U.S. patent application number 13/652802 was filed with the patent office on 2013-04-18 for robot cleaner and control method for the same.
This patent application is currently assigned to SAMSUNG ELECTRONICS CO., LTD.. The applicant listed for this patent is SAMSUNG ELECTRONICS CO., LTD.. Invention is credited to Jae Young JUNG, Byung Chan KIM, Byoung In LEE, Jun Hwa LEE, Sang Sik YOON.
Application Number | 20130092190 13/652802 |
Document ID | / |
Family ID | 47519807 |
Filed Date | 2013-04-18 |
United States Patent
Application |
20130092190 |
Kind Code |
A1 |
YOON; Sang Sik ; et
al. |
April 18, 2013 |
ROBOT CLEANER AND CONTROL METHOD FOR THE SAME
Abstract
A robot cleaner includes a body to travel on a floor, an
obstacle sensing unit to sense an obstacle approaching the body, an
auxiliary cleaning unit mounted to a bottom of the body, to be
extendable and retractable, and a control unit to control extension
or retraction of the auxiliary cleaning unit when the obstacle is
sensed, through adjustment of an extension or retraction degree of
the auxiliary cleaning unit.
Inventors: |
YOON; Sang Sik; (Suwon,
KR) ; KIM; Byung Chan; (Yongin, KR) ; LEE;
Byoung In; (Suwon, KR) ; LEE; Jun Hwa; (Suwon,
KR) ; JUNG; Jae Young; (Suwon, KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SAMSUNG ELECTRONICS CO., LTD.; |
Suwon |
|
KR |
|
|
Assignee: |
SAMSUNG ELECTRONICS CO.,
LTD.
Suwon
KR
|
Family ID: |
47519807 |
Appl. No.: |
13/652802 |
Filed: |
October 16, 2012 |
Current U.S.
Class: |
134/18 ;
15/21.1 |
Current CPC
Class: |
G05D 2201/0203 20130101;
G05D 1/0225 20130101; G05D 1/0255 20130101; A47L 9/2847 20130101;
A47L 9/2852 20130101; A47L 9/04 20130101; A47L 2201/02 20130101;
G05D 1/0242 20130101; A47L 11/4072 20130101; A47L 2201/04
20130101 |
Class at
Publication: |
134/18 ;
15/21.1 |
International
Class: |
B08B 1/00 20060101
B08B001/00; A46B 13/00 20060101 A46B013/00 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 18, 2011 |
KR |
10-2011-0106678 |
Mar 5, 2012 |
KR |
10-2012-0022469 |
Claims
1. A robot cleaner comprising: a body to travel on a floor; an
obstacle sensing unit to sense an obstacle approaching the body; an
auxiliary cleaning unit mounted to a bottom of the body, to be
extendable and retractable; and a control unit to control extension
or retraction of the auxiliary cleaning unit by adjusting an
extension or retraction degree of the auxiliary cleaning unit when
the obstacle is sensed.
2. The robot cleaner according to claim 1, wherein: the auxiliary
cleaning unit is pivotably mounted to the bottom of the body; and
the control unit adjusts the extension or retraction of the
auxiliary cleaning unit, based on a pivot angle formed by the
auxiliary cleaning unit with respect to a travel direction of the
body.
3. The robot cleaner according to claim 2, wherein the control unit
adjusts the extension or retraction degree of the auxiliary
cleaning unit such that a distance between an outermost portion of
the auxiliary cleaning unit and the obstacle is greater than a
predetermined first critical value, but smaller than a
predetermined second critical value.
4. The robot cleaner according to claim 1, wherein the control unit
compares an output signal from the obstacle sensing unit according
to a sensing direction of the obstacle sensing unit with a
predetermined critical value, and adjusts the extension or
retraction degree of the auxiliary cleaning unit, based on a result
of the comparison.
5. The robot cleaner according to claim 4, wherein the
predetermined critical value corresponds to a distance from the
body to an outermost portion of the auxiliary cleaning unit.
6. The robot cleaner according to claim 1, wherein the control unit
adjusts the extension or retraction degree of the auxiliary
cleaning unit, based on an output signal from the obstacle sensing
unit according to an extension direction of the auxiliary cleaning
unit.
7. The robot cleaner according to claim 6, wherein the control unit
adjusts the extension or retraction degree of the auxiliary
cleaning unit in proportion to the output signal.
8. A robot cleaner comprising: a body to travel on a floor; an
obstacle sensing unit to sense an obstacle approaching the body; at
least one auxiliary cleaning unit mounted to a bottom of the body,
to be extendable and retractable; and a control unit to control
extension or retraction of the auxiliary cleaning unit in
accordance with a shape of the sensed obstacle when the obstacle is
sensed.
