Robot and method for controlling the robot

• US 7,992,251 B2
• Filed: 02/27/2008
• Issued: 08/09/2011
• Est. Priority Date: 02/28/2007
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Jung, Young Gyu, Rew, Ho Seon, Chung, Moon Kee, Park, Jong Il
• Primary Examiner(s): NGUYEN, DUNG V
• Application Number:
  US12/528,870
• Publication Number:
  US 20100133022A1
• Time in Patent Office: 1,259 Days
• Field of Search: 153/19, 153/39, 153/401, 15/491, 153/25, 901/1, 901/2, 901/46, 901/47, 901/49, 700/245, 700/255, 700/258, 701/41, 701/300, 701/301
• US Class Current: 15/319
• 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 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 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2889 Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user

Abstract

A robot includes a second bumper that senses an obstacle having such a height that can be passed over. Thus, the robot can pass over the obstacle without avoiding it.

Claims

1. A robot comprising:

a case;

a first bumper coupled to the case, the first bumper being configured to sense an obstacle to be avoided; and

a second bumper configured to sense a surmountable obstacle over which the robot is configured to pass, wherein the second bumper is configured to be relatively rotatable with respect to the case.

2. The robot of claim 1, wherein the second bumper is configured to sense the surmountable obstacle by contacting the surmountable obstacle.

3. The robot of claim 1, wherein the second bumper is configured to be relatively rotatable downwardly with respect to the case.

4. The robot of claim 1, wherein the second bumper is provided at a lower side of the first bumper.

5. The robot of claim 1, further comprising:

a driving wheel configured to move the robot,

wherein the driving wheel is configured to pass over a height of the surmountable obstacle sensed by the second bumper.

6. The robot of claim 1, wherein the second bumper is configured to be relatively movable in forward and backward directions of the robot.

7. The robot of claim 1, wherein the second bumper comprises:

a sensing plate configured to be spaced from the case, wherein the sensing plate is configured to contact the surmountable obstacle;

an arm configured to protrude from the sensing plate toward the case;

a guide provided at the case, wherein the guide is configured to guide rotation and movement of the arm; and

a sensor provided at the guide, wherein the sensor is configured to sense the surmountable obstacle via movement of the arm.

8. The robot of claim 7, wherein the sensing plate comprises:

a circumferential portion provided at a front of the case; and

a bent portion coupled to the circumferential portion, wherein the bent portion is provided at a lower portion of the case.

9. The robot of claim 7, wherein the arm comprises:

a rod portion configured to protrude from the sensing plate in a direction of the guide; and

a hinge portion configured to protrude in a direction in which the hinge portion crosses the rod portion, wherein the hinge portion is configured to be relatively movable and relatively rotatable with the guide.

10. The robot of claim 9, wherein the guide comprises:

a rod recess configured to allow insertion of the rod portion; and

a hinge recess configured to allow insertion of the hinge portion, wherein the hinge recess is configured to guide a slidably movement of the hinge portion.

11. The robot of claim 10, wherein the hinge portion has a generally cylindrical shape.

12. The robot of claim 7, wherein the second bumper further comprises

an elastic member provided between the arm and the guide, wherein the elastic member is configured to support the arm when the arm is moved.

13. The robot of claim 7, wherein the second bumper further comprises

a return spring provided between the arm and the guide,

wherein the return spring is configured to support the arm when the arm is rotated.

14. The robot of claim 1, wherein the first bumper is configured to be positioned in front of the second bumper.

15. The robot of claim 1, wherein the first bumper senses an obstacle to be avoided upon contacting the obstacle.

16. The robot of claim 1, further comprising:

a vacuum source coupled to the case; and

an opening coupled to the vacuum source to suction debris as the robot moves.

17. A robot comprising:

a case;

a first bumper coupled to the case, wherein the first bumper is configured to sense an obstacle by contacting the obstacle; and

a second bumper provided at a different height than that of the first bumper, wherein the second bumper is configured to sense an obstacle by contacting the obstacle, wherein an obstacle to be avoided and an obstacle to be passed over are determined based upon obstacle signals sensed by the first and second bumpers, wherein the second bumper is configured to be relatively rotatable with respect to the case.

18. A method for controlling a robot, comprising:

providing a case,

coupling a first bumper to the case such that the first bumper is configured to sense an obstacle, and providing a second bumper such that the second bumper is configured to sense an obstacle; and

determining that the robot is configured to pass over an obstacle when the first bumper does not sense an obstacle signal and the second bumper senses an obstacle signal, wherein the second bumper is configured to be relatively rotatable with respect to the case.

19. The method of controlling a robot according to claim 18, further comprising providing the second bumper at a lower side of the first bumper.

20. A robot comprising:

a case;

a first bumper coupled to the case;

a first sensor to detect contact with the first bumper;

a second bumper coupled to the case adjacent the first bumper;

a second sensor to detect contact with the second bumper, wherein;

(a) the first bumper is coupled to the case at a first height,

(b) the second bumper is coupled to the case at a second height less than the first height, and

(c) the first height is a height over which the robot is unable to pass when moved by a driver and the second height is height over which the robot passes when moved by the driver.

21. The robot of claim 20, further comprising:

a controller to send a signal to the driver to continue moving the robot when the second sensor outputs a detection signal and the first sensor does not output a detection signal.

22. The robot of claim 20, wherein the first height is at least three times the second height.

23. The robot of claim 20, wherein:

the first bumper moves in a first direction when contact is made when contact is made with the first bumper, and

the second bumper moves in a second direction different from the first direction when contact is made with the second bumper, wherein the first bumper moves in a substantially linear direction and the second bumper moves in a rotational direction.

24. The robot of claim 20, wherein the second bumper rotates relative to the case when contact is made with the second bumper.

25. The robot of claim 20, further comprising:

a vacuum source coupled to the case; and

an opening coupled to the vacuum source to suction debris

wherein the driver includes;

a motor; and

at least one wheel driven by the motor.

26. The robot of claim 20, wherein (1) the first bumper and the second bumper having front surfaces which lie in substantially a same plane or (2) a front surface of the first bumper is offset relative to a front surface of the second bumper such that the front surface of the first bumper extends a first distance from the case and the front surface of the second bumper extends a second distance from the case less than the first distance.