US 12,239,283 B2
Robot cleaner and method for controlling the same
Juno Choi, Seoul (KR); and Janghun Cheong, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/798,364
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Sep. 1, 2020, PCT No. PCT/KR2020/011685
§ 371(c)(1), (2) Date Aug. 9, 2022,
PCT Pub. No. WO2021/182693, PCT Pub. Date Sep. 16, 2021.
Claims priority of application No. 10-2020-0029501 (KR), filed on Mar. 10, 2020.
Prior Publication US 2023/0070133 A1, Mar. 9, 2023
Int. Cl. A47L 9/28 (2006.01); A47L 9/00 (2006.01); A47L 9/30 (2006.01); A47L 11/28 (2006.01); A47L 11/40 (2006.01); G05D 1/00 (2006.01); G06T 7/514 (2017.01)
CPC A47L 9/2805 (2013.01) [A47L 9/009 (2013.01); A47L 9/2852 (2013.01); A47L 9/30 (2013.01); A47L 11/28 (2013.01); A47L 11/4002 (2013.01); A47L 11/4011 (2013.01); A47L 11/4061 (2013.01); A47L 11/4066 (2013.01); G05D 1/0238 (2013.01); G05D 1/0246 (2013.01); G06T 7/514 (2017.01); A47L 2201/04 (2013.01); G06T 2207/10028 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A robot cleaner comprising:
a light source for irradiating light;
a sensor for sensing that the light irradiated from the light source is reflected;
a driver for moving the robot cleaner; and
a controller configured to process an image using the light sensed by the sensor to calculate a distance value of an individual location of the corresponding image,
wherein it is determined that there is an obstacle when there is a dead zone in the image processed by the controller,
wherein the dead zone means a region whose distance is not able to be measured by the controller because the region has a brightness greater than a reference value,
wherein the controller is configured to determine whether a size of the dead zone changes, and the size of the dead zone increases as the robot cleaner moves toward the obstacle, and
wherein the controller is configured to drive the driver such that the obstacle is avoided when the size of the dead zone is greater than a certain size.