9. The robot cleaner according to claim 8, wherein the control unit
controls the extension or retraction of the auxiliary cleaning unit
when the obstacle has a flat wall shape such that the auxiliary
cleaning unit is retracted after being maintained in an extended
state for a predetermined time, or is extended after being
maintained in a retracted state for a predetermined time.
10. The robot cleaner according to claim 9, wherein: the at least
one auxiliary cleaning unit comprises at least two auxiliary
cleaning units mounted to the bottom of the body; and when the
obstacle is sensed only at a lateral side of the body, the control
unit only controls extension or retraction of the auxiliary
cleaning unit, which is disposed in a direction corresponding to
the obstacle, among the at least two auxiliary cleaning units.
11. The robot cleaner according to claim 8, wherein: the at least
one auxiliary cleaning unit comprises at least two auxiliary
cleaning units mounted to the bottom of the body; and when the
obstacle has a corner wall shape, the control unit controls
extension or retraction of the auxiliary cleaning units, which are
disposed at opposite sides of the body, among the at least two
auxiliary cleaning units.
12. The robot cleaner according to claim 8, wherein the control
unit controls the extension or retraction of the auxiliary cleaning
unit when the shape of the obstacle has a smaller size than a
reference size.
13. A robot cleaner comprising: a body to travel on a floor; an
obstacle sensing unit to sense an obstacle approaching the body; at
least one auxiliary cleaning unit mounted to a bottom of the body,
to be extendable and retractable; and a control unit to control
extension or retraction of the auxiliary cleaning unit in
accordance with a travel direction of the body when the obstacle is
sensed.
14. The robot cleaner according to claim 13, wherein the control
unit controls the auxiliary cleaning unit to be retracted before
and after rotation of the body or before and after backward
movement of the body.
15. The robot cleaner according to claim 14, wherein: the at least
one auxiliary cleaning unit comprises at least two auxiliary
cleaning units mounted to the bottom of the body around the body;
and the control unit controls extension or retraction of the
auxiliary cleaning units in accordance with a rotation direction of
the body such that a preceding one of the auxiliary cleaning units
in the rotation direction of the body is retracted.
16. The robot cleaner according to claim 14, wherein the control
unit controls extension degrees of the auxiliary cleaning units in
accordance with a rotation direction of the body such that a
preceding one of the auxiliary cleaning units in a direction
opposite to the rotation direction of the body has an increased
extension degree.
17. The robot cleaner according to claim 14, wherein the control
unit adjusts a travel speed of the body or a rotation speed of an
auxiliary cleaning tool coupled to the auxiliary cleaning unit when
the body rotates.
18. A robot cleaner comprising: a body to travel on a floor; an
obstacle sensing unit to sense an obstacle approaching the body; an
auxiliary cleaning unit mounted to a bottom of the body, to be
extendable and retractable; and a control unit to control extension
or retraction of the auxiliary cleaning unit in accordance with a
cleaning mode of the body when the obstacle is sensed.
19. The robot cleaner according to claim 18, wherein the control
unit performs a control operation to prevent the auxiliary cleaning
unit from extending when a cleaning operation is completed.
20. The robot cleaner according to claim 19, wherein the control
unit performs a control operation to prevent the auxiliary cleaning
unit from extending when the obstacle is determined to be a charger
or an exhaust station during return of the body to the charger or
the exhaust station.
21. The robot cleaner according to claim 20, further comprising: a
signal sensing unit to sense a discriminating signal for the
charger or the exhaust station.
22. The robot cleaner according to claim 21, wherein the
discriminating signal is an infrared signal, a radio frequency (RF)
signal, or a magnetic field signal.
23. The robot cleaner according to claim 18, wherein the control
unit performs a control operation to prevent the auxiliary cleaning
unit from extending for a predetermined time when a cleaning
operation starts in accordance with an automatic cleaning mode.
24. The robot cleaner according to claim 18, wherein the control
unit performs a control operation to prevent the auxiliary cleaning
unit from extending when the body performs a charging
operation.
25. The robot cleaner according to claim 24, wherein the control
unit performs a control operation to prevent the auxiliary cleaning
unit from extending when the charging operation of the body is
completed or when supply of electric power to the charger is
stopped.
26. A control method for a robot cleaner comprising: driving a body
of the robot cleaner such that the body travels on a floor; sensing
an obstacle approaching the body; and controlling extension or
retraction of an auxiliary cleaning unit mounted to a bottom of the
body, to be extendable and retractable, by adjusting an extension
or retraction degree of the auxiliary cleaning unit.
