Robot cleaner system and a method for returning to external recharging apparatus

• US 20060087273A1
• Filed: 03/09/2005
• Published: 04/27/2006
• Est. Priority Date: 10/27/2004
• Status: Active Grant

• Current Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Original Assignee: Samsung Gwangju Electronics Co., Ltd. (Samsung Electronics Co. Ltd.)
• Inventors: Kim, Ki-Man, Lee, Ju-Sang, Ko, Jang-Youn, Lim, Kwang-Soo, Song, Jeong-Gon, Jeung, Sam-Jong
• Granted Patent: US 7,489,985 B2
• Time in Patent Office: Days
• US Class Current: 318/568.120
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• 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: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• 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 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A robot cleaner system and a method for the robot cleaner to return to an external recharging apparatus. The robot cleaner system has an external recharging apparatus including a charging stand having a charging terminal, and a plurality of transmission parts for sending signals having different codes and strengths; a robot cleaner including a rechargeable battery, a connection terminal for connection with the charging terminal to supply power to the rechargeable battery, a receiving part for receiving signals from the plurality of transmission parts, and a control part for controlling a movement of the robot cleaner using the signals received by the receiving part, so that the connection terminal is connected to the charging terminal.

Claims

1. A robot cleaner system comprising:

an external recharging apparatus including a charging stand having a charging terminal, and a plurality of transmission parts for sending signals having different codes and strengths;

a robot cleaner including a rechargeable battery, a connection terminal for connection with the charging terminal to supply power to the rechargeable battery, a receiving part for receiving signals from the plurality of transmission parts, and a control part for controlling a movement of the robot cleaner using the signals received by the receiving part, so that the connection terminal is connected to the charging terminal.

2. The robot cleaner system of claim 1, wherein the plurality of transmission parts comprises at least one long-distance transmitter generating first signals having a first code and a short-distance transmitter generating second signals having a second code, the second code being different from the first code and the second signals having less strength than the first signals.

3. The robot cleaner system of claim 2, wherein the at least one long-distance transmitter comprises two long-distance transmitters that are provided on opposite sides of the charging stand, and

wherein the short-distance transmitter is disposed in between the two long-distance transmitters.

4. The robot cleaner system of claim 3, wherein the two long-distance transmitters and the short-distance transmitter are substantially linearly arranged.

5. The robot cleaner system of claim 3, wherein the first signals have a first angle range and the second signals have a second angle range, the first and second angle ranges being in different directions, and the second angle range being narrower than the first angle range.

6. The robot cleaner system of claim 5, wherein the transmission part further comprises a docking induction transmitter disposed at a certain location of the charging stand to generate third signals having a third code, the third code being different from the first and second codes, the third signals having less strength than the second signals, and the third signals having a third angle range that is narrower than the second angle range.

7. The robot cleaner system of claim 6, wherein the docking induction transmitter is disposed above or below the short-distance transmitter at a certain distance.

8. The robot cleaner system of claim 1, wherein the plurality of transmission parts comprise an infrared emitting element.

9. A method for a robot cleaner to return to an external recharging apparatus so that a connection terminal of the robot cleaner is connected to a charging terminal of a charging stand, the method comprising the steps of:

a) receiving a charge request signal while the robot cleaner is traveling and cleaning a certain area as instructed by a user;

b) receiving infrared signals containing different codes and strengths, analyzing the different codes included in the infrared signals and controlling the robot cleaner to approach the charging stand; and

c) connecting the connection terminal of the robot cleaner to the charging terminal of the charging stand.

10. The method of claim 9, wherein step b) comprises the steps of:

d) the robot cleaner receiving the infrared signals and moving straight toward a front of the charging stand;

e) if the infrared signals are not received during the straight movement, the robot cleaner rotating to the left or right by approximately 90° and

keeps the straight moving until the infrared signals are received;

f) upon receiving the infrared signals, the robot cleaner rotates by approximately 90°

to direct the front of the charging stand and moves straight; and

g) upon receiving infrared signals containing a different code from the received infrared signal, the robot cleaner obliquely advancing toward the charging stand.

11. The method of claim 10, wherein, in step c), upon receiving infrared signals having a yet different code from the different code during the oblique movement, the robot cleaner moves straight toward the front of the charging stand so that the connection terminal of the robot cleaner is connected to the charging terminal of the charging stand.

12. A robot cleaner system comprising:

a first transmitter generating first signals, the first transmitter being associated with an external apparatus;

a second transmitter generating second signals, the second transmitter being associated with the external apparatus, the second signals having less strength than the first signals and having a different code than the first signals;

a receiving part for receiving the first and second signal, the receiving part being associated with a robot cleaner; and

a control part for controlling a movement of the robot cleaner based upon the first and second signals so that the robot cleaner is moved to a desired position with respect to the external apparatus.

13. The robot cleaner system of claim 12, wherein the first transmitter comprises two first transmitters provided on a face of the external apparatus.

14. The robot cleaner system of claim 13, wherein the second transmitter is on the face between the two first transmitters.

15. The robot cleaner system of claim 12, wherein the first signals have a first angle range and the second signals have a second angle range, and the second angle range being narrower than the first angle range.

16. The robot cleaner system of claim 12, further comprising a third transmitter generating third signals, the third transmitter being associated with the external apparatus, the third signals having less strength than the second signals.

17. The robot cleaner system of claim 16, wherein the first signals have a first angle range, the second signals have a second angle range, and the third signals have a third angle range, wherein in the second angle range is narrower than the first angle range and the third angle range is narrower than the second angle range.

18. The robot cleaner system of claim 12, wherein the control part controls the robot cleaner to move to the desired position upon receipt of a predetermined signal.

19. The robot cleaner system of claim 18, wherein the predetermined signal is generated by the robot cleaner based upon a charging amount of a rechargeable battery of the robot cleaner.

20. The robot cleaner system of claim 18, wherein the predetermined signal is received by the robot cleaner from a user operated remote control.