific cycle through the communication unit190. Accordingly, the mobile terminal displays the location of the moving robot on a screen of an app being executed along with a map based on received data, and outputs information about the cleaning state.

The output unit180may include a display unit (not shown) for displaying an image and a sound output unit180for outputting a sound. For example, the sound output unit180may be a speaker.

The moving robot100according to an embodiment of the present invention may determine the current location using feature points sensed from an image obtained by a camera. The moving robot100may generate the map of a driving area based on location information determined through simultaneous localization and map-building (SLAM).

The moving robot100may remotely control a preset light device500by performing communication with the light device. The preset light device500may be at least one light device disposed in a driving area. Accordingly, the moving robot100may turn on or off the light device500disposed in the driving area. The moving robot100may determine the location of the light device500by turning on or off the light device500.

The control unit140may control the light device500through the communication unit190. The control unit140may transmit a control signal for controlling the light device500through the communication unit190.

In an embodiment of the present invention, the light device500is disposed in a driving area600. The light device500may include a communication module capable of a communication connection with the control unit140. The light device500may receive a control signal from the control unit140through the communication module. The light device500may operate in response to the control signal. For example, the light device500may be turned on or off or may be repeatedly turned on and off in a specific cycle in response to the control signal. Hereinafter, the turning-on of the light device500is expressed as On, and the turning-off of the light device500is expressed as Off.

The moving robot100and the light device500may perform communication via a sharer, a gateway or may directly perform wireless communication, or may perform communication through the medium of a terminal or a server. The communication of the moving robot100with the light device500means communication between the moving robot100and the light device500via a sharer, a gateway, a terminal and/or a server in addition to direct communication between the moving robot100and the light device500without the intervention of another device.

For example, the communication unit190of the moving robot100may directly perform communication with the light device500using Bluetooth.

For another example, the communication unit190of the moving robot100may transmit a signal to a server and the server may transmit a signal to the light device500, so the communication unit190of the moving robot100can perform communication with the light device500.

For yet another example, the communication unit190of the moving robot100may transmit a signal to a terminal and the terminal may transmit a signal to the light device500, so the communication unit190of the moving robot100can perform communication with the light device500.

For yet another example, the communication unit190of the moving robot100may transmit a signal to a terminal, the terminal may transmit a signal to a server, and the server may transmit a signal to the light device500, so the communication unit190of the moving robot100can perform communication with the light device500.

Furthermore, the communication of the moving robot100with the light device500includes a case where the moving robot100transmits a signal to the light device500, but the light device500does not transmit a signal to the moving robot100in addition to a case where the moving robot100and the light device500exchange signals.

The communication unit190of the moving robot100performs wireless communication in a network environment. The communication module of the light device500may perform wireless communication or may perform wired communication with a sharer or a gateway.

Hereinafter, a method and system for controlling the moving robot100according to embodiments of the present invention are described with reference toFIGS. 6 to 12. An embodiment of the present invention may be a computer program that implements the steps of the control method or may be a recording medium on which a program for implementing the control method is recorded. The “recording medium” means a computer-readable recording medium. An embodiment of the present invention may be a system including both hardware and software.

The control method includes a location determination step in which the moving robot100moves within a driving area, communicates in order to perform on/off control of the light device500, and determines the location of the light device500based on an illuminance change sensed in an acquisition image.

In some embodiments, the control method may be performed by the control unit140only or may be performed by the control unit140and the terminal300or the light device500. Hereinafter, the control method is illustrated as being performed by the control unit140, but the present invention does not need to be necessarily limited thereto.

FIG. 6is a flowchart for illustrating a process of the moving robot to determine the location of the light device according to an embodiment of the present invention. The control unit140may control the light device500. The control unit140may control the on/off of the light device500(S100). The control unit140may perform the following “on/off control.”

The “on/off control” performed by the control unit140may include at least any one of that the light device500is controlled so that it is off, that the light device500is controlled so that it is on, and that the light device500is controlled so that it repeats on and off for a specific time. For example, the control unit500may control the light device500so that the light device500of the off state becomes on. Furthermore, the control unit140may control the light device500so that it repeats on and off in a cycle of 1 second for 10 seconds. A detailed method of the control unit140to determine the location of the light device500may be different depending on a method of controlling the light device500.