27. The control method according to claim 26, wherein: the
auxiliary cleaning unit is pivotably mounted to the bottom of the
body; and the controlling the extension or retraction of the
auxiliary cleaning unit is executed, based on a pivot angle formed
by the auxiliary cleaning unit with respect to a travel direction
of the body.
28. The control method according to claim 27, wherein the
controlling the extension or retraction of the auxiliary cleaning
unit is executed such that a distance between an outermost portion
of the auxiliary cleaning unit and the obstacle is greater than a
predetermined first critical value, but smaller than a
predetermined second critical value.
29. The control method according to claim 26, wherein the
controlling the extension or retraction of the auxiliary cleaning
unit is executed, based on a result of a comparison between an
output signal from the obstacle sensing unit according to a sensing
direction of the obstacle sensing unit and a predetermined critical
value.
30. The control method according to claim 29, wherein the
predetermined critical value corresponds to a distance from the
body to an outermost portion of the auxiliary cleaning unit.
31. The control method according to claim 26, wherein the
controlling the extension or retraction of the auxiliary cleaning
unit is executed, based on an output signal according to an
obstacle sensing direction, along which the auxiliary cleaning unit
extends.
32. The control method according to claim 31, wherein the
controlling the extension or retraction of the auxiliary cleaning
unit is executed in proportion to the output signal.
33. A robot cleaner comprising: a body to travel along a floor; a
main brush unit; a power supply, first and second drive wheels; a
caster; at least one auxiliary cleaning unit, the auxiliary
cleaning unit being extendable and retractable in a radial
direction of the body, and comprising; a side arm coupled to a
front portion of a bottom of the body at one side of the body, the
side arm being pivotable about a first coupling groove formed at
one end of the side arm; a second coupling groove formed at an
other end of the side arm; an auxiliary cleaning tool rotatably
coupled to the second coupling groove; and a periphery cover
attached to the other end of the side arm, the periphery cover
forming an outer surface of the body when the auxiliary cleaning
unit is in a fully retracted position, an obstacle sensing unit to
sense an obstacle approaching the body; a control unit to control
extension or retraction of the auxiliary cleaning unit, wherein the
control unit adjusts the extension or retraction of the auxiliary
cleaning unit based on a pivot angle of the side arm with respect
to a travel direction of the body.
34. The robot cleaner according to claim 33, wherein the control
unit adjusts the extension or retraction degree of the auxiliary
cleaning unit such that a distance between an outermost portion of
the auxiliary cleaning unit and the obstacle is greater than a
predetermined first critical value, but smaller than a
predetermined second critical value.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of Korean Patent
Application Nos. 10-2011-106678 and 10-2012-22469, respectively
filed on Oct. 18, 2011 and Mar. 5, 2012 in the Korean Intellectual
Property Office, the disclosures of which are incorporated herein
by reference.
BACKGROUND
[0002] 1. Field
[0003] Embodiments of the present disclosure relate to a robot
cleaner and a control method for the same, which are capable of
automatically cleaning a region to be cleaned by removing dust or
the like from a floor of the cleaning region while traveling about
the cleaning region.
[0004] 2. Description of the Related Art
[0005] A robot cleaner is a device for automatically cleaning a
region to be cleaned by sucking foreign matter such as dust from a
floor of the cleaning region while autonomously traveling about the
cleaning region without being operated by a user. Such a robot
cleaner not only includes a main brush to remove dust or the like
accumulated on a region beneath a body of the robot cleaner, but
also includes an auxiliary cleaning tool to achieve an enhancement
in cleaning performance in a region adjacent to a wall.
[0006] Such an auxiliary cleaning tool is outwardly protruded from
an inside of the robot cleaner body, to sweep dust on a floor, in
particular, dust in a region adjacent to a wall. Although such an
auxiliary cleaning tool achieves an enhancement in cleaning
performance in a region adjacent to a wall, there may be a problem
in that the auxiliary cleaning tool has an increased possibility of
striking the wall because it is outwardly protruded from the robot
cleaner body. In a conventional robot cleaner, however, it may be
impossible to prevent the auxiliary cleaning tool from striking an
obstacle because protrusion of the auxiliary cleaning tool is not
accurately controlled. For this reason, the auxiliary cleaning tool
may interfere with travel of the robot cleaner. Consequently, it
may be impossible to achieve efficient cleaning in a region
adjacent to a wall.
