CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME

• US 20150032259A1
• Filed: 05/20/2014
• Published: 01/29/2015
• Est. Priority Date: 07/29/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd. (Samsung Group)
• Original Assignee: Samsung Electronics Co. Ltd. (Samsung Group)
• Inventors: KIM, In Joo, SHIN, Dong Min, KIM, Shin
• Granted Patent: US 9,601,019 B2
• Time in Patent Office: Days
• US Class Current: 700/255
• 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: 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 perform forward movement to move the main body in a first direction that is a traveling direction of the main body, backward movement to move the main body in a second direction opposite to the first direction, and rotation to rotate the main body within a predetermined range to change the traveling direction 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 front of the main body in the traveling direction based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by an angle equal to or greater than a predetermined angle upon determining that the obstacle is present, and determine that the main body is in a stuck state to control the backward movement of the main body when the main body rotates by an angle less than the predetermined angle.

2. The cleaning robot according to claim 1, further comprising a plurality of bumpers respectively mounted on front and rear surfaces of the main body to mitigate impact upon collision with an obstacle,

wherein the detector is mounted on the front and rear surfaces of the main body to detect collision between the obstacle and the plurality of bumpers, and

wherein the controller determines that the main body is in a stuck state upon receiving a collision detection signal from the detector when controlling the rotation of the main body.

3. The cleaning robot according to claim 2, wherein the controller controls periodic rotation of the main body by a predetermined angle to determine whether the main body can escape from the stuck state when controlling the backward movement of the main body.

4. The cleaning robot according to claim 3, wherein the controller determines that the main body can escape from the stuck state when a detection signal from the detector is not received when controlling the rotation of the main body by the predetermined angle to determine whether the main body can escape from the stuck state.

5. The cleaning robot according to claim 1, wherein the controller controls rotation of the main body by a predetermined angle to determine whether the main body can escape from the stuck state when controlling the backward movement of the main body.

6. The cleaning robot according to claim 5, wherein the detector is mounted on at least one of front, left side, right side and rear surfaces of the main body, and

wherein when controlling the rotation of the main body by the predetermined angle, the controller controls the forward movement of the main body when an obstacle is detected by the detector mounted on the rear surface of the main body, and controls the backward movement of the main body when an obstacle is detected by the detector mounted on the front surface of the main body.

7. The cleaning robot according to claim 1, wherein the detector includes a rotation detector to detect a rotation angle of the main body, and the controller compares the predetermined angle with the rotation angle detected by the rotation detector and determines whether the main body is in the stuck state.

8. 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.

9. 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 formed in 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 formed in the obstacle upon determining that the main body is in the stuck state based on a detection signal of the detector.

10. The cleaning robot according to claim 9, wherein a size of the main body is less than a size of a rotation space required for rotation.

11. The cleaning robot according to claim 9, wherein the detector comprises a distance detector to detect a distance to an obstacle, and 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 distance detector, rotates the main body by a 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 cleaning robot according to claim 9, 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 a 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 detector of the front and rear surfaces.

13. The cleaning robot according to claim 9, wherein the detector comprises an obstacle detector mounted on a front surface of the main body, and a rotation detector provided in the main body,

wherein the controller controls rotation of the main body by a predetermined angle upon receiving a detection signal from the obstacle detector provided on the front surface of the main body, compares the predetermined angle with a rotation angle detected by the rotation detector, and determines that the main body is in a stuck state when the predetermined angle is different from the rotation angle.

14. The cleaning robot according to claim 9, wherein the detector comprises a collision detector provided on a front surface of the main body to detect collision with an obstacle, and a rotation detector provided in the main body,

wherein the controller controls rotation of the main body by a predetermined angle upon receiving a detection signal from the collision detector, compares the predetermined angle with a rotation angle detected by the rotation detector, and determines that the main body is in a stuck state when the predetermined angle is different from the rotation angle.

15. The cleaning robot according to claim 9, wherein when controlling the moving assembly, the controller controls backward movement of the main body by a predetermined distance and controls rotation of the main body by a predetermined angle upon completion of the backward movement to re-determine whether the main body is in a stuck state, and determines whether the main body can escape from the stuck state by repeating the backward movement and re-determination.

16. The cleaning robot according to claim 15, 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 a predetermined angle, and controls rotation and straight movement of the main body to bypass the obstacle.

17. The cleaning robot according to claim 15, wherein when controlling the backward movement, the controller controls backward movement of the main body by a predetermined distance after rotating the main body by a predetermined angle in a direction opposite to a direction in which the main body is rotated by the predetermined angle to determine whether the main body is in a stuck state.

