Cleaner
Disclosed herein is a cleaner including a main body for sucking dust on the floor in a cleaning region while actively traveling, and a marker indication device for indicating a marker on the floor in the cleaning region while moving independently of the main body, wherein the main body includes an image acquisition unit acquiring a front image thereof, and a controller to track a movement trajectory of the marker on the acquired image, set a traveling path, in an actual space, corresponding to the movement trajectory, and control the main body such that the main body travels along the set traveling path.
1. A cleaner apparatus comprising:
a main body for suctioning dust particles in a cleaning region while traveling; and
a marker indication device to indicate a marker in the cleaning region while the marker indication device moves independently of the main body,
wherein the main body comprises:
an image acquisition unit to acquire a surrounding image thereof; and
a controller to track a movement trajectory of the marker on the acquired image, set a traveling path in an actual space that corresponds to the tracked movement trajectory, and control the main body such that the main body travels along the set traveling path,
wherein the marker indication device comprises a luminous body marked as the marker,
wherein the marker indication device comprises:
the luminous body disposed at a lower portion of the marker indication device; and
a support leg to support the luminous body when the luminous body is spaced apart from a floor surface in the cleaning region.
2. The cleaner apparatus of claim 1 , wherein the luminous body comprises at least one of an light emitting diode or an infrared light source.
3. The cleaner apparatus of claim 1 , wherein the marker indication device further comprises a rod, whereby the luminous body is disposed at a lower end portion of the rod, and the rod is supported by the support leg.
4. The cleaner apparatus of claim 3 , wherein the marker indication device further comprises a handle disposed at an upper portion of the rod to be handled by a user.
5. The cleaner apparatus of claim 1 , wherein the marker indication device comprises at least one wheel that is connected to the support leg and rolls on the floor surface of the cleaning region.
6. The cleaner apparatus of claim 1 , wherein a center of gravity of the marker indication device is positioned at a lower portion of the marker indication device.
7. The cleaner apparatus of claim 1 , wherein the marker is located at a lower height than an optical axis of the image acquisition unit.
8. The cleaner apparatus of claim 1 , wherein the marker indication device comprises an optical pointer to radiate light so as to form a spot marked as the marker on the floor surface of the cleaning region.
9. The cleaner apparatus of claim 8 , wherein the optical pointer radiates a laser light.
10. The cleaner apparatus of claim 1 , wherein the controller comprises:
a marker information acquisition module to acquire information of a movement trajectory of the marker in the actual space, based on the movement trajectory of the marker on the acquired image;
a traveling path setting module to set the traveling path based at least in part on the information of the movement trajectory of the marker; and
a traveling control module to control the main body such that the main body travels along the set traveling path.
11. The cleaner apparatus of claim 1 , wherein the main body comprises:
a suction unit to suction the dust particles; and
a dust collection container to collect the suctioned dust particles.
12. The cleaner apparatus of claim 1 , wherein the marker indication device changes a position of the marker.
13. The cleaner apparatus of claim 1 , wherein a center of gravity of the marker indication device is positioned less than half of a distance from the floor surface in the cleaning region to an upper end of the marker indication device.