Robot cleaner coordinates compensation method and a robot cleaner system using the same

• US 7,438,766 B2
• Filed: 03/03/2005
• Issued: 10/21/2008
• Est. Priority Date: 10/12/2004
• Status: Expired due to Fees

• 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, Ko, Jang-Youn, Song, Jeong-Gon, Jeung, Sam-Jong, Lim, Kwang-Soo
• Primary Examiner(s): Barr; Michael
• Assistant Examiner(s): Chaudhry; Saeed T
• Application Number:
  US11/071,851
• Publication Number:
  US 20060076039A1
• Time in Patent Office: 1,328 Days
• Field of Search: 134/18, 134/21, 153/19, 318/587
• US Class Current: 134/18
• 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: 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 1/024 in combination with a laser lasers per se H01S
• 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 coordinates compensation method of a robot cleaner using an angle sensor compensates coordinates of the robot cleaner with reference to absolute coordinates of a recharging station, so as to improve robot cleaner'"'"'s path following. The robot cleaner is in a standby mode at the recharging station, and moves to an operation area to perform a given job. The robot cleaner stops the given job upon determining an accumulative angle exceeding a predetermined level, and returns to the recharging station. Current coordinates of the robot cleaner are aligned with reference coordinates of the recharging station, and the robot cleaner moves to a previous spot where it was before it returns to the recharging station, and resumes the work from where it stopped.

Claims

1. A coordinates compensation method of a robot cleaner, comprising:

controlling the robot cleaner to remain in a standby mode at a recharging station;

moving the robot cleaner from the recharging station to an operation area to perform a given job;

measuring an accumulative rotational angle of the robot cleaner while performing the given job;

stopping the robot cleaner from performing the given job upon determining that the accumulative rotational angle of the robot cleaner exceeds a predetermined level and returning the robot cleaner to the recharging station;

changing current coordinates of the robot cleaner to correspond with reference coordinates of the recharging station; and

moving the robot cleaner to a previous spot where it was before it returned to the recharging station and resuming the given job.

2. The coordinates compensation method of claim 1, wherein the the step of changing the current coordinates comprises the steps of:

positioning the robot cleaner on a position representing the reference coordinates of the recharging station by using a plurality of distance sensors; and

changing the current coordinates of the robot cleaner to correspond with the reference coordinates of the recharging station.

3. The coordinates compensation method of claim 2, wherein the recharging station comprises a reference plate which is disposed in a substantially perpendicular relation with respect to a floor on which the robot cleaner moves.

4. A coordinates compensation method for a robot cleaner, comprising:

moving the robot cleaner to perform a given job;

measuring an accumulative rotational angle of the robot cleaner while performing the given job;

returning the robot cleaner to a recharging station when the accumulative rotational angle of movement of the robot cleaner exceeds a predetermined level; and

changing current coordinates of the robot cleaner to correspond with reference coordinates of the recharging station.

5. The coordinates compensation method of claim 4, further comprising moving the robot cleaner to a previous spot where it was before it returned to the recharging station after compensating to the reference coordinates.

6. The coordinates compensation method of claim 5, further comprising resuming the given job.

7. The coordinates compensation method of claim 4, wherein changing the current coordinates of the robot cleaner to correspond with the reference coordinates comprises:

controlling a plurality of distance sensors to position the robot cleaner a predetermined distance from the recharging station; and

changing the current coordinates of the robot cleaner by setting them to an origin coordinate of the robot cleaner.

8. The coordinates compensation method of claim 7, wherein the plurality of distance sensors are arranged side by side, with transmitting parts thereof aligned in a substantially perpendicular relation with respect to an axis of a driving wheel of the robot cleaner.