Cleaning robot and control method thereof

• US 9,931,008 B2
• Filed: 11/26/2013
• Issued: 04/03/2018
• Est. Priority Date: 11/30/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Yoo, Kyung Hwan, Moon, Joo Sung, Song, Jeong Gon, Han, Seung Il
• Primary Examiner(s): Muller, Bryan R
• Application Number:
  US14/090,270
• Publication Number:
  US 20140150820A1
• Time in Patent Office: 1,589 Days
• Field of Search: 15319, 15373
• 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 11/4036 Parts or details of the surface treating tools
• 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 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0633 with retractable brushes, combs, lips or pads
• CPC Class Codes: A47L 9/2847 Surface treating elements
• 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 9/2889 Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

A cleaning robot and a control method thereof include a main body traveling on a floor, and a first sub-cleaning tool and a second sub-cleaning tool mounted at left and right sides of the main body so as to be protruded from the inside to the outside of the main body and selectively performing cleaning Insertion of at least one of the first sub-cleaning tool and the second sub-cleaning tool is controlled when the main body is rotated under the condition that an obstacle is detected. Side brushes of the sub-cleaning tools are inserted into the main body according to the rotation direction of the main body when the main body is rotated during traveling, thus preventing collision with the obstacle.

Claims

1. A cleaning robot comprising:

a main body to travel on a floor;

an obstacle detector to detect an obstacle around the main body;

a plurality of sub-cleaning tools mounted on the main body configured to be protruded from or retracted at least partially into an inside of the main body, wherein the plurality of sub-cleaning tools includes a first sub-cleaning tool located at a left side of the main body and a second sub-cleaning tool located at a right side of the main body; and

a controller to determinate whether or not rotation of the main body is required while the main body moves forward based on an obstacle detection signal of the obstacle detector,

wherein in response to determining that rotation of the main body is not required while the main body moves forward, the controller controls the plurality of sub-cleaning tools to protrude from the main body,

wherein in response to determining that rotation of the main body is required while the main body moves forward, the controller determines a rotation direction of the main body based on the obstacle detection signal, and identifies a sub-cleaning tool of the plurality of sub-cleaning tools that is on a side of the robot cleaner corresponding to the determined rotation direction,

wherein the controller determines a distance to the obstacle based on the obstacle detection signal of the obstacle corresponding to the determined rotation direction,

wherein in response to the determination that the rotation of the main body is required while the main body moves forward and a determination that the determined distance to the obstacle exceeds a designated distance, the controller controls retraction of the identified sub-cleaning tool at least partially into the main body, while decreasing a rotational speed of the main body, and

wherein when the determined distance does not exceed the designated distance the controller controls the main body to stop rotation of the main body, insert the identified sub-cleaning tool into the main body, and when insertion of the identified sub-cleaning tool is completed the controller controls the rotation of the main body to continue.

2. The cleaning robot according to claim 1, wherein each of the plurality of sub-cleaning tools includes a side arm mounted on the main body so as to be protruded from or retracted at least partially into the inside of the main body, an arm motor rotating the side arm, a side brush rotatably mounted on the side arm, and a brush motor to rotate the side brush.

3. The cleaning robot according to claim 2, wherein the controller controls the arm motor of the first sub-cleaning tool so that the side arm of the first sub-cleaning tool is inserted into the main body, when the determined rotation direction of the main body is a leftward direction, and controls the arm motor of the second sub-cleaning tool so that the side arm of the second sub-cleaning tool is inserted into the main body, when the rotation direction of the main body is a rightward direction.

4. The cleaning robot according to claim 1, wherein the controller controls an arm motor of a first sub-cleaning tool of the plurality of sub-cleaning tools and another arm motor of the second sub-cleaning tool of the plurality of sub-cleaning tools so that the first sub-cleaning tool and the second sub-cleaning tool are protruded from the main body based on the obstacle detection signal of the obstacle detector, upon determining that rotation of the main body is not required.

5. The cleaning robot according to claim 4, wherein upon determining that rotation of the main body is not required, the controller judges the position of the obstacle, controls the arm motor of the first sub-cleaning tool so that the side arm of the first sub-cleaning tool is protruded from the main body, when the position of the obstacle is located at the left of the main body, and controls the arm motor of the second sub-cleaning tool so that the side arm of the second sub-cleaning tool is protruded from the main body, when the position of the obstacle is located at the right of the main body.

6. The cleaning robot according to claim 2, wherein the controller judges the position of the obstacle, and controls the arm motor of the first sub-cleaning tool and the arm motor of the second sub-cleaning tool so that the first sub-cleaning tool and the second sub-cleaning tool are protruded from the main body, when the position of the obstacle is located in front of the main body.

7. The cleaning robot according to claim 2, wherein the controller rotates the arm motor in a first direction by designated angles up to a first target angle during control of protrusion of the at least one sub-cleaning tool, and rotates the arm motor in a second direction by designated angles up to a second target angle during control of insertion of the at least one sub-cleaning tool.

8. The cleaning robot according to claim 1, wherein the controller increases of the rotational speed of a side brush of the at least one protruded sub-cleaning tool during control of protrusion of the at least one sub-cleaning tool.

9. The cleaning robot according to claim 8, further comprising

a main cleaning tool mounted on the lower surface of the main body to perform cleaning,

wherein the controller increases the rotational speed of a main brush of the main cleaning tool during increase of the rotational speed of the side brush of the at least one sub-cleaning tool.

10. The cleaning robot according to claim 1, further comprising

a communicator to communicate with a virtual guard to guide traveling of the main body,

wherein the controller controls the at least one sub-cleaning tool so that the at least one sub-cleaning tool is inserted into the main body, when the communicator receives a virtual guard signal.

11. The cleaning robot according to claim 1, wherein the controller judges whether or not cleaning has been completed, and inserts a side arm of the at least one sub-cleaning tool into the main body and rotates a side brush of the at least one sub-cleaning tool, when cleaning has been completed.

12. The cleaning robot according to claim 1, further comprising

a user interface to receive a command for a test mode to test whether or not the at least one sub-cleaning tool is abnormal and to output results of the test mode,

wherein the controller, when the command for the test mode is input through the user interface, controls an actuation of at least one of protrusion and insertion of the at least one sub-cleaning tool and judges whether or not the at least one sub-cleaning tool is abnormal based on a signal generated when the at least one sub-cleaning tool is operated.

13. The cleaning robot according to claim 1, wherein the controller performs a test mode to test whether or not the at least one sub-cleaning tool is abnormal before traveling of the main body is started.

14. The cleaning robot according to claim 1, further comprising

a switch turned on when the at least one sub-cleaning tool is inserted into the main body and turned off when the at least one sub-cleaning tool is protruded from the main body,

wherein the controller judges whether or not the at least one sub-cleaning tool is abnormal based on an on/off signal transmitted from the switch.

15. The cleaning robot according to claim 1, further comprising

a pose detector to detect a movement amount corresponding to a change of the position and pose of the main body,

wherein the controller judges whether or not jam of the obstacle into the at least one sub-cleaning tool occurs by comparing a target movement amount corresponding to traveling of the main body and the detected movement amount under the condition that the obstacle is detected during traveling of the main body, and controls movement of the main body and insertion of the at least one sub-cleaning tool when a jam of the obstacle into the at least one sub-cleaning tool has occurred.