Mobile device, robot cleaner, and method for controlling the same

{
  "publication_number": "US10291765B2",
  "country": "US",
  "kind": "B2",
  "title": "Mobile device, robot cleaner, and method for controlling the same",
  "abstract": "The present disclosure discloses a mobile device, cleaning robot, and method for controlling the cleaning robot. The mobile device includes a capturing unit; a display for displaying an image of a cleaning robot obtained from the capturing unit and receiving a touch; and a controller for controlling the cleaning robot to move to a location that corresponds to the input touch.",
  "claims": [
    "1. A mobile device comprising: a capturing unit; a display configured to display an image of a cleaning robot obtained from the capturing unit and receiving a touch; and a controller configured to: determine whether the mobile device has been moved between the displaying of the image of the cleaning robot and the receiving of the received touch, control the cleaning robot to move to a location that corresponds to the received touch in response to determining that the mobile device has not been moved, and in response to determining that the mobile device has been moved, determine an extent of moving the mobile device to determine a location information of the received touch on a map received from the cleaning robot, and control the cleaning robot to move to a location that corresponds to the received touch by outputting the map with the location information of the received touch to the cleaning robot added or by transmitting a data signal about a moving distance and a heading angle of the cleaning robot to the cleaning robot.",
    "2. The mobile device of claim 1, wherein: the display is configured to receive continuous or discontinuous touches, or a single touch or multiple touches, and the controller is configured to, when receiving the touch from the display, control the cleaning robot to take a straight or curved path to the location that corresponds to the received touch.",
    "3. The mobile device of claim 1, wherein the controller is configured to: determine the moving distance and the heading angle of the cleaning robot using a homography matrix transformation, and in response to determining that the cleaning robot is deviated from a path set based on the touch, re-determine the moving distance and the heading angle of the cleaning robot.",
    "4. The mobile device of claim 1, wherein the controller is configured to: determine the moving distance and the heading angle of the cleaning robot based on a determined current location of the cleaning robot and a touch point on the map, and control the cleaning robot to move the moving distance at the heading angle.",
    "5. The mobile device of claim 1, wherein: the cleaning robot includes a marker, and the controller is configured to: digitize image information of the marker obtained from the capturing unit, recognize the marker by detecting a candidate area of the marker from the digitized image information, and determine that the cleaning robot is recognized once the marker is recognized.",
    "6. The mobile device of claim 1, wherein: the display is configured to display status information of the cleaning robot, the status information comprises at least one selected from among information about battery charging state of the cleaning robot, information about whether there is dust or dirt, information about a dust bin of the cleaning robot, information about a caster, information about a fall sensor, and information about side brushes.",
    "7. The mobile device of claim 6, wherein the display is configured to display the status information around an image of the cleaning robot displayed on the display, or at a predetermined spot on the display.",
    "8. The mobile device of claim 6, further comprising: a sound output unit for outputting the status information of the cleaning robot; a communication unit for communicating with an external device including the cleaning robot; and a storage for storing data of the status information of the cleaning robot obtained from a service center.",
    "9. A cleaning robot comprising: a main unit; a marker arranged on a top of the main unit, wherein the marker is displayed on a display of an external device including a mobile device; a communication unit for communicating with the external device; and a controller configured to: receive a map or a data signal about a moving distance and a heading angle for a location that corresponds to a touch point when a touch is input to the display, and control the cleaning robot using the map or the data signal, wherein the map and the data signal include a location information of the touch point reflected an extent of moving of the external device.",
