Cleaning robot and controlling method thereof
AssigneeSamsung Electronics Co., Ltd.
InventorsJaeyoon Jeong, Hyoungjin Lee, Dohyeong Hwang, Minwoo Ryu, Sangsik Yoon, Donghun Lee
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Abstract
A controlling method of a cleaning robot is provided. The controlling method includes obtaining lidar data while a lidar sensor rotates multiple times, calculating a reference value which is the average value of distances from a subject according to angles, based on the obtained lidar data, after the reference value is calculated, comparing the obtained lidar data with the reference value, sensing a motion of an object based on a comparison result, and determining that the object is located in a rotation section where the motion has been detected.
Claims17
A controlling method performed by a cleaning robot comprising a lidar sensor and a camera, the controlling method comprising:
- obtaining lidar data of a rotation section with the lidar sensor rotating multiple times;
- calculating a reference value, which is an average of distances to an object for respective angles, based on the obtained lidar data;
- comparing the lidar data obtained after the reference value is calculated with the reference value;
- detecting a motion of the object based on a result of the comparing and determining that the object is located in a part of the rotation section in which the motion is detected;
- specifying an interested angle area which is part of the rotation section and determining a size of the interested angle area according to a size of a movement range of the object;
- and
- controlling a moving module of the cleaning robot so that the camera can capture the interested angle area.
A cleaning robot comprising:
- a main body;
- a moving module configured to move the main body;
- a lidar sensor configured to include a lidar light emitter and a lidar light receiver and obtain lidar data of a rotation section as the lidar sensor rotates multiple times;
- a camera configured to obtain an image external to the cleaning robot;
- memory storing one or more computer programs;
- and
- one or more processors communicatively coupled to the lidar sensor and the memory, wherein the one or more computer programs stored in the memory include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the cleaning robot to:
- calculate a reference value, which is an average of distances to an object for respective angles, based on the obtained lidar data,
- compare lidar data obtained after the reference value is calculated with the reference value,
- detect motion of the object based on a result of the comparing,
- determine that the object is located in a part of the rotation section in which the motion is detected,
- specify an interested angle area which is part of the rotation section and determining a size of the interested angle area according to a size of a movement range of the object;
- and
- control the moving module of the cleaning robot so that the camera can capture the interested angle area.
Dependencies are inferred from the claim text.