The light device500may be plural. If the number of light devices500is plural, the control unit140may perform various types of on/off control in order to determine the location of at least one of light devices500whose location has not been determined.

For example, the control unit140may perform on/off control on one of the plurality of light devices500, may sequentially perform on/off control on all of the plurality of light devices500, or may control all of the plurality of light devices500so that they repeat on/off in different cycles at the same time. A detailed method of the control unit140to determine the location of the light device500may be different depending on an on/off control method for the light device500.

The plurality of light devices500may be present in the driving area600. The light device500located in the driving area600may be configured to be capable of communicating with the moving robot100. The storage unit may store communication configurations and a variety of types of information for performing communication with the light device500located in the driving area600. The control unit140may perform communication with the plurality of light devices500located in the driving area600based on information for communication with the light devices500stored in the storage unit. The control unit140may remotely control the light device500or may determine the operating state of the light device500by communicating with the light device500. If a light device that belongs to the light devices500disposed in the driving area600, that has not been previously set and that is capable of communication is sensed, the control unit140may perform a communication connection with the corresponding light device and control the light device500.

The driving area600may include a plurality of rooms. At least one light device500may be disposed in each of the plurality of rooms included in the driving area600. The control unit140may perform on/off control of the light device500, and may determine whether an illuminance change is sensed based on an image obtained by the image acquisition unit120(S200).

For example, if an area where illuminance increases or decreases is sensed in the acquisition image, the control unit140may determine that illuminance varies. The control unit140may determine the location of the light device500based on an illuminance change sensed in the image. Hereinafter, a detailed process is described.

When an illuminance change is sensed in the image, the control unit140may move the main body110in the direction in which the sensed illuminance increases or in the direction in which the sensed illuminance change increases (S400).

If an illuminance change is sensed in state of that the light device500is controlled so that it becomes on, the control unit140moves the main body110in the direction in which illuminance increases. If the light device500of the off state is controlled in the on state and an increase of illuminance is sensed through an acquisition image, the control unit140may determine that illuminance has increased due to light emitted by the light device500controlled in the on state. In this case, the control unit140may move the main body110in the direction in which illuminance increases, so the moving robot100becomes close to the location of the light device500. The control unit140may determine a point at which illuminance is a maximum based on an acquisition image while the main body110moves. The control unit140may determine that a light device is located at the point at which illuminance is a maximum.

In order to move the main body110in the direction in which illuminance increases, the control unit140may measure illuminance at a plurality of points within an acquisition image. The control unit140may perform a comparison on illuminance at the respective points and move the main body110to the point at which illuminance sensed in the image is a maximum. Light that affects illuminance is emitted by the light device500, and thus the point at which illuminance is a maximum may be a point at which the light device500is located. If the light device500is on, brightness at each point in the image is higher as it becomes close to the light device500, and thus illuminance may be higher at a point close to the light device500. Illuminance is higher as it becomes close to the light device500. Accordingly, if the main body110of the moving robot100moves in the direction in which illuminance increases, the main body110and the light device500may become close. As a result, the direction in which sensed illuminance increases may be the direction in which a point at which the sensed illuminance is a maximum is present, and a direction close to the light device500. The control unit140controls the main body110so that it becomes close to the light device500so that the light device is sensed in an acquisition image.

If an illuminance change is sensed in state of that the light device500is controlled so that it repeats on and off, the control unit140may move the main body110in the direction in which an illuminance change increases. If the light device500has been controlled so that it repeats on and off, when the repetition of an increase and decrease of illuminance is sensed through an acquisition image, the control unit140may determine that illuminance is changed due to light emitted by the light device500controlled so that it repeats on and off. In this case, the control unit140may move the main body110in the direction in which an illuminance change increases, so the moving robot100becomes close to the location of the light device500. The control unit140may determine a point at which an illuminance change is a maximum based on an image obtained while the main body110moves. The control unit140may determine that a light device is located at the point at which the illuminance change is a maximum.

If an illuminance change is sensed in state of that the light device500is controlled so that it is off, the control unit140may control the light device500so that it repeats on and off, and may move the main body110in the direction in which an illuminance change increases. If the light device500has been controlled so that it is off, when an illuminance change is sensed, the control unit140may determine that light emitted by the light device500reaches the location of the main body110. At this time, the control unit140determines that the light device500is located nearby and may control the light device500that has been off so that it repeats on and off in order to determine an accurate location of the light device500. The control unit140may move the main body110in the direction in which an illuminance change increases, so the moving robot100becomes close to the location of the light device500. The control unit140may determine a point at which an illuminance change is a maximum based on an image obtained while the main body110moves. The control unit140may determine that a light device is located at the point at which the illuminance change is a maximum.