SUMMARY
[0007] Therefore, it is an aspect of the present disclosure to
provide a robot cleaner and a control method for the same, which
are capable of adjusting an extension or retraction degree of an
auxiliary cleaning unit when an obstacle is sensed.
[0008] Another aspect of the present disclosure is to provide a
robot cleaner and a control method for the same, which are capable
of controlling extension or retraction of an auxiliary cleaning
unit in accordance with the shape of an obstacle.
[0009] Another aspect of the present disclosure is to provide a
robot cleaner and a control method for the same, which are capable
of controlling extension or retraction of an auxiliary cleaning
unit in accordance with a travel direction of a body of the robot
cleaner.
[0010] Another aspect of the present disclosure is to provide a
robot cleaner and a control method for the same, which are capable
of controlling extension or retraction of an auxiliary cleaning
unit in accordance with a cleaning mode.
[0011] Additional aspects of the disclosure will be set forth in
part in the description which follows and, in part, will be
apparent from the description, or may be learned by practice of the
disclosure.
[0012] In accordance with one aspect of the present disclosure, a
robot cleaner includes a body to travel on a floor, an obstacle
sensing unit to sense an obstacle approaching the body, an
auxiliary cleaning unit mounted to a bottom of the body, to be
extendable and retractable, and a control unit to control extension
or retraction of the auxiliary cleaning unit when the obstacle is
sensed, through adjustment of an extension or retraction degree of
the auxiliary cleaning unit.
[0013] The auxiliary cleaning unit may be pivotably mounted to the
bottom of the body. The control unit may adjust the extension or
retraction of the auxiliary cleaning unit, based on a pivot angle
formed by the auxiliary cleaning unit with respect to a travel
direction of the body.
[0014] The control unit may adjust the extension or retraction
degree of the auxiliary cleaning unit such that a distance between
an outermost portion of the auxiliary cleaning unit and the
obstacle is greater than a predetermined first critical value, but
smaller than a predetermined second critical value.
[0015] The control unit may compare an output signal from the
obstacle sensing unit according to a sensing direction of the
obstacle sensing unit with a predetermined critical value, and
adjusts the extension or retraction degree of the auxiliary
cleaning unit, based on a result of the comparison.
[0016] The predetermined critical value may correspond to a
distance from the body to an outermost portion of the auxiliary
cleaning unit.
[0017] The control unit may adjust the extension or retraction
degree of the auxiliary cleaning unit, based on an output signal
from the obstacle sensing unit according to an extension direction
of the auxiliary cleaning unit.
[0018] The control unit may adjust the extension or retraction
degree of the auxiliary cleaning unit in proportion to the output
signal.
[0019] In accordance with another aspect of the present disclosure,
a robot cleaner includes a body to travel on a floor, an obstacle
sensing unit to sense an obstacle approaching the body, at least
one auxiliary cleaning unit mounted to a bottom of the body, to be
extendable and retractable, and a control unit to control extension
or retraction of the auxiliary cleaning unit when the obstacle is
sensed, in accordance with a shape of the sensed obstacle.
[0020] The control unit may control the extension or retraction of
the auxiliary cleaning unit when the obstacle has a flat wall shape
such that the auxiliary cleaning unit is retracted after being
maintained in an extended state for a predetermined time, or is
extended after being maintained in a retracted state for a
predetermined time.
[0021] The at least one auxiliary cleaning unit may include at
least two auxiliary cleaning units mounted to the bottom of the
body. When the obstacle is sensed only at a lateral side of the
body, the control unit may only control extension or retraction of
the auxiliary cleaning unit, which is disposed in a direction
corresponding to the obstacle, among the at least two auxiliary
cleaning units.
[0022] The at least one auxiliary cleaning unit may include at
least two auxiliary cleaning units mounted to the bottom of the
body. When the obstacle has a corner wall shape, the control unit
may control extension or retraction of the auxiliary cleaning
units, which are disposed at opposite sides of the body, among the
at least two auxiliary cleaning units.
[0023] The control unit may control the extension or retraction of
the auxiliary cleaning unit when the shape of the obstacle has a
smaller size than a reference size.
[0024] In accordance with another aspect of the present disclosure,
a robot cleaner includes a body to travel on a floor, an obstacle
sensing unit to sense an obstacle approaching the body, at least
one auxiliary cleaning unit mounted to a bottom of the body, to be
extendable and retractable, and a control unit to control extension
or retraction of the auxiliary cleaning unit when the obstacle is
sensed, in accordance with a travel direction of the body.
[0025] The control unit may control the auxiliary cleaning unit to
be retracted before and after rotation of the body or before and
after backward movement of the body.
