Method compensating gyro sensor for robot cleaner

• US 7,239,105 B2
• Filed: 03/04/2005
• Issued: 07/03/2007
• Est. Priority Date: 10/12/2004
• Status: Active Grant

• Current Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Original Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Inventors: Kim, Ki-Man, Lee, Ju-Sang, Jeung, Sam-Jong, Ko, Jang-Youn, Lim, Kwang-Soo, Song, Jeong-Gon
• Primary Examiner(s): Leykin; Rita
• Application Number:
  US11/073,130
• Publication Number:
  US 20060076917A1
• Time in Patent Office: 851 Days
• Field of Search: 318/568.11, 318/568.12, 701/23, 700/258, 700/245, 901/1
• US Class Current: 318/568.12
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 method of compensating a gyro sensor of a robot cleaner is provided. The method includes changing to a compensation mode if a robot cleaner travels greater than a compensation reference, and compensating an output value of the gyro sensor by use of an upper camera.

Claims

1. A method of compensating for error in an output value of a gyro sensor of a robot cleaner, comprising:

changing to a compensation mode if a sum of angles of rotation of the robot cleaner measured by the gyro sensor during a cleaning operation is more than a compensation reference amount; and

compensating for the error in the output value of the gyro sensor by use of an upper camera.

2. The method according to claim 1, wherein the compensating step comprises:

determining a traveling path by use of the upper camera;

calculating a first angle between the traveling path and a previous traveling direction;

calculating a second angle of the traveling path from the output value of the gyro sensor during traveling the traveling path by use of the upper camera;

calculating a difference between the first angle of the traveling path and the second angle of the traveling path; and

compensating for the error in the output value of the gyro sensor by use of the difference.

3. The method according to claim 2, wherein the determining the traveling path step comprises extracting a marking point corresponding to objects on a ceiling from a ceiling image photographed by the upper camera and selecting a present position and a traveling destination of the robot cleaner by use of the marking point.

4. The method according to claim 3, wherein the traveling destination is selected to have a certain angle with respect to a previous traveling direction of the robot cleaner.

5. The method according to claim 4, wherein the certain angle is less than approximately ±

90°

.

6. A method of controlling a robot cleaner, comprising:

calculating a planned traveling path for cleaning of an area to be cleaned;

controlling the robot cleaner to travel along the planned traveling path by moving the robot cleaner through angles of rotation based on an output value of a gyro sensor of the robot cleaner; and

determining a compensation value for the output value of the gyro sensor if a sum of the angles of rotation measured by the gyro sensor during a cleaning operation is greater than a compensation reference amount, the compensation value being based at least in part on an image taken by an upper camera of the robot cleaner.

7. The method of claim 6, wherein determining the compensation value comprises the steps of:

determining a first angle between a current traveling direction (Y) and a desired traveling direction (P) via the image;

reading the output value of the gyro sensor during movement of the robot cleaner along the desired traveling direction to calculate a second angle;

determining an angular difference between the first angle and the second angle; and

setting the angular difference as the compensation value.

8. The method of claim 7, wherein determining the first angle comprises:

extracting a marking point from the image; and

selecting a present position of the robot cleaner and a traveling destination of the robot cleaner from the marking point, wherein the desired traveling direction is defined between the present position and the traveling destination.

9. The method of claim 8, further comprising selecting the traveling destination so that the first angle is less than approximately ±

180°

.

10. The method of claim 8, further comprising selecting the traveling destination so that the first angle is less than approximately ±

90°

.

11. The method of claim 6, wherein the compensation reference is input into the robot cleaner by a user.

12. The method of claim 6, wherein determining the compensation value comprises transmitting a signal from the robot cleaner to an external device so that the external device can determine the compensation value.