Robot cleaner and control method thereof

• US 9,854,956 B2
• Filed: 03/14/2014
• Issued: 01/02/2018
• Est. Priority Date: 03/23/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Song, Jeong Gon, Moon, Joo Sung, Yoo, Kyung Hwan, Lim, Yeon Woo
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/212,041
• Publication Number:
  US 20140283326A1
• Time in Patent Office: 1,390 Days
• Field of Search: None
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4044 Vacuuming or pick-up tools; Squeegees
• 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 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2815 using optical detectors
• CPC Class Codes: A47L 9/2842 Suction motors or blowers
• CPC Class Codes: A47L 9/2847 Surface treating elements
• 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 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: 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 robot cleaner includes a main body traveling along a floor surface and removing foreign substances in a cleaning travel mode, a sensor unit sensing obstacles around the main body, brush units sweeping foreign substances on a floor surface through rotation, and a controller reducing the traveling velocity of the main body and causing the main body to approach a front obstacle, if an area where a plurality of obstacles contacts each other is sensed by the sensor unit.

Claims

1. A robot cleaner comprising:

a main body;

a driving unit moving the main body in a traveling direction at a traveling velocity;

a sensor unit sensing obstacles around the main body, the sensor unit including a front sensor and side sensors, the side sensors including a first side sensor and a second side sensor;

a main brush unit formed on the main body;

side brush units installed on both sides of a front portion of the main body; and

a controller reducing the traveling velocity of the main body and causing the main body to approach a front obstacle when an area where a plurality of obstacles contacts each other is sensed through the sensor unit,

wherein the controller includes

a corner judgment unit judging that the area where a plurality of obstacles contacts each other is present in front of the main body when the front sensor and at least one of the first side sensor and the second side sensor simultaneously sense obstacles, and

a travel pattern control unit rotating the main body by a predetermined angle in the direction of a corner where the plurality of obstacles contacts each other when the main body approaches the front obstacle, whereby one of the side brush units is rotated in the direction of the corner to further approach the corner.

2. The robot cleaner according to claim 1, wherein the front sensor senses an obstacle located in a front region in the traveling direction of the main body;

and

the side sensors sense obstacles located in side regions in the traveling direction of the main body.

3. The robot cleaner according to claim 2, wherein the first side sensor is formed on the left side surface among both side surfaces of the main body;

and

the second side sensor is formed on the right side surface among both side surfaces of the main body.

4. The robot cleaner according to claim 3, wherein the controller further includes:

a traveling velocity control unit reducing the current traveling velocity to a predetermined velocity when the corner judgment unit judges that the area where a plurality of obstacles contacts each other is present in front of the main body.

5. The robot cleaner according to claim 4, wherein the reduced velocity is the velocity of a pattern in which a predetermined velocity is uniformly maintained or the velocity of a pattern in which a velocity is changed according to approach distances from the front obstacle.

6. The robot cleaner according to claim 5, wherein the travel pattern control unit rotates the main body by the predetermined angle in the leftward direction when the area where a plurality of obstacles contacts each other is located to the left of the traveling direction of the main body and rotates the main body by the predetermined angle in the rightward direction when the area where a plurality of obstacles contacts each other is located to the right of the traveling direction of the main body.

7. The robot cleaner according to claim 5, wherein the travel pattern control unit rotates the main body by the predetermined angle in one of the leftward direction and rightward direction and then rotates the main body by the predetermined angle in the other direction when the area where a plurality of obstacles contacts each other is located to both the left and the right of the traveling direction of the main body.

8. The robot cleaner according to claim 5, wherein the travel pattern control unit maintains the main body in the rotated state in the direction of the corner for a predetermined waiting time, and then travels the main body according to a normal cleaning travel pattern.

9. The robot cleaner according to claim 1, further comprising:

a suction motor sucking foreign substances,

wherein the controller further includes a driving control unit increasing driving force of at least one of a rotating speed of the side brush units, a suction force of the suction motor, and a rotating speed of the main brush unit when the sensor unit senses the area where a plurality of obstacles contacts each other in front of the main body.

10. The robot cleaner according to claim 9, wherein the side brush units are protrusion type side brush units or fixed type side brush units.

11. A control method of a robot cleaner comprising:

traveling a main body of the robot cleaner along a floor surface based on a normal cleaning travel pattern in a cleaning travel mode, the main body including a main brush unit formed on the main body and side brush units installed on both sides of a front portion of the main body;

sensing whether or not an area where a plurality of obstacles contacts each other is present in front of the main body through a sensor unit, the sensor unit including a front sensor and side sensors, the side sensors including a first side sensor and a second side sensor;

causing the main body to approach a front obstacle by reducing a traveling velocity when the area where a plurality of obstacles contacts each other is present, as a result of sensing; and

rotating the main body by a predetermined angle in the direction of a corner where the plurality of obstacles contacts each other, whereby one of the side brush units is rotated in the direction of the corner to further approach the corner.

12. The control method according to claim 11, wherein the front sensor senses an obstacle located in front of the main body and the side sensors sense obstacles located at sides of the main body, and the first side sensor is formed at the left side of the main body and the second side sensor is formed at the right side of the main body,

wherein, in the sensing of whether or not the area where a plurality of obstacles contacts each other is present, it is judged that the area where a plurality of obstacles contacts each other is present in front of the main body when the front sensor and at least one of the first side sensor and the second side sensor simultaneously sense obstacles.

13. The control method according to claim 11, wherein, in the approach to the front obstacle, the velocity of the main body is controlled so that the main body approaches the front obstacle under the condition that the main body uniformly maintains a predetermined velocity, or the velocity of the main body is controlled so that the velocity of the main body is changed according to approach distances from the front obstacle.

14. The control method according to claim 11, further comprising confirming whether or not a space in which the main body is rotatable in the direction of the corner is present, after the approach to the front obstacle and before the rotation of the main body by the predetermined angle,

wherein, when the space in which the main body is rotatable in the direction of the corner is present, as a result of confirmation, the rotation of the main body by the predetermined angle in the direction of the corner is performed.

15. The control method according to claim 11, wherein, in the rotation of the main body by the predetermined angle,

the main body is rotated by the predetermined angle in the leftward direction when the area where a plurality of obstacles contacts each other is located to the left of the traveling direction of the main body;

and

the main body is rotated by the predetermined angle in the rightward direction when the area where a plurality of obstacles contacts each other is located to the right of the traveling direction of the main body.

16. The control method according to claim 11, wherein, in the rotation of the main body by the predetermined angle, the main body is rotated by the predetermined angle in one of the leftward direction and rightward direction and then rotated by the predetermined angle in the other direction when the area where a plurality of obstacles contacts each other is located to the left and the right of the traveling direction of the main body.

17. The control method according to claim 11, wherein the rotation of the main body by the predetermined angle includes:

maintaining the main body in the rotated state in the direction of the corner for a predetermined waiting time; and

traveling the main body according to a normal cleaning travel pattern when the predetermined waiting time has elapsed.