Cleaning robot and method for controlling the same

• US 9,601,019 B2
• Filed: 05/20/2014
• Issued: 03/21/2017
• Est. Priority Date: 07/29/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Kim, In Joo, Shin, Dong Min, Kim, Shin
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): RINK, RYAN J
• Application Number:
  US14/282,464
• Publication Number:
  US 20150032259A1
• Time in Patent Office: 1,036 Days
• US Class Current: 1/1
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• 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: 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: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 2201/0203 Cleaning or polishing vehicle
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: Y02B 40/00 Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Abstract

A cleaning robot includes a non-circular main body, a moving assembly mounted on a bottom surface of the main body to perform forward movement, backward movement and rotation of the main body, a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor, a detector to detect an obstacle around the main body, and a controller to determine whether an obstacle is present in a forward direction of the main body based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by a predetermined angle or more upon determining that the obstacle is present in the forward direction, and determine that the main body is in a stuck state to control the backward movement of the main body if the main body rotates by the predetermined angle or less.

Claims

1. A cleaning robot comprising:

a main body;

a moving assembly mounted on a bottom surface of the main body to move the main body;

a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor;

a detector to detect whether the main body is in a stuck state of being stuck in an internal space that is at least partially defined by an obstacle; and

a controller to control a backward movement of the main body upon determining that the main body is in the stuck state based on a detection signal of the detector,

wherein the backward movement allows the main body to move in a direction opposite to a direction when entering into the internal space, which is at least partially defined by the obstacle,

wherein when controlling the moving assembly, the controller controls rotation of the main body by a predetermined angle to re-determine whether the main body is in the stuck state, determines that the main body is in the stuck state and cannot escape from the stuck state when the obstacle is detected in the forward and backward directions of the main body, determines that the main body can escape from the stuck state when no obstacle is detected in at least one of the forward and backward directions of the main body, and controls bypass traveling when the main body can escape from the stuck state.

2. The cleaning robot according to claim 1, wherein a size of the main body is less than a size of a rotation space required for rotation.

3. The cleaning robot according to claim 1, wherein the detector comprises a distance detector to detect a distance to an obstacle, and at least one collision detector, on each of front and rear surfaces of the main body, to detect collision with an obstacle, and

wherein the controller determines whether an obstacle is present in a forward direction based on a detection signal detected by the distance detector, rotates the main body by the predetermined angle when the obstacle is present in the forward direction, and determines that the main body is in a stuck state upon receiving a detection signal from the at least one collision detector.

4. The cleaning robot according to claim 1, wherein the detector comprises at least one collision detector to detect collision with an obstacle on each of front and rear surfaces of the main body, and

wherein the controller determines whether an obstacle is present in a forward direction based on a detection signal detected by the collision detector of the front surface of the main body, rotates the main body by the predetermined angle when the obstacle is present in the forward direction, and determines that the main body is in a stuck state upon receiving a detection signal from the collision detectors on the front and rear surfaces.

5. The cleaning robot according to claim 1, wherein the controller determines whether the main body can escape from the stuck state by repeating the backward movement and performing a re-determination.

6. The cleaning robot according to claim 5, wherein when re-determining whether the main body is in a stuck state, the controller determines that the main body can escape from the stuck state when the main body is rotatable by an angle equal to or greater than the predetermined angle, and controls rotation and straight movement of the main body to bypass the obstacle.

7. The cleaning robot according to claim 5, wherein the controller controls rotation of the main body by the predetermined angle in a direction opposite to a direction in which the main body is rotated by the predetermined angle before the backward movement.

8. A method for controlling a cleaning robot including a main body comprising:

determining whether an obstacle is present in front of the main body in a traveling direction while performing traveling and cleaning;

determining whether the main body is in a stuck state of being stuck in an internal space that is at least partially defined by an obstacle upon determining that the obstacle is present; and

moving the main body backward in a direction opposite to the traveling direction of the main body to perform an attempt to escape from the internal space, which is at least partially defined by the obstacle, upon determining that the main body is in the stuck state,

wherein the performing the attempt to escape comprises;

rotating the main body by a predetermined angle,

determining that the main body is in a stuck state and cannot escape from the stuck state when an obstacle is detected in the forward and backward directions of the main body,

determining that the main body can escape from the stuck state when no obstacle is detected in at least one of the forward and backward directions of the main body, and

controlling bypass traveling when the main body can escape from the stuck state.

9. The method according to claim 8, wherein the detecting the obstacle comprises:

detecting at least one of a contact with the obstacle and a distance to the obstacle.

10. An autonomous robot comprising:

a main body;

a moving assembly mounted on a bottom surface of the main body to move the main body;

a detector to detect whether the main body is in a stuck state of being stuck in an internal space that is at least partially defined by an obstacle; and

a controller to control the moving assembly such that the main body travels in a direction opposite to a direction when entering into the internal space, which is at least partially defined by the obstacle, upon determining that the main body is in the stuck state based on a detection signal of the detector,

wherein when controlling the moving assembly, the controller controls rotation of the main body by a predetermined angle to re-determine whether the main body can escape from the stuck state, determines that the main body is in the stuck state and cannot escape from the stuck state when the obstacle is detected in the forward and backward directions of the main body, determines that the main body can escape from the stuck state when no obstacle is detected in at least one of the forward and backward directions of the main body, and controls bypass traveling when the main body can escape from the stuck state.

11. The autonomous robot according to claim 10, wherein the detector comprises a distance detector to detect a distance to an obstacle, and at least one collision detector, on each of front and rear surfaces of the main body, to detect collision with an obstacle, and

wherein the controller determines whether an obstacle is present in a forward direction based on a detection signal detected by the distance detector, rotates the main body by the predetermined angle when the obstacle is present in the forward direction, and determines that the main body is in a stuck state upon receiving a detection signal from the at least one collision detector.

12. The autonomous robot according to claim 10, wherein the detector comprises at least one collision detector, on each of front and rear surfaces of the main body, to detect collision with an obstacle, and

wherein the controller determines whether an obstacle is present in a forward direction based on a detection signal detected by the collision detector of the front surface of the main body, rotates the main body by the predetermined angle when the obstacle is present in the forward direction, and determines that the main body is in a stuck state upon receiving a detection signal from the collision detectors on the front and rear surfaces.