Robot cleaner and method for controlling the same

• US 20100288307A1
• Filed: 03/08/2010
• Published: 11/18/2010
• Est. Priority Date: 05/14/2009
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Yoo, Kyung Hwan, Chung, Woo Ram, Joo, Jae Man, Hong, Jun Pyo, Jung, Jae Young, Kim, Dong Won, Jang, Hwi Chan
• Granted Patent: US 8,584,306 B2
• Time in Patent Office: Days
• US Class Current: 134/18
• 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 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• 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: 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 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 robot cleaner to perform a cleaning process by changing a traveling pattern according to a cleaning start position and a method for controlling the same are disclosed. The robot cleaner recognizes a current position of the robot cleaner upon receiving the automatic cleaning command. If the automatic cleaning process starts from the charger, the robot cleaner performs the automatic cleaning process using a conventional cleaning method. Otherwise, if the automatic cleaning process starts from the outside of the charger, the robot cleaner changes a traveling pattern, performs the spot cleaning process and then selectively performs the automatic cleaning process.

Claims

1. A method of controlling a robot cleaner comprising:

recognizing a location of the robot cleaner;

determining whether the recognized location of the robot cleaner is outside of a charger; and

performing a spot cleaning process along a predetermined traveling pattern when determined that the location of the robot cleaner is outside of the charger.

2. The method according to claim 1, wherein the performing of the spot cleaning process includes first cleaning a region at which the robot is presently located, along the predetermined traveling pattern.

3. The method according to claim 2, wherein the predetermined traveling pattern includes a square spiral traveling pattern, a curved spiral traveling pattern, or a zigzag traveling pattern.

4. The method according to claim 2, further comprising:

selectively performing an automatic cleaning process after performing the spot cleaning process.

5. The method according to claim 1, wherein the recognizing of the robot cleaner location includes:

determining whether a voltage is detected at a charging terminal of the robot cleaner contacting the charger, and

determining that the robot cleaner is located outside of the charger when no voltage is detected at the charging terminal of the robot cleaner.

6. The method according to claim 1, wherein the recognizing of the robot cleaner location includes:

determining whether a voltage is detected at a charging terminal of the robot cleaner contacting the charger, and determining that the robot cleaner is located at the charger when the voltage is detected at the charging terminal.

7. The method according to claim 6, further comprising:

performing an automatic cleaning process according to a predetermined cleaning scheme when determined that the robot cleaner is located at the charger.

8. A robot cleaner charged by a charger, comprising:

a sensor detecting a cleaning start position of the cleaner; and

a controller to determine whether the cleaning start position is outside of the charger, and to perform a spot cleaning process along a predetermined traveling pattern when determined the cleaning start position is outside of the charger.

9. The robot cleaner according to claim 8, wherein the controller first cleans a predetermined region at which the robot is presently located, along the predetermined traveling pattern.

10. The robot cleaner according to claim 9, wherein the controller performs the spot cleaning process to clean the predetermined region at which the robot cleaner is presently located, and then stops the spot cleaning process after completely cleaning the predetermined region.

11. The robot cleaner according to claim 10, wherein the controller establishes the predetermined region using either a number of rotations or a rotation radius of the traveling pattern.

12. The robot cleaner according to claim 9, wherein the controller selectively performs an automatic cleaning process after performing the spot cleaning process.

13. The robot cleaner according to claim 8, further comprising:

an input unit to input an automatic cleaning command, and wherein the controller selectively performs the spot cleaning process or the automatic cleaning process according to the cleaning start position, upon receiving the automatic cleaning command from the input unit.

14. The robot cleaner according to claim 8, further comprising a charging terminal, selectively contacting the charger, wherein the controller determines whether a voltage is detected at the charging terminal contacting the charger, and determines that the robot cleaner is located outside of the charger when no voltage is detected at the charging terminal.

15. The robot cleaner according to claim 8, further comprising a charging terminal, selectively contacting the charger, wherein the controller determines whether a voltage is detected at the charging terminal contacting the charger, and determines that the robot cleaner is located at the charger when the voltage is detected at the charging terminal.

16. The robot cleaner according to claim 15, wherein the controller performs an automatic cleaning process using a predetermined cleaning scheme when determined that the robot cleaner is located at the charger.