U.S. patent application number 11/249545 was filed with the patent office on 2006-09-07 for mobile robot having body sensor.
This patent application is currently assigned to SAMSUNG GWANGJU ELECTRONICS CO., LTD.. Invention is credited to Yun-sup Hwang, Sam-jong Jeung, Ildu Jung, Ki-man Kim, Jang-youn Ko, Ju-sang Lee, Kwang-soo Lim, Jeong-gon Song.
Application Number | 20060196003 11/249545 |
Document ID | / |
Family ID | 36644896 |
Filed Date | 2006-09-07 |
United States Patent
Application |
20060196003 |
Kind Code |
A1 |
Song; Jeong-gon ; et
al. |
September 7, 2006 |
Mobile robot having body sensor
Abstract
In exemplary embodiments, a robot cleaner with improved safety
features comprises a driving part for movably supporting a cleaner
body and supplying a driving force for operating the cleaner body;
a suction part mounted on the cleaner body to draw in dust from a
surface being cleaned; a body sensor mounted on the cleaner body to
perceive any approach or contact of at least a part of human body
or pet; and a control part for turning on and off the driving part
according to a signal detected by the body sensor.
Inventors: |
Song; Jeong-gon;
(Gwangju-city, KR) ; Hwang; Yun-sup;
(Gwangju-city, KR) ; Jeung; Sam-jong;
(Gwangju-city, KR) ; Jung; Ildu; (Gwangju-city,
KR) ; Lee; Ju-sang; (Gwangju-city, KR) ; Ko;
Jang-youn; (Gwangju-city, KR) ; Lim; Kwang-soo;
(Seoul, KR) ; Kim; Ki-man; (Gwangju-city,
KR) |
Correspondence
Address: |
BLANK ROME LLP
600 NEW HAMPSHIRE AVENUE, N.W.
WASHINGTON
DC
20037
US
|
Assignee: |
SAMSUNG GWANGJU ELECTRONICS CO.,
LTD.
|
Family ID: |
36644896 |
Appl. No.: |
11/249545 |
Filed: |
October 14, 2005 |
Current U.S.
Class: |
15/319 |
Current CPC
Class: |
G05D 2201/0203 20130101;
G05D 2201/0215 20130101; G05D 1/0259 20130101 |
Class at
Publication: |
015/319 |
International
Class: |
A47L 5/00 20060101
A47L005/00 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 7, 2005 |
KR |
2005-18488 |
Claims
1. A robot cleaner comprising: a driving part for movably
supporting a cleaner body and supplying a driving force for
operating the cleaner body; a suction part mounted on the cleaner
body to draw in dust from a surface being cleaned; a body sensor
mounted on the cleaner body to perceive any approach or contact of
at least a part of human body or pet; and a control part for
turning on and off the driving part according to a signal detected
by the body sensor.
2. The robot cleaner of claim 1, wherein the control part turns on
and off the suction part according to a signal detected by the body
sensor.
3. The robot cleaner of claim 1, wherein the body sensor comprises
a capacitance touch sensor.
4. The robot cleaner of claim 3, wherein the capacitance touch
sensor comprises: a sensor for perceiving the approach or contact
of the body; and a signal processor for processing the signal
detected by the sensing board and transmitting the signal to the
control part.
5. The robot cleaner of claim 4, wherein the sensor is disposed at
a dangerous area which may injure the human body by contact.
6. The robot cleaner of claim 5, wherein the dangerous area
comprises the driving part.
7. The robot cleaner of claim 4, wherein the cleaner body comprises
a bottom plate for facing the surface being cleaned, and a cover
for covering the bottom plate, the driving part comprises a driving
motor mounted on the bottom plate, and a plurality of wheels
connected with the driving motor for power transmission and
disposed on the bottom plate, and the sensor is disposed on an
inner side of the bottom plate, that faces the cover, and adjacent
to the plurality of wheels and the driving motor and on an
inner.
8. The robot cleaner of claim 7, wherein the sensor comprises a
conductive material.
