Robot cleaner

• US 5,440,216 A
• Filed: 06/08/1993
• Issued: 08/08/1995
• Est. Priority Date: 06/08/1993
• Status: Expired due to Fees

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Kim, Tae-Sig
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US08/073,398
• Time in Patent Office: 791 Days
• Field of Search: 318/560-646, 901/1, 901/3, 901/5, 901/7, 901/9, 901/12, 901/13, 395/80-99, 180/165-169, 180/19.3, 180/6.5, 180/279, 180/280, 180/275, 180/274, 15/319, 15/339
• US Class Current: 318/587
• 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 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/28 Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle A47L5/24 takes precedence
• 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 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 15/931 of land vehicles
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: Y10S 15/01 Rechargeable batter

Abstract

A self moving robot cleaner capable of moving to an automatic charging unit to charge its battery when a charging voltage of the battery is decreased to below a predetermined level during a cleaning operation and then again carrying out the cleaning operation. The robot cleaner has a cleaner body, a suction unit provided in the cleaner body for sucking dirt on a floor, a navigation sensor positioned at an upper portion of the cleaner body for sensing a distance to and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal, a driving unit positioned at a lower portion of the cleaner body for moving the cleaner body in a moving direction, and a control unit for determining a cleaning area and a moving direction in response to the distance sensing signal and the direction sensing signal from the navigation sensor and outputting a control signal to move the cleaner body and a control signal to drive the suction unit.

Claims

1. A robot cleaner comprising:

a cleaner body;

suction means provided in the cleaner body for sucking dirt on a floor;

a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction;

control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means; and

sensing means provided at a lower portion of the cleaner body and adapted to sense dirt and output a dirt sensing signal to which said control means responses responds for generating a control signal to drive the suction means.

2. A robot cleaner in accordance with claim 1, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn.

3. A robot cleaner in accordance with claim 1, wherein said suction means is a vacuum motor.

4. A robot cleaner in accordance with claim 1, wherein said control means is a microprocessor.

5. A robot cleaner comprising:

a cleaner body;

suction means provided in the cleaner body for sucking dirt on a floor;

a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and

control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a turning left or a turning right, and wherein said straight driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

6. A robot cleaner comprising:

a cleaner body;

suction means provided in the cleaner body for sucking dirt on a floor;

a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and

control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a turning left or a turning right, and wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

7. A robot cleaner comprising:

a cleaner body;

suction means provided in the cleaner body for sucking dirt on a floor;

a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and

control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises a first driving motor rotating normally and reversely a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

8. A robot cleaner in accordance with claim 7, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

9. A robot cleaner in accordance with claim 7, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first spur gear.

10. A robot cleaner comprising:

a cleaner body;

suction means provided in the cleaner body for sucking dirt on a floor;

a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and

control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said navigation sensor comprises an ultrasonic wave sensor adapted to emit an ultrasonic wave in a moving direction, receive the reflected wave, and output it to microprocessor for determining a distance to be moved, an optical sensor adapted to emit light, receive the reflected light, and output it to the microprocessor for determining a direction to be moved, a cylindrical protector for accommodating and protecting the ultrasonic wave sensor and the optical sensor, a bracket supporting the ultrasonic wave sensor and the optical sensor, a deflective reflection collar provided at a lower end of the protector and adapted to reflect the light emitting from the optical sensor at a predetermined deflective angle for determining a direction to be moved, and sensor driving means for rotating the ultrasonic wave sensor and the optical sensor fixed to the bracket.

11. A robot cleaner in accordance with claim 10, wherein said sensor driving means comprises a second driving motor, a third spur gear connected to a rotating shaft of the second driving motor, a fourth spur gear engaged with the third spur gear, and a driving shaft attached with the bracket and fixed to the center of the fourth spur gear to be rotated by rotation of the fourth spur gear.

12. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction;

sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and

control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said straight driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

13. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction;

sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and

control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said turning conversion means comprises a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

14. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction;

sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and

control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

15. A robot cleaner in accordance with claim 14, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

16. A robot cleaner in accordance with claim 14, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first gear.

17. A robot cleaner in accordance with claim 14, wherein said sensing means is a navigation sensor.

18. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction;

sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and

control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said sensing means is a navigation sensor, and wherein said navigation sensor comprises an ultrasonic wave sensor adapted to emit an ultrasonic wave in a moving direction, receive the reflected wave, and output it to a microprocessor for determining a distance to be moved, an optical sensor adapted to emit light, receive the reflected light, and output it to the microprocessor for determining a direction to be moved, a cylindrical protector accommodating and protecting the ultrasonic wave sensor and the optical sensor, a bracket supporting the ultrasonic wave sensor and the optical sensor, a deflective reflection collar provided at a lower end of the protector and adapted to reflect the light emitting from the optical sensor at a predetermined deflective angle for determining a direction to be moved, and sensor driving means for rotating the ultrasonic wave sensor and the optical sensor fixed to the bracket.

