Robot cleaner, docking station, robot cleaner system including robot cleaner and docking station, and method of controlling robot cleaner
First Claim
1. A system comprising:
- a docking station having a first transmission unit to transmit a first docking signal in a first direction, the first docking signal comprising at least a first signal pulse and a second signal pulse, wherein the first signal pulse has a pulse width that has a different time length than a pulse width of the second signal pulse; and
a robot cleaner comprising;
a reception unit to receive the first docking signal from the docking station; and
a control unit configured to determine if the received first docking signal is an unreflected wave received directly from the first transmission unit or if the received first docking signal is a reflected wave produced by reflection of the first docking signal by an obstacle, the control unit to control movement of the robot cleaner based on whether the received first docking signal is determined to be the reflected wave or the unreflected wave.
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Abstract
A robot cleaner system is described including a docking station to form a docking area within a predetermined angle range of a front side thereof, to form docking guide areas which do not overlap each other on the left and right sides of the docking area, and to transmit a docking guide signal such that the docking guide areas are distinguished as a first docking guide area and a second docking guide area according to an arrival distance of the docking guide signal. The robot cleaner system also includes a robot cleaner to move to the docking area along a boundary between the first docking guide area and the second docking guide area when the docking guide signal is sensed and to move along the docking area so as to perform docking when reaching the docking area.
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Citations
27 Claims
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1. A system comprising:
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a docking station having a first transmission unit to transmit a first docking signal in a first direction, the first docking signal comprising at least a first signal pulse and a second signal pulse, wherein the first signal pulse has a pulse width that has a different time length than a pulse width of the second signal pulse; and a robot cleaner comprising; a reception unit to receive the first docking signal from the docking station; and a control unit configured to determine if the received first docking signal is an unreflected wave received directly from the first transmission unit or if the received first docking signal is a reflected wave produced by reflection of the first docking signal by an obstacle, the control unit to control movement of the robot cleaner based on whether the received first docking signal is determined to be the reflected wave or the unreflected wave. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16)
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12. The docking system comprising:
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a docking station comprising; a transmission unit to transmit a single docking signal comprising a repetitive waveform having a first signal pulse and a second signal pulse embedded within each repetition of the repetitive waveform and wherein the docking signal is transmitted to both a short-distance docking guide area and to a long-distance docking guide area; and a controller to control the docking signal to adjust a duration of a peak intensity of the first signal pulse to be different than a duration of a peak intensity of the second signal pulse transmitted by the transmission unit, and the docking station is configured to communicate with a robot cleaner comprising; a reception unit configured to receive the docking signal from the docking station; and a control unit configured to determine if the received docking signal is received in the short-distance docking guide area or in the long-distance guide area based on the received docking signal. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 26, 27)
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24. A docking system comprising:
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a docking station comprising; a first transmission unit, disposed on the docking station, to transmit a single first docking signal comprising a first signal pulse and a second signal pulse to both a short-distance docking guide area and to a long-distance docking guide area; a second transmission unit, disposed on the docking station, to transmit a single second docking signal comprising a third signal pulse and a fourth signal pulse to both the short-distance docking guide area and to the long-distance docking guide area; and a controller to control the first docking signal to adjust a duration of a peak intensity of the first signal pulse to be different than a duration of a peak intensity of the second signal pulse transmitted by the first transmission unit; and a robot cleaner comprising; a reception unit to receive the first docking signal from the first transmission unit or the second docking signal from the second transmission unit; and a control unit configured to determine if the received first docking signal or second docking signal is an unreflected wave received directly from the first transmission unit or the second transmission unit or if the received first docking signal or second docking signal is a reflected wave produced by reflection of the first docking signal or the second docking signal by an obstacle. - View Dependent Claims (25)
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Specification