In order to move the main body110in the direction in which an illuminance change increases, the control unit140may determine an illuminance change at a plurality of points within an acquisition image. The control unit140may perform a comparison on illuminance changes at the respective points and move the main body110to a point at which an illuminance change is a maximum. The point at which an illuminance change is a maximum is a point at which a difference between brightness when the light device500is on and brightness when the light device500is off is a maximum. If the light device500is off, brightness at each point in an image is constant. If the light device500is on, brightness at each point in an image is high as it becomes close to the light device500. Accordingly, a point closer to the light device500may be a point at which an illuminance change is great. An illuminance change is greater as it becomes close to the light device500. If the main body110of the moving robot100moves in the direction in which an illuminance change increases, the main body110and the light device500may become close. As a result, the direction in which a sensed illuminance change increases may be a direction in which a point at which the sensed illuminance change is a maximum is present, and a direction closer to the light device500. The control unit140may control the main body110so that it becomes close to the light device500, so the light device is sensed in an acquisition image.

If an illuminance change is not sensed in the image, the control unit140may move the main body110to a sensing expectation area (S300). The control unit140may perform on/off control of the light device500within the sensing expectation area (S100), and may determine whether an illuminance change is sensed (S200). The sensing expectation area may be one area in which a change of illuminance is expected to be sensed within the driving area600. The control unit140may determine the sensing expectation area based on map information of the driving area600and current location information of the moving robot100.

If an illuminance change is not sensed in surrounding images in a situation in which on/off control of the light device500is performed, the control unit140may determine that the current location of the main body110is a location at which light from the light device500does not arrive.

The control unit140may determine an expectation area where the light device500emitting light that cannot be sensed at the current location of the main body110may be present based on the map of the driving area600. The control unit140may determine whether a barrier rib or object that may block light of the light device500is present in the map of the driving area600. The control unit140may determine a sensing expectation area based on the location of an element that may block light of the light device500and the current location of the main body110.

A plurality of sensing expectation areas may be present depending on the location of the main body110and a form of the driving area600. In this case, the control unit140may move the main body110to the closest point of the plurality of sensing expectation areas.

The control unit140may determine whether an illuminance change is sensed in an image obtained by the image acquisition unit120while the main body110moves. If an illuminance change is sensed in an acquisition image before the main body110reaches a sensing expectation area, the control unit140may move the main body110in the direction in which a sensed illuminance change increases or in the direction in which sensed illuminance increases.

The control unit140may determine whether the light device500on which on/off control is performed is sensed while moving the main body110(S500). The control unit140may detect the light device500on which on/off control is performed based on an image obtained by the image acquisition unit120. The control unit140may determine the location where the light device500on which on/off control is performed is detected.

If the main body110has moved in the direction in which illuminance increases, the control unit140may detect a point at which illuminance is a maximum in an acquisition image. In this case, the control unit140may determine the detected point at which illuminance is a maximum to be the location of a light device.

If the main body110has been moved in the direction in which an illuminance change increases, the control unit140may detect a point at which an illuminance change is a maximum in an acquisition image. At this time, the control unit140may determine a point at which a detected illuminance change is a maximum to be the location of the light device.

The control unit140may determine the location of the light device500in the driving area based on the current location of the main body110and the location and direction of the light device500detected in an image. If the number of light devices500is plural, the control unit140may determine the location of each of the light devices500.

For example, if on/off control is performed on one of the plurality of light devices500and the light device500generating an illuminance change is detected, the control unit140may determine the detected light device500to be the light device500on which on/off control is performed. For example, the control unit140may control the plurality of light devices500so that they are sequentially turned on or off, and may determine the location of each of the plurality of light devices500based on light-emitting timing sensed in an acquisition image.

For example, the control unit140may control the plurality of light devices500so that one of the light devices500performs on/off in a specific cycle. If the light device500that flickers in the specific cycle is detected in an acquisition image, the control unit140may determine the detected light device500to be the light device500on which on/off control is performed.

