Robot cleaner

• US 10,335,005 B2
• Filed: 05/10/2016
• Issued: 07/02/2019
• Est. Priority Date: 10/21/2011
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd. (Samsung Group)
• Original Assignee: Samsung Electronics Co. Ltd. (Samsung Group)
• Inventors: Yoon, Sang Sik, Kim, Byung Chan, Lee, Jun Hwa, Jung, Jae Young, Jin, Hee Won
• Primary Examiner(s): Redding, David
• Application Number:
  US15/151,196
• Publication Number:
  US 20160249780A1
• Time in Patent Office: 1,148 Days
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/33 having means for storing dirt
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4055 for lifting the tools to a non-working position
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 2201/02 Docking stations; Docking operations
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/2847 Surface treating elements
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/242 Means based on the reflection of waves generated by the vehicle using passive navigation aids external to the vehicle G05D1/244; using signals provided by artificial sources external to the vehicle G05D1/247
• CPC Class Codes: G05D 1/246 using environment maps, e.g. simultaneous localisation and mapping [SLAM]
• CPC Class Codes: G05D 1/247 using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
• CPC Class Codes: G05D 1/622 Obstacle avoidance predicting or avoiding probable or impending collision of road vehicles B60W30/08
• CPC Class Codes: G05D 1/661 Docking at a base station delivering or retrieving payloads G05D1/667
• CPC Class Codes: G05D 2105/10 : for cleaning, vacuuming or polishing
• CPC Class Codes: G05D 2109/10 : Land vehicles
• CPC Class Codes: G05D 2111/14 : Non-visible signals, e.g. IR or UV signals

Abstract

A robot cleaner includes a body to travel on a floor; an obstacle sensing unit to sense an obstacle approaching the body; an auxiliary cleaning unit mounted to a bottom of the body, to be extendable and retractable; and a control unit to control extension or retraction of the auxiliary cleaning unit when the obstacle is sensed. The control unit prevents the auxiliary cleaning unit from extending if a signal is received from a charger.

Claims

1. A robot cleaner comprising:

a body to travel on a floor;

an obstacle sensing unit to sense an obstacle that the body is approaching;

an auxiliary cleaning unit mounted to a bottom of the body to be extendable and retractable from the body; and

a control unit to control extension or retraction of the auxiliary cleaning unit when the obstacle is sensed,

wherein the control unit prevents the auxiliary cleaning unit from extending in response to at least one signal being received from a charger.

7. The robot cleaner according to claim 1, wherein the at least one signal comprises at least one of an infrared signal, an ultrasonic wave signal and a laser signal, forming a signal zone having a predetermined curved surface at a front or lateral side of the charger.

10. The robot cleaner according to claim 1, wherein the at least one signal is to guide travel of the robot cleaner to the charger.

11. The robot cleaner according to claim 1, wherein the at least one signal is to guide travel of the robot cleaner to the charger for docking the robot cleaner with the charger.

12. The robot cleaner according to claim 1, wherein the at least one signal identifies at least one zone in which at least part of the charger is positioned.

13. The robot cleaner according to claim 1, wherein the at least one signal includes a plurality of signals identifying a plurality of zones in which at least part of the charger is positioned.

2. A The robot cleaner comprising:

a body to travel on a floor;

an obstacle sensing unit to sense an obstacle that the body is approaching;

an auxiliary cleaning unit mounted to a bottom of the body to be extendable and retractable from the body;

a control unit to control extension or retraction of the auxiliary cleaning unit when the obstacle is sensed; and

a signal sensing unit to sense at least one signal transmitted from an extension prevention signal generating unit and forming an extension prevention zone,

wherein the control unit recognizes the extension prevention zone based on the sensed at least one signal, and prevents the auxiliary cleaning unit from extending in response to the extension prevention zone being recognized.

3. The robot cleaner according to claim 2, wherein

the extension prevention zone forms a virtual obstacle zone extending from the extension prevention signal generating unit in one direction and having a predetermined size, and,

in response to the extension prevention zone being recognized, the control unit performs a control operation to cause the body to travel while bypassing the virtual obstacle zone.

4. The robot cleaner according to claim 2, wherein the extension prevention zone forms a rectilinear virtual wall zone having a predetermined thickness and a predetermined length.

5. The robot cleaner according to claim 4, wherein the at least one signal comprises at least one of an infrared signal, an ultrasonic wave signal and a laser signal, transmitted from the extension prevention signal generating unit in one direction within a predetermined angular range.

6. The robot cleaner according to claim 2, wherein

the extension prevention zone forms a virtual obstacle zone having a predetermined curved surface around the extension prevention signal generating unit, and,

in response to the extension zone being recognized, the control unit performs a control operation to cause the body to travel while bypassing the virtual obstacle zone.

8. A robot cleaner comprising:

a body to travel on a floor;

an obstacle sensing unit to sense an obstacle that the body is approaching,

an auxiliary cleaning unit mounted to a bottom of the body to be extendable and retractable from the body; and

a control unit to

control extension or retraction of the auxiliary cleaning unit when the obstacle is sensed,

recognize a magnetic field zone formed by a magnetic belt on the floor, and

prevent the auxiliary cleaning unit from extending in response to the magnetic field zone being recognized.

9. The robot cleaner according to claim 8, wherein, in response to the magnetic field zone being recognized, the control unit performs a control operation to cause the body to travel while bypassing the magnetic field zone.