ROBOT CLEANER AND METHOD OF CONTROLLING TRAVEL OF THE SAME

• US 20100324734A1
• Filed: 06/15/2010
• Published: 12/23/2010
• Est. Priority Date: 06/19/2009
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Ko, Jang Youn, Chung, Woo Ram, Song, Jeong Gon, Jeung, Sam Jong, Joo, Jae Man, Hong, Jun Pyo, Yoo, Kyung Hwan, Jung, Jae Young, Lee, Jun Hwa, Kim, Dong Won, Jang, Hwi Chan
• Granted Patent: US 8,560,119 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: A47L 11/33 having means for storing dirt
• CPC Class Codes: A47L 11/4002 Installations of electric equipment
• 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 11/4072 Arrangement of castors or wheels
• 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 1/0227 using mechanical sensing means, e.g. for sensing treated area
• 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 that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.

Claims

1. A robot cleaner comprising:

a cleaner body;

drive wheels to move the cleaner body;

a caster wheel rotatably mounted to the cleaner body;

a heading angle detection unit to detect a heading angle of the caster wheel; and

a controller to adjust rates of rotation of the drive wheels based on the heading angle of the caster wheel.

2. The robot cleaner according to claim 1, wherein the drive wheels are mounted at opposite sides of a lower part of the cleaner body to adjust the movement of the cleaner body according to a drive command from the controller.

3. The robot cleaner according to claim 2, wherein the heading angle detection unit detects a deviation angle of the caster wheel signifying left or right deviation depending upon a state of a floor.

4. The robot cleaner according to claim 3, wherein the heading angle detection unit comprises an encoder provided at the caster wheel to detect a deviation angle of the caster wheel signifying left or right deviation due to slippage of the robot cleaner.

5. The robot cleaner according to claim 3, wherein the controller controls a number of rotations of the drive wheels to be adjusted based on the deviation angle of the caster wheel for the cleaner body to travel straight.

6. The robot cleaner according to claim 1, wherein the caster wheel is formed in a shape of a roller or caster and mounted at a front of the cleaner body.

7. A method of controlling travel of a robot cleaner, comprising:

detecting angle information of a caster wheel rotating depending upon a state of a floor; and

adjusting rates of rotation of drive wheels based on the angle information of the caster wheel to travel the robot cleaner straight.

8. The method according to claim 7, wherein the drive wheels are mounted at opposite sides of a lower part of the robot cleaner for the drive wheels to be rotated by drive force from motors.

9. The method according to claim 8, wherein the detecting the angle information of the caster wheel comprises detecting a deviation angle of the caster wheel signifying left or right deviation depending upon the state of the floor.

10. The method according to claim 9, wherein the detecting the deviation angle information of the caster wheel comprises detecting a heading angle of the caster wheel deviating left or right due to slippage of the robot cleaner through an encoder provided at the caster wheel.

11. The method according to claim 9, wherein the adjusting the rates of rotation of the drive wheels comprises changing a number of rotations of the drive wheels based on the deviation angle of the caster wheel to correct a movement angle of the robot cleaner for the robot cleaner to travel straight.

12. The method according to claim 7, wherein the caster wheel is mounted at a front of the robot cleaner for the caster wheel to rotate depending upon the state of the floor without drive force from a motor.

13. A robot cleaner comprising:

wheels;

a wheel heading angle deviation detector to detect a heading angle deviation of one of the wheels; and

a wheel rotation rate controller to adjust a rate of rotation for at least one of the wheels based on the heading angle deviation.

14. The robot cleaner of claim 13, wherein the wheel heading angle deviation detector detects the heading angle deviation of a caster wheel rotatably mounted in the robot cleaner.

15. The robot cleaner of claim 14, further comprising an encoder mounted to the caster wheel to detect a heading angle of the caster wheel.

16. The robot cleaner of claim 13, wherein the wheel rotation rate controller adjusts the rate of rotation for a drive wheel mounted at a side of the robot cleaner.

17. The robot cleaner of claim 13, further comprising:

an obstacle sensor to sense a presence of an obstacle, and a direction in which the obstacle exists with respect to the robot cleaner,

wherein the wheel rotation rate controller adjusts the rate of rotation for the at least one of the wheels while simultaneously avoiding obstacles sensed by the obstacle sensor.

18. The robot cleaner of claim 13, wherein the wheel rotation rate controller adjusts the rate of rotation for the at least one of the wheels based also on a predetermined travel pattern for travel of the robot cleaner.

19. The robot cleaner of claim 13, further comprising:

a travel distance detector to measure rotational directions of at least two of the wheels, the at least two wheels being drive wheels,

wherein the wheel rotation rate controller adjusts the rate of rotation for at least one of the drive wheels according to the measured rotational directions.

20. The robot cleaner of claim 19 wherein the travel distance detector includes a gyro sensor.