Robot cleaner and method for controlling the same

• US 8,880,271 B2
• Filed: 11/16/2010
• Issued: 11/04/2014
• Est. Priority Date: 11/16/2009
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Jeon, Hyeongshin
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US13/508,961
• Publication Number:
  US 20120232738A1
• Time in Patent Office: 1,449 Days
• Field of Search: 700/245, 700/252, 700/255, 700/258, 180/167, 164/18, 382/153
• US Class Current: 701/25
• 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: G05D 1/0219 ensuring the processing of the whole working surface
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Disclosed are a robot cleaner and a method for controlling the same. The robot cleaner and method of the present invention involve dividing the whole area to be cleaned into sub-areas, and easily calculating a full path using travel paths in the sub-areas and connection points between sub-areas, and in the event the whole area to be cleaned is extended or an area which has not been cleaned is found, do not involve regenerating the whole map for cleaning, but rather easily updating the full path using the pre-stored travel path in the sub-areas and the connection points between sub-areas.

Claims

1. A robot cleaner to divide an area to be cleaned into a plurality, of sub-areas, adjacent sub-areas having a boundary, formed there between, each boundary having at least one connection point located thereon, and to perform cleaning per a unit area, wherein the unit area is one of the plurality of sub-areas, the robot cleaner comprising:

a driving unit to drive at least one wheel to move the robot cleaner;

a storage unit to store connection points between a plurality of the sub-areas one and at least one travel path within a plurality of the sub-areas respectively, wherein the at least one travel path is generated by connecting the respective connection points; and

a control unit to control the driving unit so as to move the robot cleaner along a full path from a current position to a target sub-area, wherein the control unit is configured to;

divide the area into the plurality of the sub-areas calculate the full path based on a first path from the current position to one of the connection points of the sub area to which the current position belongs and a second path connecting the at least one travel path, wherein the full path is formed by adding the first path to the second path.

2. The robot cleaner of claim 1, wherein the control unit controls the robot cleaner to travel or perform cleaning along the full path.

3. The robot cleaner of claim 1, wherein the travel path is a shortest path connecting the connection points of the plurality of sub-area respectively.

4. The robot cleaner of claim 1, wherein the control unit generates an additional travel path from at least one connection point on a boundary of at least one sub-area adjacent to an extended area to be cleaned among the plurality of the sub-areas in response to when the area extends, wherein the control unit adds the generated additional travel path to the calculated full path.

5. The robot cleaner of claim 1, wherein the control unit comprises:

a connection point generating module to generate the connection points; and

a full path calculating module to calculate the full path by connecting two or more connection points.

6. The robot cleaner of claim 5, wherein the full path calculating module linearly connects connection points to calculate the full path.

7. The robot cleaner of claim 5, wherein the control unit further comprises:

a travel path generating module to generate the plurality of travel paths within the plurality of sub-areas,

wherein the full path calculating module connects the plurality of sub-areas using the plurality of travel paths and the connection points to calculate the full path.

8. The robot cleaner of claim 7, wherein the control unit further comprises:

an area dividing module to divide the area into the plurality of sub-areas.

9. The robot cleaner of claim 1, further comprising:

an obstacle detection unit to detect an obstacle within the area to be cleaned;

a position recognition unit having at least one sensor to recognize a position of the robot cleaner;

a power source unit having a rechargeable power supply element to supply power into the robot cleaner;

an input unit having at least one button to directly receive an input of a control command; and

an output unit to output information related to the plurality of the travel paths within the plurality of the sub-areas, the at least one of the connection points and the full path.

10. A method for controlling a robot cleaner to divide an area to be cleaned into a plurality, of sub-areas, adjacent sub-areas having a boundary, formed there between, each boundary having at least one connection point located thereon, and to perform cleaning per a unit area, wherein the unit area is one of the plurality of sub-areas, the method comprising:

searching for the area to be cleaned;

dividing the area to be cleaned into a plurality of the sub-areas;

generating the connection points;

generating at least one travel path within a plurality of the sub-areas respectively, wherein the at least one travel path is generated by connecting the respective connection points;

storing sub-area information including at least one of the connection points and at least one travel paths;

calculating a full path based on a first path from a current position to one of the at least one connection points of the sub-area to which the current position belongs and a second path connecting the at least one travel path, wherein the full path is formed by adding the first path to the second path; and

controlling a driving unit to drive at least one wheel to move the robot cleaner along the full path from the current position to a target sub-area.

11. The method of claim 10, wherein the travel path

is a shortest path connecting the connection points of the plurality of sub-area respectively.

12. The method of claim 10, further comprising:

storing the calculated full path.

13. The method of claim 12, further comprising:

generating an additional travel path within an extended area to be cleaned in response to when the area extends; and

adding the additional travel path within the extended area to the calculated full path.

14. The method of claim 13, further comprising:

searching for at least one sub-area adjacent to the extended area to be cleaned,

wherein the generating of the additional travel path is formed from a connection point of at least one sub-area adjacent to the extended area to be cleaned among the plurality of the sub-areas.