    "10. A method for controlling a cleaning robot, the method comprising: displaying an image of the cleaning robot on a display of a mobile device; receiving a touch through the display; determining whether the mobile device has been moved between the displaying of the image of the cleaning robot and the receiving of the touch; moving the cleaning robot to a location that corresponds to a point of the touch in response to determining that the mobile device has not been moved; and in response to determining that the mobile device has not been moved, receiving a map from the cleaning robot, and determining an extent of moving the mobile device to determine a location information of the received touch on the map, and moving the cleaning robot to a location that corresponds to a point of the touch by outputting the map with the location information of the received touch to the cleaning robot added or by transmitting a data signal about a moving distance and a heading angle of the cleaning robot to the cleaning robot.",
    "11. The method of claim 10, wherein moving the cleaning robot to a location that corresponds to a point of the touch comprises: once at least one of continuous touches, discontinuous touches, a single touch, and multi-touches is input to the display of the mobile device, receiving a touch signal from the mobile device, and moving the cleaning robot along a straight or curved path to the location that corresponds to the point of the touch.",
    "12. The method of claim 10, wherein the moving distance and the heading angle of the cleaning robot are determined using a homography matrix transformation.",
    "13. The method of claim 12, wherein determining the moving distance and the heading angle of the cleaning robot comprises determining the moving distance and the heading angle of the cleaning robot using real-world coordinates of the cleaning robot and coordinates of a location that corresponds to a touch point.",
    "14. The method of claim 10, further comprising: re-determining a moving distance and heading angle of the cleaning robot, if it is determined that the cleaning robot deviates from a path established based on the touch.",
    "15. The method of claim 10, further comprising: outputting a detection mark through the display indicating that the cleaning robot has been recognized.",
    "16. The method of claim 10, further comprising: displaying status information of the cleaning robot on the display; and wherein the status information comprises at least one selected from among information about battery charging state of the cleaning robot, information about whether there is dust or dirt, information about a dust bin of the cleaning robot, information about a caster, information about a fall sensor, and information about side brushes.",
    "17. The method of claim 10, further comprising: displaying cleaning status of the cleaning robot on the display, wherein displaying cleaning status of the cleaning robot on the display comprises displaying at least one of a moving path, a cleaning region or a region in need of cleaning of the cleaning robot."
  ],
  "description_excerpt": "The present disclosure relates to a mobile device, cleaning robot, and method for controlling the cleaning robot using augmentation reality.\n\nA cleaning robot is an apparatus that automatically cleans a region to be cleaned (hereinafter referred to as a cleaning region) by suctioning impurities, such as dust from a floor while autonomously moving about the cleaning region without user intervention.\n\nConventional cleaning robots are controlled to go straight, move backward, turn left or right, or the like, by manipulating a normal remote controller included in the product which operates in an infrared or short-range communication scheme, or controlled to be tilted or receive an impact by the user by means of an inertial sensor in the remote controller.\n\nThere are active and passive ways for the user to check the status of the cleaning robot. In the passive way, when the cleaning robot is malfunctioning, it provides alarming indications or alarming sound for the user.\n\nHowever, with the conventional controlling method, the cleaning robot cannot be easily and quickly moved to a position desired by the user and if a sensor of the cleaning robot is malfunctioning, the user bothers to look up for a manual to figure out the status of the cleaning robot in person.\n\nThe present disclosure provides a cleaning robot and method for controlling the same, by which a moving path of the cleaning robot is controlled by a mobile device.",
  "cpc": [
    "H04M 1/72533",
    "A47L 11/24",
    "A47L 11/4011",
    "A47L 2201/00",
    "A47L 2201/04",
    "A47L 9/00",
    "G05D 1/00",
    "G05D 1/0016",
    "G05D 1/0033",
    "G05D 2201/0203",
    "G05D 2201/0215",
    "G08C 17/02",
    "G08C 2201/30",
    "G08C 2201/34",
    "G08C 2201/93",
    "H04M 1/72415",
    "H04Q 9/00",
    "H04W 4/80"
  ],
  "ipc": [
    "A47L 11/40",
    "G05D 1/00",
    "G08C 17/02",
    "H04M 1/72415",
    "A47L 11/24",
    "H04Q 9/00"
  ],
  "assignees": [
    "Samsung Electronics Co Ltd"
  ],
  "inventors": [
    "Jea Yun So",
    "Jin Hee Kim",
    "Sang Sik YOON",
    "Shin Kim"
  ],
  "filing_date": "2015-05-28",
  "publication_date": "2019-05-14",
  "grant_date": "2019-05-14",
  "priority_date": "2014-05-28",
  "application_number": "US-201515314506-A",
  "family_id": "54699269",
  "cited_by_count": 8,
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  ]
}