ROBOT CLEANER SYSTEM HAVING EXTERNAL CHARGING APPARATUS AND METHOD FOR DOCKING WITH THE CHARGING APPARATUS

• US 20040088081A1
• Filed: 04/03/2003
• Published: 05/06/2004
• Est. Priority Date: 10/31/2002
• Status: Active Grant

• Current Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Original Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Inventors: Lee, Sang-Yong, Song, Jeong-Gon
• Granted Patent: US 6,748,297 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• 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 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 2201/0203 Cleaning or polishing vehicle
• CPC Class Codes: G05D 2201/0215 Vacuum cleaner

Abstract

A robot cleaner system capable of accurately docking with an external charging apparatus and a method for docking with an external charging apparatus comprising a power supply terminal connected to a supply of utility power, an external charging apparatus including a terminal stand for supporting the power supply terminal and fixing the external charging apparatus at a predetermined location, a driving unit for moving a cleaner body, an upper camera disposed on the cleaner body, for photographing a ceiling, a charging battery disposed in the cleaner body, for being charged by power supplied from the power supply terminal, a bumper disposed along an outer circumference of the cleaner body and outputting a collision signal when a collision with an obstacle is detected, and a robot cleaner disposed at the bumper to be connected with the power supply terminal and including a charging terminal connected to the charging battery, wherein, prior to starting on operation, the robot cleaner photographs an upward-looking image using the upper camera, calculates location information of the external charging apparatus, and stores the location information of the external charging apparatus, and, when returning to the external charging apparatus, the robot cleaner calculates a return path, based on the current location information calculated from an image photographed by the upper camera and the stored location information of the external charging apparatus, and returns to the external charging apparatus along the return path.

Claims

1. A robot cleaner system comprising:

an external charging apparatus and a robot cleaner, the external charging apparatus comprising

a power supply terminal connected to a wire through which a utility power is supplied, and

a terminal stand for supporting the power supply terminal and fixing the external charging apparatus to a predetermined location,

the robot cleaner comprising

a driving unit for moving a cleaner body,

an upper camera disposed on the cleaner body for photographing a ceiling,

a charging battery disposed in the cleaner body for being charged by power supplied from the power supply terminal,

a bumper disposed along an outer circumference of the cleaner body and outputting a collision signal when a collision with an obstacle has been detected, and

a charging terminal disposed at the bumper to be connected with the power supply terminal and being connected to the charging battery,

wherein, prior to starting an operation, the robot cleaner photographs an upward-looking image using the upper camera, calculates the location information of the external charging apparatus, and stores the location information in the state of being connected to the external charging apparatus, and, when returning to the external charging apparatus, the robot cleaner calculates a return path based on the current location information calculated from an image photographed by the upper camera and the stored location information of the external charging apparatus and returns to the external charging apparatus along the return path.

2. The robot cleaner system of claim 1, wherein the robot cleaner includes means to determine whether the charging terminal is connected with the power supply terminal only upon detecting a signal indicating contact of the charging terminal with the power supply terminal.

3. The robot cleaner system of claim 2, wherein the robot cleaner further comprises:

a battery charge detecting part for detecting the amount of electrical power available in the charging battery; and

a control unit for controlling the driving unit to stop the operation and return the robot cleaner to the external charging apparatus when a charge requesting signal is received from the battery charge detecting part.

4. The robot cleaner system of claim 3, wherein the control unit controls the driving unit to return the robot cleaner to the external charging apparatus when the commanded work is completed.

5. The robot cleaner system of claim 1, wherein the terminal stand is formed to enclose a portion of the outer circumference of the bumper of the robot cleaner.

6. A method of docking a robot cleaner with an external charging apparatus, comprising the steps of:

receiving a work command signal;

when a work command signal is received with the robot cleaner being connected with the external charging apparatus, calculating location information of the external charging apparatus based on an upward-Looking image photographed by an upper camera and storing the location information;

performing the work commanded in the work command signal while the robot cleaner travels from one area to another;

when a charging command signal is received, calculating a return path to the external charging apparatus based on the current location information calculated from the upward-Looking image photographed by the upper camera and the stored location information of the external charging apparatus, and then returning along the return path;

after the reception of a collision signal from a bumper, determining whether a contact signal is received or not, the contact signal indicating contact of a charging terminal of the robot cleaner with a power supply terminal of the external charging apparatus;

when it is determined that the contact signal is not received after the collision signal is received from the bumper, adjusting the angle of travel of the robot cleaner by a predetermined angle to determine whether reception of the contact signal has been completed; and

when it is determined that the contact signal is not received after a predetermined number of adjustments of the angle of travel, retreating the robot cleaner by a predetermined distance and then performing the steps of calculating the return path and returning.

7. The method of claim 6, wherein the charging command signal is sent out when a predetermined amount of charged current runs out during the performance of the work or when the work is completed.

8. The method of claim 6, wherein the predetermined angle for adjusting the angle of travel of the robot cleaner is 15°

.

9. The method of claim 8, wherein the number of adjustments of the angle of travel of the robot cleaner is six.