9. A robot cleaner comprising: a driving part for movably
supporting a cleaner body and supplying a driving force for
operating the cleaner body; a suction part mounted on the cleaner
body to draw in dust from a surface being cleaned; a body sensor
mounted on the cleaner body to perceive any approach or contact of
at least a part of human body or pet; and a control part for
turning on and off the suction part according to a signal detected
by the body sensor.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims benefit under 35 U.S.C. .sctn.
119(a) of Korean Patent Application No. 2005-18488, filed Mar. 7,
2005, the entire contents of which are incorporated herein by
reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates generally to the field of
automated cleaning devices, and in some exemplary embodiments, to a
body sensor for such devices.
[0004] 2. Description of the Related Art
[0005] Among general household affairs, a cleaning work is usually
performed by a vacuum cleaner. However, even with the vacuum
cleaner, the cleaning work is very laborious because a user has to
carry the vacuum cleaner to every nook and corner.
[0006] Accordingly, research has been conducted in the field of
robot cleaners capable of automatically determining and performing
desired operations with minimal external guidance. In general, a
robot cleaner automatically travels along a predetermined area for
cleaning and draws in dust from a surface being cleaned such as a
floor without being continuously controlled by a user, thereby
cleaning the predetermined area.
[0007] However, a person or pet (hereinbelow, referred to as
`body`) in the cleaning area may collide with the robot cleaner as
it automatically moves along, and may be injured by the collision.
To prevent such collisions, attempts have been made to incorporate
obstacle sensors in robot cleaners.
[0008] Nevertheless, obstacle sensors typically perceive only
obstacles in front, that is, in the movement path of the robot
cleaner. Therefore, although a part of body, such as a limb, may
approach or contact the bottom of the robot cleaner as it faces the
surface being cleaned, obstacle sensors often do not perceive the
body. Since the robot cleaner comprises dangerous parts such as a
driving motor for operating the robot cleaner and wheels on the
bottom portion, the body may be injured by contacting these and
other parts. Accordingly, there is a need for a safety device that
will prevent approach and contact of a body to dangerous areas of
the robot cleaner. Such safety devices are particularly needed in
homes with babies and infants.
SUMMARY OF THE INVENTION
[0009] It is to be understood that both the following summary and
the detailed description are exemplary and explanatory and are
intended to provide further explanation of the invention as
claimed. Neither the summary nor the description that follows is
intended to define or limit the scope of the invention to the
particular features mentioned in the summary or in the
description.
[0010] In certain embodiments, the present invention may solve one
or more of the above problems and/or disadvantages and may provide
one or more of the advantages described herein.
[0011] In an exemplary embodiment, a robot cleaner has a safety
device which suspends driving of dangerous parts upon approach or
contact of a body thereto, thereby improving safety.
[0012] In an exemplary embodiment, a robot cleaner comprises a
driving part for movably supporting a cleaner body and supplying a
driving force for operating the cleaner body; a suction part
mounted on the cleaner body to draw in dust from a surface being
cleaned; a body sensor mounted on the cleaner body to perceive
approach or contact of at least a part of human body or pet; and a
control part for turning on and off the driving part according to a
signal detected by the body sensor.
[0013] According to some embodiments of the present invention, the
control part turns on and off the suction part according to a
signal detected by the body sensor. As an example, the body sensor
may comprise a capacitance touch sensor. In this embodiment, the
capacitance touch sensor may comprise a sensing board for
perceiving the approach or contact of the body; and a signal
processor for processing the signal detected by the sensing board
and transmitting the signal to the control part. The sensing board
may be disposed at a dangerous area which may injure the human body
by contact. For example, the dangerous area may comprise the
driving part.
[0014] In another more specific exemplary embodiment, the cleaner
body comprises a bottom plate for facing the surface being cleaned,
and a cover for shutting the bottom plate, the driving part
comprises a driving motor mounted on the bottom plate, and a
plurality of wheels connected with the driving part for power
transmission and disposed on the bottom plate, and the sensing
board is disposed on an inner side of the bottom plate, that faces
the cover, and adjacent to the plurality of wheels and the driving
motor and on an inner. The sensing board comprises a conductive
material.