The control unit140may generate a light map in which the location of the light device500determined in the map of the driving area is indicated (S600). The control unit140may generate a light map in which the location of the light device500is indicated by displaying the location of the light device500determined in a map stored in the storage unit (S600). The light map may be map information in which the driving area600and the deployment of the light device500within the driving area600is indicated.

If the location of at least one of a plurality of light devices500is determined, the control unit140may generate a light map. The generated light map may be stored in the storage unit. If the light device500whose location is newly determined is present, the control unit140may add the location of the light device500that has been newly determined to the light map stored in the storage unit.

Hereinafter, various embodiments in which the moving robot100according to an embodiment of the present invention determines the location of the light device500are described. In accordance with another embodiment of the present invention, the control unit140may determine the location of the light device500on which on/off control is performed, while performing on/off control on one of the plurality of light devices500and moving the main body110to the location where an illuminance change increases. In this case, the on/off control may include controlling the light device500so that it is turned on or off in a specific cycle. The control unit140may repeat the execution of the on/off control until the location of the light device500on which the on/off control is performed is determined. The control unit140may stop the execution of the on/off control for the light device500whose location has been determined.

In accordance with another embodiment of the present invention, if at least one light device500is present in each of a plurality of rooms, the control unit140may sequentially perform on/off control on a plurality of light devices500located in the driving area600.

The control unit140may determine the deployment of the plurality of light devices500located in the driving area600by sequentially performing on/off control on the plurality of light devices500and controlling the main body110so that it sequentially enters the plurality of rooms.

If the main body110is located in one of the plurality of rooms, the control unit140may sequentially perform on/off control on the plurality of light devices500, and may determine that a light device500generating an illuminance change in the room where the main body110has been located has been located in the room where the moving robot100has been located.

The control unit140may determine that a light device500not generating an illuminance change in the room where the main body110has been located has been disposed in any one of the remaining room. Thereafter, the control unit140may determine a light disposed in a corresponding room by sequentially performing on/off control on the remaining light devices500other than the light device500whose location has been determined after entering another room.

If the number of light devices500disposed in the room where the main body110has been located is determined to be plural, the control unit140may control the plurality of light devices500disposed in the room where the main body110has been located so that they repeat on/off in different cycles, and may determine the location of each of the plurality of light devices500disposed in the room where the main body110has been located based on the sensed on/off cycle of the light device500.

FIG. 7is a diagram for illustrating that the moving robot500moves in the direction in which an illuminance change increases and detects the location of the light device500. In accordance with the embodiment ofFIG. 7, the control unit140may control the light device500of the off state so that it becomes on.

When the light device500becomes on, the control unit140may detect an illuminance change appearing in an image obtained by the image acquisition unit120, but cannot detect the light device500that has been on. The control unit140may move the main body110to the area in which sensed illuminance is high. When the main body110moves to the area in which illuminance is high, the control unit140may sense the light device500in an acquisition image.

The control unit140may move in the direction in which the light device500appearing in an image is present in order to determine an accurate location of the light device500. The control unit140may determine the location of the light device500based on the current location of the main body110and the location and direction of the light device500that appear in an image.

When the location of the light device500is determined, the control unit140may generate a light map by indicating the determined location of the light device500in the map. The control unit140may manage map information by storing the generated light map in the storage unit or transmitting the generated light map to a predetermined server.

FIG. 8is a diagram for illustrating that the moving robot100performs on/off control of the light device500and if an illuminance change is not sensed, the moving robot moves to a sensing expectation area and determines the location of the light device500. In accordance with the embodiment ofFIG. 8, the control unit140may turn on the light device500of the off state and determine whether an illuminance change is sensed in an image obtained by the image acquisition unit120.

If an illuminance change is not sensed, the control unit140may determine the sensing expectation area601, that is, an area in which an illuminance change may be sensed within the driving area600, based on map information of the driving area600and current location information of the main body110. For example, if an illuminance change is not sensed, the control unit140may determine the sensing expectation area601by determining that the moving robot100is located in an area where an illuminance change cannot be sensed in terms of the structure of the driving area600and determining a location where another area of the driving area600may be sensed.

If the light device500has been on and an illuminance change is not sensed, the control unit140may move the main body110to the sensing expectation area601. While the main body110moves, the control unit140may determine whether an illuminance change is sensed.

