# US 11,076,734 B2 · Robot cleaner and control method thereof using artificial intelligence > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,734 B2 - Document ID: US11076734B2 - Status: Granted - Kind: B2 - Application number: 16/139,194 - Filed: 2018-09-24 - Published: 2019-03-28 - Granted: 2021-08-03 - Earliest claimed: 2017-09-26 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Minho Lee - Web page: https://patentgrep.com/patent/US11076734B2 ## CPC - A47L 9/2805: {Parameters or conditions being sensed} - A47L 9/2842: {Suction motors or blowers} - A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles} - A47L 9/2857: {User input or output elements for control, e.g. buttons, switches or displays} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - A47L 2201/022: Recharging of batteries - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A robot cleaner using artificial intelligence may include a traveling unit configured to move a main body; a cleaning unit configured to perform a cleaning function; a sensing unit configured to sense a surrounding user; and a controller configured to recognize location of a user based on information sensed through the sensing unit, and control to follow the user to perform cleaning. A method of controlling the robot cleaner using artificial intelligence may include recognizing location of a user; and a follow-up cleaning step of following the user to clean a surrounding area of the user. ## Claims ### Claim 1 An autonomous cleaner comprising: a motor that is selectively driven to move the autonomous cleaner; a cleaning head that performs cleaning; a sensor that detects information about a region in which the autonomous cleaner is travelling; and a controller that: determines a location of a user based on the information detected by the sensor, and manages the motor based on the location the user such that the autonomous cleaner moves to follow the user and to perform cleaning. ### Claim 2 (depends on 1) The autonomous cleaner of claim 1, wherein the controller further manages the motor such that the autonomous cleaner moves to clean a surrounding area of the user. ### Claim 3 (depends on 2) The autonomous cleaner of claim 2, wherein the controller manages the motor such that the autonomous cleaner moves to: follow the user when the distance between the location of the user and the autonomous cleaner is at least a threshold distance, and clean the surrounding area of the user when the distance between the location of the user and the autonomous cleaner is less than the threshold distance. ### Claim 4 (depends on 2) The autonomous cleaner of claim 2, wherein the controller manages the motor such that the autonomous cleaner moves to follow the user when the controller determines that a follow-up condition is satisfied, and wherein the follow-up condition is satisfied when a distance between the autonomous cleaner and the location of the user is equal to or greater than a threshold value. ### Claim 5 (depends on 2) The autonomous cleaner of claim 2, wherein the controller manages the motor such that the autonomous cleaner moves to clean the surrounding area of the user when the controller determines that a cleaning condition is satisfied, wherein the cleaning condition is satisfied when a distance between the autonomous cleaner and the location of the user is below a threshold value. ### Claim 6 (depends on 5) The autonomous cleaner of claim 5, wherein the controller identifies the surrounding area to be cleaned based on a location of the autonomous cleaner when the cleaning condition is satisfied. ### Claim 7 (depends on 6) The autonomous cleaner of claim 6, wherein the controller identifies the surrounding area based on the location of the user when the cleaning condition is satisfied. ### Claim 8 (depends on 2) The autonomous cleaner of claim 2, wherein the surrounding area is positioned at one side of the location of user. ### Claim 9 (depends on 1) The autonomous cleaner of claim 1, wherein the controller is further configured to: generate a map of the region in which the autonomous cleaner is travelling based on the information detected by the sensor; determine respective coordinates for the user and the autonomous cleaner in the map; and determine a movement path based on the map and the respective coordinates for the user and the autonomous cleaner. ### Claim 10 (depends on 1) The autonomous cleaner of claim 1, wherein the sensor, when determining the location of the user, emits at least one of ultrasonic waves or infrared rays, and detects a reflection of the at least one of the ultrasonic waves or the infrared rays from the user; the controller determines a distance between the user and the autonomous cleaner based on an attribute of the reflection. ### Claim 11 (depends on 1) The autonomous cleaner of claim 1, wherein the sensor detects a distance to the user from the autonomous cleaner, and wherein the controller determines whether to follow the user based on the distance to the user from the autonomous cleaner. ### Claim 12 (depends on 11) The autonomous cleaner of claim 11, wherein the sensor detects distances along in a particular sensing direction relative to the autonomous cleaner, and wherein the controller manages the motor to rotate the autonomous cleaner so that the location of the user is positioned along the specific sensing direction relative to the autonomous cleaner, and manages the sensor to sense the distance to the user along the particular sensing direction. ### Claim 13 (depends on 1) The autonomous cleaner of claim 1, wherein the controller manages the motor such that the autonomous cleaner moves to follow the user to perform cleaning when a particular mode is activated, and further manages the motor such that the autonomous cleaner performs a prescribed motion to indicate that the particular mode is activated, and wherein the prescribe motion to indicate that the particular mode is activated is separate from motions related to following the user to perform cleaning. ### Claim 14 (depends on 1) The autonomous cleaner of claim 1, wherein the sensor detects respective distances between the autonomous cleaner and two or more users, and wherein the controller manages the motor such that the autonomous cleaner moves to follow a closest one of the two or more users. ### Claim 15 (depends on 1) The autonomous cleaner of claim 1, wherein the controller further determines when a user change signal is received while the autonomous cleaner is following the user, and when the user change signal is received, the controller further: determines a location of another user based on information detected by the sensor, and manages the motor based on the location the other user such that the autonomous cleaner moves to follow the other user and to perform cleaning. ### Claim 16 (depends on 1) The autonomous cleaner of claim 1, wherein the controller manages the motor such that the autonomous cleaner moves to follow the user after cleaning a particular area when a particular input is received.