BRIEF DESCRIPTION OF THE DRAWING FIGURES
[0015] The accompanying drawings, which are incorporated herein and
form a part of the specification, illustrate the present invention
and, together with the description, further serve to explain the
principles of the invention and to enable a person skilled in the
pertinent art to make and use the invention.
[0016] FIG. 1 is an exploded, perspective view of a robot cleaner
according to an exemplary embodiment;
[0017] FIG. 2 is a block diagram used to explain an exemplary
embodiment of a control system that can be used with the robot
cleaner of FIG. 1;
[0018] FIG. 3 is a block diagram for explaining an exemplary
embodiment of a body sensor that can be used with the embodiment of
FIG. 2;
[0019] FIG. 4 is a plane view schematically showing main elements
of one embodiment of the robot cleaner of FIG. 1; and
[0020] FIG. 5 is a sectional view of FIG. 4 cut away along a line
V--V.
DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS
[0021] A robot cleaner will now be disclosed in terms of several
exemplary embodiments. This specification discloses one or more
embodiments that incorporate the features of this invention. The
embodiment(s) described, and references in the specification to
"one embodiment", "an embodiment", "an example embodiment", etc.,
indicate that the embodiment(s) described may include a particular
feature, structure, or characteristic, but every embodiment may not
necessarily include the particular feature, structure, or
characteristic. Moreover, such phrases are not necessarily
referring to the same embodiment. Further, when a particular
feature, structure, or characteristic is described in connection
with an embodiment, persons skilled in the art may effect such
feature, structure, or characteristic in connection with other
embodiments whether or not explicitly described.
[0022] In the following description, similar drawing reference
numerals may be used for the same elements even in different
drawings. The embodiments described, and their detailed
construction and elements, are merely provided to assist in a
comprehensive understanding of the invention. Thus, it is apparent
that the present invention can be carried out in a variety of ways,
and does not require any of the specific features described herein.
Also, well-known functions or constructions are not described in
detail since they would obscure the invention with unnecessary
detail.
[0023] Referring to FIGS. 1 and 2, a robot cleaner according to one
exemplary embodiment comprises a cleaner body 10, a suction part
20, a driving part 30, an upper camera 40, a front camera 42, an
obstacle sensor 50, a memory 60, a transceiver part 70, a control
part 80, and a body sensor 90. A reference sign `I` denotes a front
or movement direction of the robot cleaner.
[0024] In this example, the cleaner body 10 comprises a bottom
plate 12 for facing a surface being cleaned G (FIG. 5) and a cover
14 for shutting the bottom plate 12.
[0025] In an embodiment, the suction part 20 is mounted in the
cleaner body 10 to draw in dust-laden air. The suction part 20, a
main part for the cleaning operation of the robot cleaner, can be
implemented by various types of well-known suction parts of robot
cleaners. An exemplary suction part 20 may comprise a suction motor
(not shown), a suction opening (not shown) formed at the cleaner
body 10 to draw in dust on the floor by a suction force generated
by the suction motor, a brush (not shown) exposed through the
suction opening to beat and scatter the dust, and a dust collecting
chamber (not shown) for collecting therein the drawn-in dust.
