Vacuum cleaner and control method thereof

• US 5,841,259 A
• Filed: 04/17/1996
• Issued: 11/24/1998
• Est. Priority Date: 08/07/1993
• Status: Expired due to Fees

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Kim, Ji-Hyun, Lee, Jae-Bong, Han, Suk-Jin
• Primary Examiner(s): MANSEN, MICHAEL R
• Application Number:
  US08/633,375
• Time in Patent Office: 951 Days
• Field of Search: 15/323, 15/340.1, 242/375.1, 242/390.8, 242/390.9, 242/374, 242/422.3, 242/420.5, 464/58, 464/59, 464/60, 191/12.2 A, 191/12.4, 318/587, 318/286, 318/283, 180/169
• US Class Current: 318/587
• 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 5/32 with means for connecting a hose hose couplings for suction cleaners A47L9/24
• CPC Class Codes: A47L 9/26 Incorporation of winding devices for electric cables devices specially adapted for repeatedly paying-out or re-storing cables B65H75/34; arrangements of electrical cables or lines between relatively-movable parts H02G11/00
• CPC Class Codes: B65H 75/42 attached to, or forming part of, mobile tools, machines or vehicles
• CPC Class Codes: B65H 75/4484 Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
• CPC Class Codes: B65H 75/4486 Electric motors
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• 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 1/0272 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
• CPC Class Codes: H02G 11/02 using take-up reel or drum

Abstract

A vacuum cleaner is selectively operable in one of three modes, namely: an automatic self-directing mode, a remotely controlled mode, or a manual mode. The vacuum carries ultrasonic object detectors for detecting walls of a room being cleaned, as well as obstacles in the room. When in a self-directing mode, the vacuum selects a path of travel based upon a detected wall of the room as a reference, and steers itself to avoid obstacles in its path. An electric cord is automatically payed-out and retracted as the vacuum travels. A constant tension is imposed on the cord as it is payed-out or retracted by an appropriate manipulation of a spiral spring connected to the cord.

Claims

1. A method of controlling a self-propelled, self-directed vacuum cleaner, and maintaining a substantially constant tension on an electric power supply cord of the vacuum cleaner as the power cord is extended from and retracted onto a reel, the method comprising the steps of:

A) actuating an object detecting mechanism disposed on the vacuum cleaner for detecting a reference surface in a room being cleaned and for detecting obstacles in a path of travel of the vacuum cleaner;

B) driving drive wheels disposed on the vacuum cleaner to advance the vacuum cleaner along a path spaced at a substantially constant distance from the reference surface in the absence of detected obstacles in the path of travel;

C) selectively driving the drive wheels to steer the vacuum cleaner away from detected obstacles;

D) connecting an outer end of a spiral plate spring to the reel, so that during steps B and C the outer portion of the plate spring is wound up during extension of the cord from the reel and is unwound during retraction of the cord onto the reel;

E) connecting an inner end of the plate spring to a reversible motor;

F) sensing the rotation direction of the reel; and

G) actuating the motor in the same direction as the reel to unwind the inner portion of the spring during extension of the cord and wind up the inner portion of the plate spring during retraction of the cord.