Robot having an obstacle detection unit and method of controlling the same

• US 20070252549A1
• Filed: 11/30/2006
• Published: 11/01/2007
• Est. Priority Date: 05/01/2006
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Choi, Ki-wan, Cho, Joon-kee, Bang, Seok-won, Kim, Yeon-ho
• Granted Patent: US 7,602,133 B2
• Time in Patent Office: Days
• US Class Current: 318/568.120
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 2201/0203 Cleaning or polishing vehicle
• CPC Class Codes: G05D 2201/0215 Vacuum cleaner

Abstract

A robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and detecting an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.

Claims

1. A robot comprising:

a main body;

a driving unit to drive the main body along a given surface;

an auxiliary body to project from the main body and to detect an obstacle around the main body; and

a control unit to control the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.

2. The robot of claim 1, wherein the main body comprises:

a first distance detection unit to detect a distance from an obstacle located in front of the main body when the main body moves along the surface; and

a second distance detection unit to detect a distance from an obstacle located beside the main body.

3. The robot of claim 1, wherein the auxiliary body projects outside of the main body through an opening that is formed in one side of the main body.

4. The robot of claim 1, further comprising a motor mounted in the main body, wherein the auxiliary body is connected with the motor.

5. The robot of claim 1, further comprising a connection rod which is connected on one side with a motor mounted in the main body, wherein the auxiliary body is connected with the connection rod.

6. The robot of claim 1, wherein the auxiliary body comprises a contact detection unit on one side thereof, which detects contact with the obstacle.

7. The robot of claim 2, wherein the control unit controls the driving unit such that a direction of movement of the main body changes when the obstacle is detected in front of the main body by the first distance detection unit.

8. The robot of claim 2, wherein the control unit controls a direction of movement of the main body based on a distance detected by the second distance detection unit and a distance from an outside surface of the main body to an outer end of the auxiliary body.

9. The robot of claim 6, wherein:

the contact detection unit generates a predetermined signal when it comes into contact with the obstacle; and

the control unit controls the driving unit in response to the generated signal and controls the direction of movement of the main body.

10. The robot of claim 7, wherein the auxiliary body projects from the main body when the direction of movement of the main body changes due to the obstacle located in front of the main body.

11. The robot of claim 8, wherein the control unit controls the main body to move away from the obstacle when the distance detected by the second distance detection unit is smaller than a first reference value or the distance from the outside surface of the main body to the outer end of the auxiliary body is smaller than a second reference value.

12. The robot of claim 8, wherein the control unit controls the main body to approach the obstacle when the distance detected by the second distance detection unit is larger than a third reference value or the distance from the outside surface of the main body to the outer end of the auxiliary body is larger than a fourth reference value.

13. The robot of claim 8, wherein the control unit controls the main body to move away from the obstacle when a difference between the distance detected by the second distance detection unit and the distance from the outside surface of the main body to the outer end of the auxiliary body is smaller than a fifth reference value.

14. The robot of claim 8, wherein the control unit controls the main body to approach the obstacle when a difference between the distance detected by the second distance detection unit and the distance from the outside surface of the main body to the outer end of the auxiliary body is larger than a sixth reference value.

15. The robot of claim 10, wherein the auxiliary body can rotates through a predetermined angle depending on a depth of a surface of the obstacle when projecting from the main body.

16. The robot of claim 10, wherein the main body and the auxiliary body comprise a first intake port and a second intake port, respectively, the first and second intake ports sucking dust and dirt from the surface along which the robot is driven.

17. A method of controlling a robot, the method comprising:

driving a main body of the robot along a given surface;

projecting an auxiliary body from the main body of the robot and detecting an obstacle around the main body; and

performing control such that the main body and the obstacle are maintained at a predetermined distance according to detection result.

18. The method of claim 17, wherein the driving the main body comprises:

detecting a distance from an obstacle located in front of the main body when the main body moves along the surface; and

detecting a distance from an obstacle located beside a side of the main body.

19. The method of claim 17, wherein the projecting the auxiliary body comprises projecting the auxiliary body outside of the main body through an opening that is formed in one side of the main body.