If an illuminance change is not sensed although the main body110is located in the sensing expectation area601, the control unit140may determine a new sensing expectation area and move.

If the main body110is located in the sensing expectation area601and an illuminance change is sensed, the control unit140may determine the location of the light device500by moving the main body110in the direction in which illuminance increases or the direction in which an illuminance change increases. Illuminance increases as it becomes close to the light device500of an on state, and an illuminance change increases as it becomes close to the light device500that repeats on/off. Accordingly, the direction in which illuminance or an illuminance change increases may correspond to the direction in which the light device500on which on/off control is performed is located.

FIG. 9is a diagram for illustrating that the moving robot determines the location of each light device500by sequentially performing on/off control of the plurality of light devices500. In accordance with the embodiment ofFIG. 9, the control unit140may control a plurality of light devices500so that they are sequentially on/off.

The control unit140may determine the location of each of the plurality of light devices500by determining timing at which light is generated and the location of an object that generates the light in an acquisition image.

For example, if a first light device501and a second light device502are located in the driving area600, the control unit140may control the first light device501and the second light device502so that the first light device501is first turned on and off and after the first light device501is turned off, the second light device502is turned on. The control unit140may determine the location of the first light device501and the second light device502based on timing at which light appearing in an acquisition image is generated and the location where the light is sensed.

FIG. 10is a diagram for illustrating that the moving robot100determines the location of each light device500by controlling the plurality of light devices500so that the light devices repeat on/off in different cycles. In accordance with the embodiment ofFIG. 10, the control unit140may control a plurality of light devices500repeats on/off in different cycles. The control unit140may determine the location of each of the plurality of light devices500based on the on/off cycle of light appearing in an acquisition image.

The control unit140may control the plurality of light devices500so that they repeat on/off in different cycles, and may determine whether a detected light device500corresponds to which light device500by comparing the on/off cycle of the light device500, detected in an acquisition image, with an on/off cycle that is being controlled.

In this case, the control unit140may determine that which light device500is disposed at which location by matching the type and location of the detected light device500. For example, the control unit140may control the first light device501and the second light device502so that they flicker in different cycles.

When an illuminance change corresponding to the cycle of the first light device501is sensed, the control unit140may determine a light device500that generates the sensed illuminance change to be the first light device501. The control unit140may determine a light device500in the direction in which an illuminance change corresponding to the cycle of the second light device502is sensed to be the second light device502.

FIGS. 11 and 12are diagrams for illustrating a method of the moving robot100to determine the location of a plurality of light devices500disposed in a plurality of rooms. In accordance with the embodiment ofFIG. 11, if at least one light device500is located in each of a plurality of rooms, the control unit140may turn on all of the plurality of light devices500, may enter one of the plurality of rooms, and may control the plurality of light devices so that they are sequentially turned on and off for a specific time.

At this time, the control unit140may determine that a light device500disposed in a room where the main body110is located corresponds to any one of the plurality of light devices500based on time when the light device500disposed in the room where the main body110is located is turned on and off.

Accordingly, the moving robot100can secure illuminance for determining the current location of the main body110and can reduce the number of times that on/off control for determining the location of the light device500is executed.

In accordance with the embodiment ofFIG. 12, if at least one light device500is disposed in each of a plurality of rooms and illuminance for determining the current location of the main body110is sufficient, the control unit140may turn off all of the plurality of light devices500, may enter one of the plurality of rooms, and may control the plurality of light devices so that they are sequentially turned on and off for a specific time.

In this case, the control unit140may determine that a light device500disposed in a room where the main body110is located corresponds to any one of the plurality of light devices500based on time when the light device500disposed in the room where the main body110is located is turned on and off. If illuminance for determining the current location of the main body110is sufficient, it may mean that sensed illuminance is location determination criterion illuminance or more.

The location determination criterion illuminance may be a value determined by experiments or may be data stored in the storage unit. Accordingly, the moving robot100can reduce the number of times that on/off control for determining the location of the light device500is executed.

Hereinafter, an embodiment in which the location of a light device is manually input is described. The control unit140may perform control so that a manual input menu for the light device300is output. The control unit140may control the output unit180so that it outputs the manual input menu, or may control the output unit of an external terminal communicating with the communication unit190outputs the manual input menu.

The manual input menu may be at least one of an image and a sound output so that a user directly inputs information about the light device500. The information about the light device500may include information about the location of the light device500. The information about the light device500may include at least one of product information of the light device500, the type of light device, and information about a communication connection method.

