Robot cleaner, robot cleaning system and method for controlling the same

• US 20040083570A1
• Filed: 04/03/2003
• Published: 05/06/2004
• Est. Priority Date: 10/31/2002
• Status: Abandoned Application

• Current Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Original Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Inventors: Lee, Ju-Sang, Ko, Jang-Youn, Song, Jeong-Gon
• Application Number:
  US10/406,375
• Publication Number:
  US 20040083570A1
• Time in Patent Office: Days
• US Class Current: 15/319
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A robot cleaner, a robot cleaning system and a method for controlling the same that is capable of independently determining whether a cleaning work in a work area is completed. This is accomplished by providing a robot cleaner for performing cleaning work by communicating wirelessly with an apparatus external to the robot cleaner, comprising a main body provided with a suction unit for collecting dust on a floor to be cleaned, a driving unit disposed on the main body for driving a plurality of wheels, an upward-looking camera disposed on a top of the main body for photographing images of a ceiling perpendicular to a direction of driving the robot cleaner, an obstacle detection sensor disposed on a front of the main body for detecting an obstacle positioned ahead of the robot cleaner in the driving direction, a memory for storing position information of the obstacles detected by the obstacle detection sensor; and a control unit for calculating position information of the obstacle to store the calculated obstacle position information in the memory upon receiving an obstacle detection signal from the obstacle detection sensor, determining whether the obstacle position information stored at the memory forms a closed curve, and further controlling the driving unit to drive the robot cleaner along a predetermined driving pattern, wherein the control unit stops the suction unit from operating when the obstacle position information forms a closed curve.

Claims

1. A robot cleaner for performing cleaning work by communicating wirelessly with an apparatus external to the robot cleaner, comprising:

a main body provided with a suction unit for collecting dust on floor or surface to be cleaned;

a driving unit disposed at the main body for driving a plurality of wheels;

an upward-looking camera disposed on a top of the main body for photographing images of a ceiling perpendicular to the direction of driving the robot cleaner;

an obstacle detection sensor disposed at a front of the main body for detecting an obstacle positioned ahead of the robot cleaner in the direction of driving the robot cleaner;

a memory for storing position information of obstacles detected by the obstacle detection sensor; and

a control unit for calculating position information of the obstacles to store the calculated obstacle position information in the memory upon receiving an obstacle detection signal from the obstacle detection sensor, determining whether the obstacle position information stored in the memory forms a closed curve, and further controlling the driving unit to drive the robot cleaner along a predetermined driving pattern, wherein the control unit stops the suction unit from operating when the obstacle position information forms a closed curve.

2. The robot cleaner according to claim 1, wherein the obstacle position information is stored by pixel unit of the images photographed by the upward-looking camera.

3. A robot cleaning system comprising:

a robot cleaner including

a main body provided with a suction unit for collecting dust on a floor to be cleaned,

a driving unit disposed on the main body for driving a plurality of wheels,

an upward-looking camera disposed on a top of the main body for photographing images of a ceiling perpendicular to the driving direction of the robot cleaner, and

an obstacle detection sensor disposed on the front of the main body for detecting obstacles positioned ahead of the robot cleaner in the direction of driving; and

a remote control unit for communicating wirelessly with the robot cleaner,

wherein the remote control unit stores position information of the obstacles detected by the obstacle detection sensor and stops the suction unit of the robot cleaner from operating when the stored obstacle position information forms a closed curve.

4. The robot cleaning system according to claim 3, wherein the remote control unit includes a memory for storing the obstacle position information and a display for displaying the images photographed by the upward-looking camera.

5. The robot cleaning system according to claim 4, wherein the display displays the obstacle position information by pixel units.

6. The robot cleaning system according to claim 5, wherein the display displays the area already cleaned by the robot cleaner by pixel units having a distinguishing feature from the pixel units displaying the obstacle position information.

7. A method for controlling a robot cleaner having an obstacle detection sensor, comprising the steps of:

determining whether the obstacle detection sensor operates during a cleaning operation;

storing position information of any obstacles when the obstacle detection sensor so operates;

determining whether the stored obstacle position information forms a closed curve; and

stopping the cleaning work when the stored obstacle position information forms a closed curve.

8. The method according to claim 7, further comprising the step of determining whether the cleaning work of all area inside the closed curve has been completed when the stored obstacle position information forms a closed curve.