[0026] In an embodiment, the driving part 30 (FIG. 4) comprises a
driving motor 32, a driving wheel 34 and a driven wheel 36. A pair
of the driving motors 32 are mounted to a front part of the bottom
plate 12 at opposite sides and supplied with power from a power
supply part (not shown). A pair of the driving wheels 34 are
mounted to the bottom plate 12 in power connection with the driving
motor 32. A pair of the driven wheels 36 are mounted to a rear part
of the bottom plate 12 at opposite sides and connected to the
driving wheels 34 through a power transmission member 38. Although
a belt pulley is used for the power transmission member 38 in the
embodiment shown, the power transmission member 38 may be
implemented by a variety of transmitting means such as a timing
belt. Also, in contrast to the embodiment shown which employs a
pair of driving motors, any number of motors may be used such as a
single driving motor. As described above, a variety of designs can
be used for the driving part 30 as long as they can stably move the
robot cleaner. In accordance with a controlling signal of the
control part 80, the driving part 30 independently rotates the
driving motors 32 clockwise and counterclockwise. A moving
direction of the robot cleaner is determined by controlling
rotational speed (measured in revolutions per minute or RPM) of the
respective driving motors 32.
[0027] In an embodiment, the upper camera 40, mounted on the bottom
plate 12, photographs a ceiling image and outputs the photographed
image to the control part 80. Preferably, a fisheye lens (not
shown) is provided for upper camera 40. The structure of the
fisheye lens is disclosed (for example) in Korean Laid-Open Patent
Nos. 1996-7005245, 1997-48669 and 1994-22112. Such lenses are
commercially available and will not be described in great
detail.
[0028] In an embodiment, the front camera 42 is mounted on the
bottom plate 12 to photograph a front image and output the
photographed image to the control part 80.
[0029] In an embodiment, obstacle sensors 50 are circumferentially
disposed on an edge of the bottom plate 12 at certain intervals to
transmit a signal to the outside and receive the signal as
reflected. Obstacle sensor 50 may be implemented using a variety of
technologies, such as using an optical sensor or a supersonic-wave
sensor. In addition, the obstacle sensor 50 may be used for
detecting a distance therefrom to an obstacle or a wall.
[0030] In an embodiment, the memory 60 stores the ceiling image
photographed by the upper camera 50 and helps the control part 80
calculate position information and traveling information based on
the stored image. Also, the memory 60 may store a reference value
for comparison with a signal value output from the body sensor 90,
and a program for comparing the signal value with the reference
value.
[0031] In one exemplary embodiment, the transceiving part 70 sends
data for transmission to an external device 72 through a
transceiver (not shown) mounted in the control part 80 and
transmits to the control part 80 a signal received from the
external device 72 through the transceiver (not shown). The
external device 72 may comprise, for example, a wireless
communication router (not shown) and a remote controller (not
shown), which are capable of input and output of data.
[0032] In an embodiment, the control part 80 processes the signal
received through the transceiver part 70 and controls the
respective parts according to the signal. In embodiments where the
cleaner body 10 further comprises a key input device (not shown)
including a plurality of keys for setting functions of the robot
cleaner, the control part 80 processes a key signal input from the
key input device.
[0033] The control part 80 locates and abstracts a position
recognition mark attached to the ceiling of the cleaning area from
the ceiling image photographed by the upper camera 50, and
recognizes the position of the robot cleaner based on information
on the position, thereby controlling the respective parts to
perform their own functions using the position information.
[0034] In addition, the control part 80 controls on/off states of
the driving part 30 and the suction part 20 in accordance with the
signal output from the body sensor 90. Otherwise, only one of the
driving part 30 and the suction part 20 may be controlled by the
signal input by the body sensor 90.
[0035] Referring to FIGS. 3 to 5, the body sensor 90 may comprise a
capacitance touch sensor 90 for perceiving approach or contact of
body according to variation of permittivity. An example of a
suitable capacitance touch sensor 90 is disclosed in Korean Utility
Model Publication No. 362801. The capacitance touch sensor 90
comprises a sensing board 91 for perceiving the approach or contact
of the body and a signal processor 92 for processing a signal
detected by the sensing board 91 and transmitting the signal to the
control part 80.
