Position-recognizing system for self-moving robot

• US 7,274,167 B2
• Filed: 01/12/2006
• Issued: 09/25/2007
• Est. Priority Date: 05/17/2005
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Kim, Young-Gie
• Primary Examiner(s): Leykin; Rita
• Application Number:
  US11/330,257
• Publication Number:
  US 20060261772A1
• Time in Patent Office: 621 Days
• Field of Search: 318/587, 318/580, 318/583, 901/1, 701/1, 701/22
• US Class Current: 318/587
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0261 using magnetic plots

Abstract

Disclosed is a position-recognizing system of a self-moving robot. A position-recognizing system of a self-moving robot includes: a floor in which a magnet is inserted; and a self-moving robot provided with a magnetic sensor that can sense the magnet while the robot is moving on the floor.

According to this, a magnet mounted in a floor is sensed through the magnetic sensor, and thusly a current location of the self-moving robot can be accurately recognized, so that the self-moving robot can be precisely controlled.

Claims

1. A position-recognizing system of a self-moving robot comprising:

a floor in which a magnet is inserted; and

a self-moving robot provided with a magnetic sensor that can sense the magnet while the robot is moving on the floor,

wherein a disposition structure of the magnet comprises;

an outer edge identification portion formed at an outer edge of the floor in order to indicate limits of an moving area of the robot;

a center identification portion formed at a central portion in order to indicate the center of the floor; and

an entrance identification portion formed toward an entrance of a certain space in order to induce the robot into the space, and

wherein the center identification portion or the entrance identification portion includes a particular arrangement of one or more magnets that identifies an operation mode of the self-moving robot such that when the self-moving robot is induced into the certain space, the self-moving robot performs an operation in accordance with the operation mode identified by the particular arrangement of the one or more magnets.

2. The system of claim 1, wherein the floor is formed of a wood flooring material.

3. The system of claim 1, wherein the disposition structure of the magnet further comprises:

a charging identification portion formed in front of a connection terminal so as to identify the connection terminal for recharging the robot.

4. The system of claim 1, wherein the self-moving robot is a robot for cleaning.

13. The system of claim 1, wherein the particular arrangement of the center identification portion includes a cross-shaped magnet, a pentagon-shaped magnet or a diamond-shaped magnet.

15. The system of claim 1, wherein the particular arrangement of the entrance identification portion includes one magnet two separate magnets, three magnets separately disposed in a line shape, or four magnet units separately arranged in a T-shape indicating a room number assigned to the certain space in a one-to-one corresponding manner.

5. A position-recognizing system for a self-moving robot comprising:

a floor formed of a wood flooring material, in which a magnet is inserted; and

a self-moving robot including a body case, ultrasonic wave transmitter and receptor installed inside the body case, and a magnetic sensor installed on a bottom of the body case for sensing the magnet,

wherein a disposition structure of the magnet comprises;

an outer edge identification portion formed at an outer edge of the floor in order to indicate limits of a moving area of the robot;

a center identification portion formed at a central portion in order to indicate the center of the floor; and

an entrance identification portion formed toward an entrance of a certain space in order to induce the robot into the space, and

wherein the center identification portion or the entrance identification portion includes a particular arrangement of one or more magnets that identifies an operation mode of the self-moving robot such that when the self-moving robot is induced into the certain space, the self-moving moving robot performs an operation in accordance with the operation mod identified by the particular arrangement of the one or more magnets.

6. The system of claim 5, wherein the disposition structure of the magnet further comprises:

a charging identification portion formed in front of a connection terminal in order to identify the connection terminal for recharging the robot.

7. The system of claim 5, wherein the particular arrangement of the center identification portion includes a cross-shaped magnet, a pentagon-shaped magnet or a diamond-shaped magnet.

8. The system of claim 5, wherein the entrance identification portion includes one magnet, two separate magnets, three magnets separately disposed in a line shape, or four magnet units separately arranged in a T-shape indicating a room number assigned to the certain space in a one-to-one corresponding manner.

16. The system of claim 7, wherein the cross-shaped magnet indicates the certain space is a general room, the pentagon-shaped magnet indicates the certain space is a living room and the diamond-shaped magnet indicates the certain space is a kitchen.

9. A position-recognizing system of a self moving robot comprising:

a floor formed of a wood flooring material, in which a magnet is inserted in a line or cross form; and

a self-moving robot including a body case, ultrasonic wave transmitter and receptor installed inside the body case, a plurality of magnetic sensors installed at an edge of a bottom of the body case at regular intervals therebetween for sensing the magnet, and a control unit processing a signal received from the magnetic sensors,

wherein a disposition structure of the magnet comprises;

an outer edge identification portion formed at an outer edge of the floor in a line form in order to display limits of a moving area of the robot;

a center identification portion formed at a central portion in a cross form in order to indicate the center of the floor; and

an entrance identification portion formed towards an entrance of a certain space in order to induce the robot into the certain space, and

wherein the center identification portion or the entrance identification portion includes a particular arrangement of one or more magnets that identifies an operation mode of the self-moving robot such that when the self-moving robot is induced into the certain space, the self-moving robot performs an operation in accordance with the operation mode identified by the particular arrangement of the one or more magnets.

10. The system of claim 9, wherein the disposition structure of the magnet further comprises:

a charging identification portion formed in front of a connection terminal in order to identify the connection terminal for recharging the robot.

11. The system of claim 9, wherein the particular arrangement of the center identification portion includes a cross-shaped magnet, a pentagon-shaped magnet or a diamond-shaped magnet.

12. The system of claim 9, wherein the entrance identification portion includes one magnet, two separate magnets, three magnets separately disposed in a line shape, or four magnet units separately arranged in a T-shape indicating a room number assigned to the certain space in a one-to-one corresponding manner.

14. The system of claim 11, wherein the cross-shaped magnet indicates the certain space is a general room, the pentagon-shaped magnet indicates the certain space is a living room and the diamond-shaped magnet indicates the certain space is a kitchen.

17. The system of claim 11, wherein the cross-shaped magnet indicates the certain space is a general room, the pentagon-shaped magnet indicates the certain space is a living room and the diamond-shaped magnet indicates the certain space is a kitchen.