18. The cleaning robot according to claim 9, wherein the detector comprises obstacle detectors mounted on front, left side and right side surfaces of the main body, and

wherein the controller calculates a lateral distance of the internal space formed in the obstacle based on obstacle detection signals detected by obstacle detectors provided on the left and right side surfaces upon receiving an obstacle detection signal from the obstacle detector provided on the front surface of the main body, compares the calculated distance of the internal space formed in the obstacle with a preset diameter of a rotatable space, and determines that the main body is in a stuck state when the distance of the internal space formed in the obstacle is shorter than the diameter of the rotatable space.

19. The cleaning robot according to claim 18, wherein when controlling the moving assembly, if the controller controls backward movement of the main body, the controller stops the backward movement of the main body when the detection signals are not received from the obstacle detectors provided on the left and right side surfaces of the main body, and controls rotation and straight movement of the main body to bypass the obstacle.

20. 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 formed in 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 formed in the obstacle upon determining that the main body is in the stuck state.

21. The method according to claim 20, wherein the determining whether the main body is in the stuck state comprises:

rotating the main body by a predetermined angle;

detecting an obstacle located in forward and backward directions of the main body; and

determining that the main body is in the stuck state when the obstacle is located in the forward and backward directions of the main body.

22. The method according to claim 21, wherein the detecting the obstacle comprises:

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

23. The method according to claim 21, wherein the performing the attempt to escape comprises:

rotating the main body by a predetermined angle in a first direction;

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.

24. The method according to claim 20, wherein the determining whether the main body is in the stuck state comprises:

detecting an obstacle by using a detector provided on left and right side surfaces of the main body;

determining whether an obstacle is located in a lateral direction of the main body;

acquiring a distance to the obstacle located in the lateral direction upon determining that the obstacle is located in the lateral direction of the main body;

calculating a size of the internal space formed in the obstacle based on the acquired distance; and

determining whether the main body is in the stuck state by comparing the calculated size of the internal space formed in the obstacle with a size of a rotatable space of the main body.

25. The method according to claim 24, wherein the performing the attempt to escape comprises:

moving the main body backward by a predetermined distance;

detecting an obstacle by using the detector provided on left and right side surfaces of the main body

determining whether an obstacle is located in the lateral direction of the main body to determine whether the main body can escape from the stuck state; and

performing rotation and straight movement of the main body to bypass the obstacle upon determining the main body can escape from the stuck state.

26. The method according to claim 20, wherein the determining whether the main body is in the stuck state comprises:

rotating the main body by a predetermined angle;

detecting a rotation angle of the main body when the main body is rotated;

comparing the predetermined angle with the detected rotation angle; and

determining that the main body is in the stuck state when the predetermined angle is different from the detected rotation angle.

27. 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 formed in 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 formed in the obstacle upon determining that the main body is in the stuck state based on a detection signal of the detector.

28. The autonomous robot according to claim 27, wherein the detector comprises a distance detector to detect a distance to an obstacle, and 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 distance detector, rotates the main body by a 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.

29. The autonomous robot according to claim 27, 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 a 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 detector of the front and rear surfaces.

30. The autonomous robot according to claim 27, wherein the detector comprises an obstacle detector mounted on a front surface of the main body, and a rotation detector provided in the main body,

wherein the controller controls rotation of the main body by a predetermined angle upon receiving a detection signal from the obstacle detector provided on the front surface of the main body, compares the predetermined angle with a rotation angle detected by the rotation detector, and determines that the main body is in a stuck state when the predetermined angle is different from the rotation angle.

31. The autonomous robot according to claim 27, wherein the detector comprises a collision detector provided on a front surface of the main body to detect collision with an obstacle, and a rotation detector provided in the main body,

wherein the controller controls rotation of the main body by a predetermined angle upon receiving a detection signal from the collision detector, compares the predetermined angle with a rotation angle detected by the rotation detector, and determines that the main body is in a stuck state when the predetermined angle is different from the rotation angle.

32. The autonomous robot according to claim 27, wherein the detector comprises obstacle detectors mounted on front, left side and right side surfaces of the main body, and

wherein the controller calculates a lateral distance of the internal space formed in the obstacle based on obstacle detection signals detected by obstacle detectors provided on the left and right side surfaces upon receiving an obstacle detection signal from the obstacle detector provided on the front surface of the main body, compares the calculated distance of the internal space formed in the obstacle with a preset diameter of a rotatable space, and determines that the main body is in a stuck state when the distance of the internal space formed in the obstacle is shorter than the diameter of the rotatable space.