19. A robot cleaner in accordance with claim 18, wherein said sensor driving means comprises a second driving motor, a third spur gear connected to a rotating shaft of the second driving motor, a fourth spur gear engaged with the third spur gear, and a driving shaft attached with the bracket and fixed to the center of the fourth spur gear to be rotated by rotation of the fourth spur gear.

20. A robot cleaner in accordance with claim 18, wherein said deflective reflection collar is provided at its inner surface with between 36 and 720 triangular mirrors.

21. A sensing device comprising:

optical sensing means for emitting light and receiving the reflected light;

ultrasonic wave sensing means for emitting an ultrasonic wave and receiving the reflected ultrasonic wave;

mounting means for mounting thereon the optical sensing means and the ultrasonic wave sensing means spaced from each other;

rotating means for rotating the optical sensing means and the ultrasonic wave sensing means mounted on the mounting means; and

a light reflection disc spaced from the optical sensing means and vertically positioned with respect to the light emitting from the optical sensing means, which is provided thereon with a plurality of continual reflective means in order to determine a turned angle of the optical sensing means when the optical sensing means is turned, whereby the ultrasonic wave sensing means senses a distance to an obstacle and the optical sensing means senses a direction of the obstacle.

22. A sensing device in accordance with claim 21, wherein said mounting means is a bracket.

23. A sensing device in accordance with claim 21, wherein said rotating means comprises a second driving motor, a third spur gear connected to a rotating shaft of the second driving motor, a fourth spur gear engaged with the third spur gear, and a driving shaft attached with the bracket and fixed to the center of the fourth spur gear to be rotated by rotation of the fourth spur gear.

24. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor;

wheel means mounted on at least four corners of the bottom of the cleaner body for movably supporting the cleaner body;

switch means associated with the wheel means; and

control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor.

25. A robot cleaner in accordance with claim 24, wherein said wheel means are casters.

26. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor;

wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body;

switch means associated with the wheel means; and

control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn.

27. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor;

wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body;

switch means associated with the wheel means; and

control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

28. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor;

wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body;

switch means associated with the wheel means; and

control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

29. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor;

wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body;

switch means associated with the wheel means; and

control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

30. A robot cleaner in accordance with claim 29, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

31. A robot cleaner in accordance with claim 29, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first spur gear.

32. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and

direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights.

33. A robot cleaner in accordance with claim 32, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn.

34. A robot cleaner in accordance with claim 32, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor.

35. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and

direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

36. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and

direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

37. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and

direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

38. A robot cleaner in accordance with claim 37, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

39. A robot cleaner in accordance with claim 37, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first spur gear.

40. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and

direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein said hermetic housing contains transparent oil or liquid therein.

41. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and

direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein each of said reflective mirrors has a triangular shape.

42. A robot cleaner comprising:

a cleaner body;

driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and

direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein said reflection disc is provided with between 36 and 360 triangular reflective mirrors thereon for detecting a clockwise or a counterclockwise turn of the driving means.

43. A robot cleaner system comprising:

a cleaner body;

driving means for moving the cleaner body;

a sensor rotatably mounted on an upper portion of the cleaner body;

a storage battery provided in the cleaner body;

a charging terminal provided at an outer surface of the cleaner body for applying current to the storage battery;

a charging station positioned separately from the cleaner body and provided with signal generating means for informing the cleaner body of the location of the charging station and with a charging source adapted to be connected to the charging terminal of the cleaner body when the storage battery is charged; and

control means provided in the cleaner body for detecting a charged condition of the storage battery and controlling the driving means to cause the cleaner body to be moved to the charging station while the sensor senses a signal from the signal generating means, thereby permitting the storage battery to be charged with energy of the charging source by connection of the charging terminal and the charging source, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction for the cleaner into a left turn or a right turn.

44. A robot cleaner system in accordance with claim 43, wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

45. A robot cleaner system in accordance with claim 43, wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

46. A robot cleaner, system comprising:

a cleaner body;

driving means for moving the cleaner body;

a sensor rotatably mounted on an upper portion of the cleaner body;

a storage battery provided in the cleaner body;

a charging terminal provided at an outer surface of the cleaner body for applying current to the storage battery;

a charging station positioned separately from the cleaner body and provided with signal generating means for informing the cleaner body of the location of the charging station and with a charging source adapted to be connected to the charging terminal of the cleaner body when the storage battery is charged; and

control means provided in the cleaner body for detecting a charged condition of the storage battery and controlling the driving means to cause the cleaner body to be moved to the charging station while the sensor senses a signal from the signal generating means, thereby permitting the storage battery to be charged with energy of the charging source by connection of the charging terminal and the charging source, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

47. A robot cleaner system in accordance with claim 46, wherein said charging terminal is a plug for applying direct current.

48. A robot cleaner system in accordance with claim 46, wherein said charging station is an automated charging means.