Self-running robot having pressing sensing function and control method thereof

• US 20060238157A1
• Filed: 12/28/2005
• Published: 10/26/2006
• Est. Priority Date: 04/25/2005
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Kim, Jong-sung, Sung, Ji-hoon
• Granted Patent: US 7,233,122 B2
• Time in Patent Office: Days
• US Class Current: 318/568.120
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• 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: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• 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

Disclosed is a pressing sensing technology of a self-running robot, comprising a pressing sensing unit for sensing pressing on the top of the self-running robot and a microprocessor for controlling driving of the self-running robot in accordance with the sensing signal from the pressing sensing unit to enable the self-running robot to escape from an area where the pressing has occurred. Accordingly, the invention has an advantage in that it can prevent a function degradation and damage of the self-running robot by changing a running direction of the self-running robot when pressing on the self-running robot is sensed to enable the self-running robot to escape from the area where the pressing has occurred, or notifying, when the pressing cannot be released, a user of the state in voice to take any necessary action.

Claims

1. A self-running robot having a pressing sensing function, comprising:

a pressing sensing unit for sensing pressing on a top of the self-running robot; and

a microprocessor for controlling a driving of the self-running robot in accordance with the sensing signal from the pressing sensing unit to enable the self-running robot to escape from an area where the pressing has occurred.

2. The self-running robot according to claim 1, wherein the microprocessor, when the pressing sensing signal is continuously received even after controlling the driving of the self-running robot in accordance with the pressing sensing signal, notifies a user of the above state in voice.

3. The self-running robot according to claim 2, wherein the self-running robot comprises:

a memory for storing an audio signal used to notify the pressing; and

an audio output unit for converting the audio signal stored in the memory into an audible sound under the control of the microprocessor and outputting the audible sound.

4. The self-running robot according to claim 1, wherein the pressing sensing unit is an ON/OFF switch provided on the top of the self-running robot.

5. The self-running robot according to claim 1, further comprising a rotation detection unit for outputting a signal corresponding to a rotational speed of left and right wheel motors to move the self-running robot,

wherein the microprocessor controls the left and right wheel motors to enable the self-running robot to escape from a corresponding area when a running speed of the self-running robot computed by using the output signal from the rotation detection unit is slower than a reference speed.

6. The self-running robot according to claim 5, wherein, when the running speed of the self-running robot is slower than the reference speed even after controlling the driving of the self-running robot in accordance with the running speed of the self-running robot, the microprocessor notifies a user of the above state in voice.

7. The self-running robot according to claim 6, wherein the self-running robot comprises:

a memory for storing an audio signal used to notify the pressing; and

an audio output unit for converting the audio signal stored in the memory into an audible sound under the control of the microprocessor and outputting the audible sound.

8. The self-running robot according to claim 1, wherein the self-running robot is a cleaning robot.

9. A self-running robot having a pressing sensing function, comprising:

a rotation detection unit for outputting a signal corresponding to a rotational speed of left and right wheel motors to move the self-running robot; and

a microprocessor for controlling the left and right wheel motors to enable the self-running robot to escape from a corresponding area when a running speed of the self-running robot computed by using the output signal from the rotation detection unit is slower than a reference speed.

10. The self-running robot according to claim 9, wherein, when the running speed of the self-running robot is slower than the reference speed even after controlling the driving of the self-running robot in accordance with the running speed of the self-running robot, the microprocessor notifies a user of the above state in voice.

11. The self-running robot according to claim 10, wherein the self-running robot comprises:

a memory for storing an audio signal used to notify the pressing; and

an audio output unit for converting the audio signal stored in the memory into an audible sound under the control of the microprocessor and outputting the audible sound.

12. The self-running robot according to claim 9, wherein the self-running robot is a cleaning robot.

13. A method for controlling a self-running robot, comprising the steps of:

receiving a sensing signal from a pressing sensing unit to sense pressing on a top of the self-running robot; and

controlling a driving of the self-running robot in accordance with the sensing signal to enable the self-running robot to escape from an area where the pressing has occurred.

14. The method according to claim 13, further comprising the step of notifying, when the pressing sensing signal is continuously received even after controlling the driving of the self-running robot in accordance with the pressing sensing signal, a user of the above state in voice.

15. The method according to claim 13, further comprising the steps:

receiving a signal corresponding to a rotational speed of left and right wheel motors to move the self-running robot from a rotation detection unit; and

controlling the left and right wheel motors to enable the self-running robot to escape from a corresponding area when a running speed of the self-running robot computed by using the output signal from said step is slower than a reference speed.

16. The method according to claim 15, further comprising the step of notifying, when the running speed of the self-running robot is slower than the reference speed even after controlling the driving of the self-running robot in accordance with the running speed of the self-running robot, a user of the above state in voice.

17. The method according to claim 13, wherein the self-running robot is a cleaning robot.

18. A method for controlling a self-running robot, comprising the steps of:

receiving a signal corresponding to a rotational speed of left and right wheel motors to move the self-running robot from a rotation detection unit; and

controlling the left and right wheel motors to enable the self-running robot to escape from a corresponding area when a running speed of the self-running robot computed by using the output signal from said step is slower than a reference speed.

19. The method according to claim 18, further comprising the step of notifying, when the running speed of the self-running robot is slower than the reference speed even after controlling the driving of the self-running robot in accordance with the running speed of the self-running robot, a user of the above state in voice.

20. The method according to claim 18, wherein the self-running robot is a cleaning robot.