Robot cleaner coordinates compensation method and a robot cleaner system using the same

• US 20060076039A1
• Filed: 03/03/2005
• Published: 04/13/2006
• Est. Priority Date: 10/12/2004
• 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: Kim, Ki-Man, Lee, Ju-Sang, Jeung, Sam-Jong, Ko, Jang-Youn, Lim, Kwang-Soo, Song, Jeong-Gon
• Granted Patent: US 7,438,766 B2
• Time in Patent Office: Days
• US Class Current: 134/21
• 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: G05D 1/0219 ensuring the processing of the whole working surface
• 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 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A coordinates compensation method of a robot cleaner using an angle sensor compensates coordinates of the robot cleaner with reference to absolute coordinates of a recharging station, so as to improve robot cleaner'"'"'s path following. The robot cleaner is in a standby mode at the recharging station, and moves to an operation area to perform a given job. The robot cleaner stops the given job upon determining an accumulative angle exceeding a predetermined level, and returns to the recharging station. Current coordinates of the robot cleaner are aligned with reference coordinates of the recharging station, and the robot cleaner moves to a previous spot where it was before it returns to the recharging station, and resumes the work from where it stopped.

Claims

1. A coordinates compensation method of a robot cleaner, comprising:

controlling the robot cleaner to remain in a standby mode at a recharging station;

moving the robot cleaner from the recharging station to an operation area to perform a given job;

stopping the robot cleaner from performing the given job upon determining an accumulative angle exceeding a predetermined level and returning the robot cleaner to the recharging station;

compensating current coordinates of the robot cleaner with reference coordinates of the recharging station; and

moving the robot cleaner to a previous spot where it was before it returned to the recharging station and resuming the given job.

2. The coordinates compensation method of claim 1, wherein the compensating step comprises the steps of:

positioning the robot cleaner on the reference coordinates of the recharging station by using a plurality of distance sensors; and

compensating the current coordinates of the robot cleaner to an origin of the robot cleaner.

3. The coordinates compensation method of claim 2, wherein the recharging station comprises a reference plate which is disposed in a substantially perpendicular relation with respect to a floor on which the robot cleaner moves.

4. A robot cleaner system, comprising:

a recharging station; and

a robot cleaner comprising a plurality of distance sensors, and a control part for compensating coordinates thereof to reference coordinates of the recharging station by use of the plurality of distance sensors.

5. The robot cleaner system of claim 4, wherein the plurality of distance sensors are arranged side by side, with transmitting parts thereof aligned in a substantially perpendicular relation with respect to an axis of a driving wheel of the robot cleaner.

6. The robot cleaner system of claim 5, wherein the plurality of distance sensors are arranged in a line, with front sides thereof substantially parallel with an axis of the driving wheel.

7. The robot cleaner system of claim 5, wherein the recharging station comprises a reference plate which is disposed in a substantially perpendicular relation with respect to a floor on which the robot cleaner moves.

8. The robot cleaner system of claim 7, wherein the control part controls the robot cleaner to stop a given job upon determining an accumulative angle exceeding a predetermined level, to return to the recharging station, to align current coordinates of the robot cleaner with reference coordinates of the recharging station by use of the plurality of distance sensors, and to compensate the current coordinates of the robot cleaner to an origin.

9. A coordinates compensation method for a robot cleaner, comprising:

moving the robot cleaner to perform a given job; and

returning the robot cleaner to a recharging station when an accumulative angle of movement of the robot cleaner exceeds a predetermined level.

10. The coordinates compensation method of claim 9, further comprising compensating current coordinates of the robot cleaner to reference coordinates of the recharging station once the robot cleaner returns to the recharging station.

11. The coordinates compensation method of claim 10, further comprising moving the robot cleaner to a previous spot where it was before it returned to the recharging station after compensating to the reference coordinates.

12. The coordinates compensation method of claim 11, further comprising resuming the given job.

13. The coordinates compensation method of claim 9, wherein compensating current coordinates of the robot cleaner to reference coordinates comprises:

controlling a plurality of distance sensors to position the robot cleaner on the reference coordinates of the recharging station; and

compensating the current coordinates of the robot cleaner to an origin of the robot cleaner.

14. The coordinates compensation method of claim 13, wherein the plurality of distance sensors are arranged side by side, with transmitting parts thereof aligned in a substantially perpendicular relation with respect to an axis of a driving wheel of the robot cleaner.