[0036] In some exemplary embodiments, the sensing board 91 is
disposed on the inner side of the bottom plate 12, which faces the
cover 14, and adjacent to the driving part 30. The sensing board 91
may be made of conductive material such as copper and aluminum. By
disposing the sensing board 91 near the driving part 30, the
approach or contact of the body to the driving part 30 can be
perceived. Further, being mounted on the inner side of the bottom
plate 12 to face the cover 14, that is, within the cleaner body 10,
the sensing board 91 is not exposed to the outside. Therefore,
signal errors due to exterior moisture can be prevented. Although
the present embodiment introduces the driving part 30 as a
dangerous area which can hurt the body, in case that the robot
cleaner further includes electrically or mechanically dangerous
parts besides the driving part 30, a sensing board 91 can be
disposed near these other dangerous parts.
[0037] In an embodiment, the signal processor 92 comprises an
oscillator 93 for generating a signal of another form from an
electric current detected by the sensing board 91, a rectifier 94
for converting the signal generated from the oscillator 93 to a
direct current, and an output 95 for outputting the direct current
converted from the signal to the control part 80. Since the
capacitance touch sensor 90 is well-known in the art, detailed
description of the operation and the circuit thereof will be
omitted.
[0038] The operation of a device with selected exemplary features
will now be described in detail with reference to FIGS. 1 through
5.
[0039] In this operational example, the control part 80 controls
the driving unit 30 to move along the area for cleaning according
to a predetermined travel pattern, and stores in the memory 41 an
image map of the ceiling based on the image photographed by the
upper camera 40. Alternatively, upon receiving a wireless command
from the key input device or from the outside, the control part 80
may draw up the image map before the cleaning work.
[0040] For example, after completing the image map, the control
part 80 recognizes the position of the robot cleaner using the
image map while performing the work. Upon wireless input of a work
request signal from the key input device or from the outside, the
control part 80 recognizes the current position of the robot
cleaner by comparing the image map with current images inputted
from the upper camera 40 and the front camera 42, and controls the
driving unit 20 to move from the recognized position along a path
to a desired destination.
[0041] As an example, while the robot cleaner moves along the path
to the destination, the control part 80 calculates a traveling
error using a traveling distance detected by an encoder and the
current position which is perceived by comparing the photographed
image with the stored image map. Then, the control part 80 controls
the driving unit 30 to track the path to the destination by
compensating with the calculated error.
[0042] In this example, a suction motor (not shown) is driven by
power supplied from the power supply part (not shown) provided
within the cleaner body 10. Accordingly, a suction force is
generated and the robot cleaner draws in the dust from the surface
being cleaned G (FIG. 5) by the suction force, thus performing the
cleaning work. Since these cleaning processes are well understood,
detailed description thereof will be omitted.
[0043] When the obstacle sensor 50 detects an obstacle in front
during the cleaning work, the control part 80 suspends the driving
part 30 or controls the robot cleaner to divert the course and
avoid the obstacle. However, the obstacle sensor 50 cannot perceive
the approach or contact of an obstacle such as the body to a lower
portion of the bottom plate 12 of the robot cleaner. Consequently,
a sensing board 91 is provided to the lower surface of the bottom
plate 12, especially the dangerous parts adjacent to the driving
part 30, and to a portion provided for the user to grab for
carrying the robot cleaner.
[0044] As a part of the body approaches or contacts the bottom
plate 12, especially the driving part 30 of the bottom plate 12,
the sensing board 91 perceives this approach. A signal is
transmitted to the control part 80, passing through the oscillator
93, the rectifier 94 and the output 95. Therefore, the control part
80 turns off the driving part 30 and the suction part 20 to prevent
the body from being injured by the driving part 30. Also, since the
suction part 20 is turned off as well as the driving part 30,
unnecessary energy consumption by idle operation can be
prevented.
[0045] Moreover, in this example, because the sensing board 91 of
the body sensor 90 is mounted within the cleaner body 10, signal
errors due to the moisture can be prevented, accordingly improving
the performance of the body sensor 90 for detecting the approach or
contact of the body.
[0046] While the invention has been shown and described with
reference to certain embodiments thereof, it will be understood by
those skilled in the art that various changes in form and details
may be made therein without departing from the spirit and scope of
the invention as defined by the appended claims.
* * * * *