The control unit140may determine the location of the light device500based on a user's input received in accordance with the manual input menu. The control unit140may receive the user's input through the input unit137or may receive the user's input through the input unit of an external terminal communicating with the communication unit190.

For example, the control unit140may display the map of a driving area as the manual input menu through the output unit180or the output unit of a terminal, and may determine a location selected by a user's input within the displayed map to be the location of the light device500. The control unit140may generate a light map based on the location of the light device500determined by the user's input.

Furthermore, if it is determined that there is no light device500disposed in a room where the main body110is located, the control unit140may output a manual input menu for the light device500to the output unit180. Accordingly, if the location of a light device is not determined, the control unit140may induce a user to directly input the location of the light device. The control unit140may determine the location of the light device based on the user's input received through the input unit137in accordance with the manual input menu. If the location of a light device is not determined, it means that a connection or remote connection with the light device500has not been performed. The control unit140may obtain information necessary for a connection or remote connection with the light device500through the manual input menu. For example, the control unit140may obtain information necessary for a connection or remote connection with the light device500based on a user's input or information provided by a predetermined server.

Hereinafter, an embodiment in which the moving robot100controls the plurality of light devices500disposed in the driving area600based on a generated light map is described in detail. The control unit140may turn on a light device that belongs to the plurality of light devices500and that corresponds to the location of the main body110based on the light map.

The light device500corresponding to the location of the main body110may be a light device500capable of changing illuminance in the space where the main body110is located. For example, if the driving area600is divided into a plurality of rooms and the main body110is located in one of the rooms, a light device500in the room where the main body110is located is a light device500corresponding to the location of the main body110.

The moving robot100may secure illuminance necessary to sense an obstacle present nearby or a surrounding environment by turning on the light device500corresponding to the location of the main body110. The control unit140may turn off a light device500that belongs to the plurality of light devices500and that does not correspond to the location of the main body110based on the light map.

The light device500not corresponding to the location of the main body110may be a light device500incapable of changing illuminance in the space where the main body110is located. For example, if the driving area600is divided into a plurality of rooms and the main body110is located in one of the rooms, light devices500located in the remaining rooms other than the room where the main body110is located may be light devices500not corresponding to the location of the main body110.

The moving robot100can turn off a light device500that is unnecessary to secure illuminance and reduce unnecessary energy consumption by turning off a light device500not corresponding to the location of the main body110. An operation of the moving robot100to turn off the light device500not corresponding to the location of the main body110may be implemented in a power saving mode. A user may activate or deactivate the power saving mode. When the power saving mode is activated, the moving robot100may turn off a light device500not corresponding to the location of the main body110.

If illuminance sensed by the image acquisition unit120is set illuminance or less, the control unit140may turn on a light device that belongs to the plurality of light devices500and that corresponds to the location of the main body110based on a light map. The control unit140may sense an object based on an image obtained by the image acquisition unit120. The set illuminance may be the least illuminance that is necessary for the control unit140to sense an object. The set illuminance may be illuminance that is necessary for the control unit140to sense and determine a surrounding obstacle or a surrounding environment based on an image obtained by the image acquisition unit120. The set illuminance may be a value determined by experiments and may be a value stored in the storage unit.

If illuminance in an environment around the moving robot100is already sufficient, it is not necessary to turn on the light device500so as to secure illuminance. If surrounding illuminance exceeds set illuminance, the control unit140does not turn on a surrounding light device500, thereby being capable of reducing energy.

In another embodiment of the present invention, the driving area600may include a plurality of rooms, and at least one light device500may be disposed in each of the plurality of rooms. In this case, the plurality of rooms and the plurality of light devices500may be indicated in a light map.

The control unit140may turn on a light device500disposed in the room that the main body110enters based on the light map. The control unit140may turn on the light device500disposed in the room that the main body110enters, thereby being capable of securing illuminance necessary to sense surroundings.

The control unit140may turn off a light device500disposed in a room from which the main body110exits based on the light map. The control unit140may turn off the light device500disposed in the room from which the main body110exits, thereby being capable of securing energy.

The control unit140may turn on a light device500disposed in a room that the moving robot100enters and turn off a light device disposed in a room from which the moving robot100exits if the moving robot exits from the room that it has entered, thereby being capable of maximizing energy efficiency.