20. The method of claim 17, wherein the auxiliary body is connected with a motor which is mounted in the main body.

21. The method of claim 17, wherein the auxiliary body is connected with a connection rod on one side of which is connected with a motor mounted in the main body.

22. The method of claim 17, wherein the projecting the auxiliary body comprises detecting contact between one side of the auxiliary body and the obstacle.

23. The method of claim 18, wherein the performing control such that the main body and the obstacle are maintained at a predetermined distance comprises changing a direction of movement of the main body when the obstacle is detected in front of the main body.

24. The method of claim 18, wherein the performing control such that the main body and the obstacle are maintained at a predetermined distance comprises:

controlling a direction of movement of the main body based on a distance from a side of the auxiliary body to the obstacle and a distance from an outside surface of the main body to an outer end of the auxiliary body.

25. The method of claim 22, wherein:

the detecting contact with the obstacle comprises generating a predetermined signal when contact is made with the obstacle; and

the performing control such that the main body and the obstacle are maintained at a predetermined distance comprises controlling a direction of movement of the main body in response to the generated signal.

26. The method of claim 23, wherein the projecting the auxiliary body comprises projecting the auxiliary body outside of the main body when the direction of movement of the main body changes due to the obstacle located in front of the main body.

27. The method of claim 24, wherein the performing control such that the main body and the obstacle are maintained at a predetermined distance comprises moving the main body away from the obstacle when the distance from a side of the main body to the obstacle is smaller than a first reference value or the distance from the outside surface of the main body to the outer end of the auxiliary body is smaller than a second reference value.

28. The method of claim 24, wherein the performing control such that the main body and the obstacle are maintained at a predetermined distance comprises moving the main body toward the obstacle when the distance from the side of the main body to the obstacle is larger than a third reference value and the distance from the outside surface of the main body to the outer end of the auxiliary body is larger than a fourth reference value.

29. The method of claim 24, wherein the performing control such that the main body and the obstacle are maintained at a predetermined distance comprises moving the main body away from the obstacle when a difference between the distance from the side of the main body to the obstacle and the distance from the outside surface of the main body to the outer end of the auxiliary body is smaller than a fifth reference value.

30. The method of claim 24, wherein the performing control such that the main body and the obstacle are maintained at a predetermined distance comprises moving the main body toward the obstacle when a difference between the distance from the side of the main body to the obstacle and the distance from the outside surface of the main body to the outer end of the auxiliary body is larger than a sixth reference value.

31. The method of claim 26, wherein the projecting the auxiliary body further comprises rotating the auxiliary body through a predetermined angle depending on a depth of a surface of the obstacle when projecting from the main body.

32. The method of claim 26, wherein the main body and the auxiliary body respectively comprise a first intake port and a second intake port, the first and second intake ports sucking dust and dirt from the surface along which the robot is driven.

33. A robot having a main body, the robot comprising:

an obstacle detection unit which detects a state of a surface of an obstacle via contact with the obstacle, and controls a direction of movement of the robot such that the robot moves while maintaining a predetermined distance from the obstacle.

34. The robot of claim 33, wherein the obstacle detection unit comprises:

an auxiliary body projecting from an opening in the main body of the robot, to detect obstacles around the main body.

35. A method of controlling a robot comprising a distance detection unit and an obstacle detection unit, the method comprising:

detecting, via the distance detection unit, whether an obstacle is located in front of a main body of the robot while moving the robot along a surface;

controlling the robot to change a direction of movement based upon the detection result;

controlling the obstacle detection unit to project from an opening in the main body;

determining a distance from an outside surface of the main body to the obstacle, and a distance from the outside surface of the main body to an outer end of the obstacle detection unit; and

controlling the direction of movement of the main body based on the distances determined.

36. The method of claim 35, wherein:

when a difference between the distances is larger than a first reference value it is determined that a surface of the obstacle is convex and the main body is moved in a direction away from the obstacle, and

when the distance between the outer surface of the main body to the outer end of the obstacle detection unit is larger than a second reference value, it is determined that the surface of the obstacle is concave and the main body is moved toward the obstacle.