Robot cleaning system and method for charging the same

• US 9,393,689 B2
• Filed: 12/23/2014
• Issued: 07/19/2016
• Est. Priority Date: 01/17/2014
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Kim, Jaewoo
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US14/581,036
• Publication Number:
  US 20150202772A1
• Time in Patent Office: 574 Days
• Field of Search: 700/245, 700/258, 700/286, 318/568.12, 318/587, 701/23, 701/300, 901/1, 901/46, 901/47
• US Class Current: 1/1
• CPC Class Codes: A47L 2201/02 Docking stations; Docking operations
• 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: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: G01S 5/28 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A robot cleaning system includes a robot cleaner comprising a sensor for receiving a specific signal sound, a rechargeable battery, and a control unit; and a recharging base comprising an audio output device for outputting the specific signal sound. The control unit calculates a distance and a direction from the robot cleaner to the recharging base based on the signal sound received by the sensor, and controls the robot cleaner to move based on the calculated distance and direction, when a remaining amount of the battery is less than a preset value. The robot cleaner docks with the recharging base to recharge the battery of the robot cleaner.

Claims

1. A robot cleaning system comprising:

a robot cleaner comprising;

a case;

a suction nozzle formed in a lower surface of the case;

a dust collection unit provided in the case in communication with the suction nozzle;

a sensor for receiving a specific signal sound,

a rechargeable battery, and

a control unit; and

a recharging base comprising;

an audio output device for outputting the specific signal sound,

wherein the control unit calculates a distance and a direction from the robot cleaner to the recharging base based on the signal sound received by the sensor, and controls the robot cleaner to move based on the calculated distance and direction, when a remaining amount of the battery is less than a preset value,

wherein the robot cleaner docks with the recharging base to recharge the battery of the robot cleaner, and

wherein the control unit turns on the sensor when the remaining amount of the battery falls below the preset value.

2. The robot cleaning system of claim 1, wherein the robot cleaner further comprises:

a first communication unit for communicating with the recharging base,

wherein the first communication unit transmits a specific sound generation requesting signal to the recharging base, when the remaining amount of the battery is below the preset value, and

the audio output device of the recharging base outputs a specific signal sound, when a second communication unit of the recharging base receives the signal.

3. The robot cleaning system of claim 1, wherein the sensor is a microphone for receiving the signal sound.

4. The robot cleaning system of claim 3, wherein at least three microphones are provided.

5. The robot cleaning system of claim 4, wherein delay differences in signals of the at least three microphones are triangulated to determine a location of the recharging base.

6. The robot cleaning system of claim 3, wherein the microphone is provided in a front surface portion or an upper end portion of the robot cleaner.

7. The robot cleaning system of claim 1, wherein the audio output device is provided in a front surface of the recharging base.

8. The robot cleaning system of claim 1, wherein the signal sound is an inaudible sound.

9. The robot cleaning system of claim 1, wherein the signal sound is generated in a preset time period and at preset intervals.

10. A method for recharging a robot cleaner comprising a case, a suction nozzle formed in a lower surface of the case, and a dust collection unit provided in the case in communication with the suction nozzle, the method comprising:

checking, by a control unit of a robot cleaner, a remaining amount of a battery in the robot cleaner;

activating, by the control unit of the robot cleaner, a sensor when the remaining amount of the battery is below the preset value;

sensing, by the sensor of the robot cleaner, a specific signal sound generated by an audio output device of a recharging base;

calculating, by the control unit, a direction and a distance from the robot cleaner to the recharging base, based on the received specific signal sound;

controlling, by the robot cleaner control unit, the robot cleaner to drive based on the calculated direction and distance and to dock with the recharging base; and

controlling, by a control unit of the recharging base, the recharging base to recharge the battery of the robot cleaner.

11. The method of claim 10, wherein the step of sensing the specific signal sound comprises,

controlling, by the robot cleaner control unit, a first communication unit of the robot cleaner to request the recharging base to generate the specific signal sound, when a remaining amount of the battery is below the preset value;

and

controlling, by the recharging base control unit, the specific signal sound to be output, when the recharging base receives the request.

12. The method of claim 10, wherein the sensor is a microphone for receiving the signal sound.

13. The method of claim 12, wherein at least three microphones are provided.

14. The robot cleaning system of claim 13, wherein delay differences in signals of the at least three microphones are triangulated to determine a location of the recharging base.

15. The method of claim 12, wherein the signal sound is an inaudible sound.

16. The method of claim 10, wherein the signal sound is generated in a preset time period and at preset intervals.