Method of Controlling Automatic Cleaner

• US 20140109935A1
• Filed: 04/11/2013
• Published: 04/24/2014
• Est. Priority Date: 10/18/2012
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Jang, Jaewon, Choi, Joonsik
• Granted Patent: US 9,737,188 B2
• Time in Patent Office: Days
• US Class Current: 134/18
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• 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: A47L 9/0472 Discs
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/281 the amount or condition of incoming dirt or dust
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2847 Surface treating elements
• CPC Class Codes: B08B 1/00 Cleaning by methods involving the use of tools cleaning hollow articles by methods or apparatus specially adapted thereto B08B9/00
• CPC Class Codes: B08B 1/12 Brushes

Abstract

A method of controlling an automatic cleaner in which the automatic cleaner is moved with a side brush assembly in a first operation type, a corner is determined during the movement of the automatic cleaner, the first operation type of the side brush assembly is changed to a second operation type to clean the corner when the corner is determined, whether the corner is cleaned is determined, and the second operation type of the side brush assembly is returned to the first operation type when the corner is cleaned.

Claims

1. A method of controlling an automatic cleaner, comprising:

moving the automatic cleaner with a side brush assembly in a first operation type;

determining a corner during the movement of the automatic cleaner based on a signal from an obstacle sensor;

changing the first operation type of the side brush assembly to a second operation type to clean the corner when the corner is determined;

determining whether the corner is cleaned; and

returning the second operation type of the side brush assembly to the first operation type when the corner is cleaned.

2. The method of claim 1, wherein the determining of the corner comprises:

determining whether a side wall or a side obstacle is sensed; and

determining whether a front wall or a front obstacle is sensed.

3. The method of claim 1, wherein the determining of the corner comprises:

determining whether the automatic cleaner performs a wall following movement; and

determining whether a front wall or a front obstacle is sensed.

4. The method of claim 1, wherein the side brush assembly comprises:

a movable member movably provided on a casing of the automatic cleaner; and

a brush provided on the movable member,

wherein the first operation type of the side brush assembly comprises maintaining the movable member fixed in a first position.

5. The method of claim 4, wherein the first operation type of the side brush assembly comprises maintaining the brush in a fixed or rotating state.

6. The method of claim 4, wherein the second operation type of the side brush assembly comprises moving the movable member from the first position to a second position and rotating the brush.

7. The method of claim 4, wherein the second operation type of the side brush assembly comprises:

moving the movable member to a second position and then reciprocating the movable member between the first and second positions; and

rotating the brush.

8. The method of claim 1, wherein the side brush assembly comprises:

a movable member movably provided on a casing of the automatic cleaner; and

a brush provided on the movable member,

wherein the determining of whether the corner is cleaned comprises at least one of;

determining when an operation type change time of the side brush assembly exceeds a reference time,

determining when the number of rotations of the brush exceeds a reference number after an operation type of the side brush assembly is changed,

determining when an operation time of a driving part that drives the brush exceeds a reference time, or

determining when an operation type change number of the side brush assembly exceeds a reference number.

9. The method of claim 1, wherein in the determining of whether the corner is cleaned,

a sensor senses the cleanliness of a floor, or

a sensor senses an amount of dust suctioned through a suction port.

10. The method of claim 1, wherein in the cleaning of the corner, the automatic cleaner is maintained at a fixed state.

11. The method of claim 1, wherein the side brush assembly comprises:

a movable member movably provided on a casing of the automatic cleaner; and

a brush provided on the movable member,

wherein the movable member rotates or linearly moves to change the side brush assembly from the first operation type to the second operation type.

12. The method of claim 11, wherein an overlap area between the movable member and the casing when the side brush assembly is in the second operation type is smaller than an overlap area between the movable member and the casing when the side brush assembly is in the first operation type.

13. The method of claim 11, wherein when an operation type of the side brush assembly is changed, a rotation shaft of the brush is moved.

14. A method of controlling an automatic cleaner, comprising:

moving the automatic cleaner with a side brush assembly in a general mode;

determining a corner during the movement of the automatic cleaner based on a signal from an obstacle sensor;

operating a side brush assembly in a corner cleaning mode when the corner is determined,

wherein the side brush assembly comprises;

a movable member movably provided on the automatic cleaner; and

a brush rotatably connected to the movable member,

wherein the movable member is in a first operation type in the general mode, and is changed to a second operation type in the corner cleaning mode.

15. The method of claim 14, wherein the determining of the corner comprises:

determining whether a side wall or a side obstacle is sensed; and

determining whether a front wall or a front obstacle is sensed.

16. The method of claim 14, wherein the determining of the corner comprises:

determining whether the automatic cleaner performs a wall following movement; and

determining whether a front wall or a front obstacle is sensed.

17. The method of claim 14, wherein the second operation type of the side brush assembly comprises moving the movable member from the first position to a second position and rotating the brush.

18. The method of claim 14, wherein the second operation type of the side brush assembly comprises:

moving the movable member to a second position and then reciprocating the movable member between the first and second positions; and

rotating the brush.

19. The method of claim 14, further comprising:

determining whether the corner is cleaned, and

wherein the side brush assembly comprises;

a movable member movably provided on a casing of the automatic cleaner; and

a brush provided on the movable member, and

wherein the determining of whether the corner is cleaned comprises at least one of;

determining when an operation type change time of the side brush assembly exceeds a reference time,

determining when the number of rotations of the brush exceeds a reference number after an operation type of the side brush assembly is changed,

determining when an operation time of a driving part that drives the brush exceeds a reference time, or

determining when an operation type change number of the side brush assembly exceeds a reference number.

20. The method of claim 19, wherein in the determining of whether the corner is cleaned,

a sensor senses the cleanliness of a floor, or

a sensor senses an amount of dust suctioned through a suction port.