In accordance with another embodiment of the present invention, the control unit140may determine the location of the main body110based on an image obtained by the image acquisition unit120. If it is determined that the location of the main body110cannot be determined because illuminance of the image is low, the control unit140may turn on all of a plurality of light devices500. If the location of the light device500disposed in the driving area600is not determined, the location of the light device500cannot be aware. Accordingly, if it is determined that additional illuminance is necessary to determine the current location of the moving robot100, the control unit140may turn on all of the light devices500within the driving area600.

The least illuminance necessary to determine the location of the main body110may be a value that has been determined by experiments and previously stored in the storage unit. If the location of the light device500is unaware and current illuminance is the least illuminance or less, the control unit140may secure illuminance by turning on all of the light devices500within the driving area600, and may then determine the current location of the moving robot100.

The control unit140may determine a room that belongs to a plurality of rooms in the driving area600and where a light device is determined to be not present to be a reservation area, and may display a setting screen so that a user manually sets the location of a light device with respect to the reservation area. In this case, the control unit140may set the location of the light device, corresponding to the reservation area, based on a user input received through the input unit137or a mobile terminal that remotely controls the moving robot100. The control unit140may determine that the light device is located at a location designated by the user.

The aforementioned embodiments of the present invention may be implemented in a recording medium on which a program has been recorded in the form of code readable by a computer. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. The computer-readable recording medium may include, for example, a hard disk drive (HDD), a solid state disk (SOD), a silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tapes, floppy disks, and optical data storages. Furthermore, the computer-readable recording medium may be implemented in the form of carrier waves (e.g., transmission through the Internet). Furthermore, the computer may include the controller180of the mobile terminal. Accordingly, the detailed description should not be construed as being limited from all aspects, but should be considered to be illustrative. The range of right of the present invention should be determined by reasonable analysis of the attached claims, and all changes within the equivalent scope of the present invention are included in the range of right of the present invention.

The embodiments of the present invention have one or more aspects described below. First, there are aspects in that the moving robot can autonomously determine the deployment of a light device within a driving area and generate a light map in which the deployment of a light device is indicated.

Second, there is an aspect in that the moving robot can secure necessary illuminance by controlling a light device whose location has been determined when the moving robot determines a current location or detects an object based on an acquisition image. Third, there is an aspect in that unnecessary energy consumption can be prevented because the moving robot turns on only a light device that is of help to determine a current location and turns off an unnecessary light device.

Aspects of the present invention are not limited to the aforementioned effects, and other effects not described above may be evidently understood by those skilled in the art from the following description.

Although preferred embodiments of the present invention are described above with reference to the accompanying drawings, it is understood that those skilled in the art may embody the technical configuration in other specific forms without changing the technical spirits and essential features of the present invention. Therefore, it should be understood that the embodiments described above are exemplary and not restrictive in all aspects, and the scope of the present invention is defined by the appended claims rather than the above specific descriptions. It should be interpreted that all the changed and modified forms derived from the meaning, scope and equivalent concepts of the claims are included in the scope of the present invention.

An aspect of the present invention is to provide a moving robot capable of determining the location of a light device in a driving area. Furthermore, other aspect of the present invention is to provide a moving robot capable of securing necessary illuminance in order to determine the current location or detect an object through a captured image by controlling a light device. Furthermore, other aspect of the present invention is to provide a moving robot capable of preventing unnecessary energy consumption by controlling off of an unnecessary light device.

Aspects of the present invention are not limited to the aforementioned objects, and other objects not described above may be evidently understood by those skilled in the art from the following description.

In order to achieve the first and second objects, a moving robot according to an exemplary embodiment of the present invention may include a control unit controlling on/off of a light device through a communication unit and determining the location of a light device while moving a main body to a location where illuminance is changed based on an image obtained by an image acquisition unit.

Furthermore, a moving robot according to an embodiment of the present invention may include a control unit turning on a light device that belongs to a plurality of light devices and that corresponds to the location of a main body based on a light map when illuminance sensed through an image acquisition unit is set illuminance or less.

Furthermore, a moving robot according to an embodiment of the present invention may include a control unit turning on only a light device corresponding to the location of a main body and turning off a light device not corresponding to the location of the main body. Details of other embodiments are included in the detailed description and the drawings.