[0026] The at least one auxiliary cleaning unit may include at
least two auxiliary cleaning units mounted to the bottom of the
body around the body. The control unit may control extension or
retraction of the auxiliary cleaning units in accordance with a
rotation direction of the body such that a preceding one of the
auxiliary cleaning units in the rotation direction of the body is
retracted.
[0027] The control unit may control extension degrees of the
auxiliary cleaning units in accordance with a rotation direction of
the body such that a preceding one of the auxiliary cleaning units
in a direction opposite to the rotation direction of the body has
an increased extension degree.
[0028] The control unit may adjust a travel speed of the body or a
rotation speed of an auxiliary cleaning tool coupled to the
auxiliary cleaning unit when the body rotates.
[0029] In accordance with another aspect of the present disclosure,
a robot cleaner includes a body to travel on a floor, an obstacle
sensing unit to sense an obstacle approaching the body, an
auxiliary cleaning unit mounted to a bottom of the body, to be
extendable and retractable, and a control unit to control extension
or retraction of the auxiliary cleaning unit when the obstacle is
sensed, in accordance with a cleaning mode of the body.
[0030] The control unit may perform a control operation to prevent
the auxiliary cleaning unit from extending when a cleaning
operation is completed.
[0031] The control unit may perform a control operation to prevent
the auxiliary cleaning unit from extending when the obstacle is
determined to be a charger or an exhaust station during return of
the body to the charger or the exhaust station.
[0032] The robot cleaner may further include a signal sensing unit
to sense a discriminating signal for the charger or the exhaust
station.
[0033] The discriminating signal may be an infrared signal, a radio
frequency (RF) signal, or a magnetic field signal.
[0034] The control unit may perform a control operation to prevent
the auxiliary cleaning unit from extending for a predetermined time
when a cleaning operation starts in accordance with an automatic
cleaning mode.
[0035] The control unit may perform a control operation to prevent
the auxiliary cleaning unit from extending when the body performs a
charging operation.
[0036] The control unit may perform a control operation to prevent
the auxiliary cleaning unit from extending when the charging
operation of the body is completed or when supply of electric power
to the charger is stopped.
[0037] In accordance with still another aspect of the present
disclosure, a control method for a robot cleaner includes driving a
body of the robot cleaner such that the body travels on a floor,
sensing an obstacle approaching the body, and controlling extension
or retraction of an auxiliary cleaning unit mounted to a bottom of
the body, to be extendable and retractable, through adjustment of
an extension or retraction degree of the auxiliary cleaning
unit.
[0038] The auxiliary cleaning unit may be pivotably mounted to the
bottom of the body. The controlling the extension or retraction of
the auxiliary cleaning unit may be executed based on a pivot angle
formed by the auxiliary cleaning unit with respect to a travel
direction of the body.
[0039] The controlling the extension or retraction of the auxiliary
cleaning unit may be executed such that a distance between an
outermost portion of the auxiliary cleaning unit and the obstacle
is greater than a predetermined first critical value, but smaller
than a predetermined second critical value.
[0040] The controlling the extension or retraction of the auxiliary
cleaning unit may be executed based on a result of a comparison
between an output signal from the obstacle sensing unit according
to a sensing direction of the obstacle sensing unit and a
predetermined critical value.
[0041] The predetermined critical value may correspond to a
distance from the body to an outermost portion of the auxiliary
cleaning unit.
[0042] The controlling the extension or retraction of the auxiliary
cleaning unit may be executed, based on an output signal according
to an obstacle sensing direction, along which the auxiliary
cleaning unit extends.
[0043] The controlling the extension or retraction of the auxiliary
cleaning unit may be executed in proportion to the output
signal.
BRIEF DESCRIPTION OF THE DRAWINGS
[0044] These and/or other aspects of the disclosure will become
apparent and more readily appreciated from the following
description of the embodiments, taken in conjunction with the
accompanying drawings of which:
[0045] FIG. 1 is a view schematically illustrating an outer
appearance of a robot cleaner according to an exemplary embodiment
of the present disclosure;
[0046] FIG. 2 is a bottom view schematically illustrating a
configuration of the robot cleaner shown in FIG. 1;
[0047] FIG. 3 is a view schematically illustrating a configuration
for extending or retracting auxiliary cleaning units in accordance
with an embodiment of the present disclosure;
[0048] FIG. 4 is a view schematically illustrating a configuration
for extending or retracting the auxiliary cleaning units in
accordance with another embodiment of the present disclosure;
[0049] FIG. 5 is a view schematically illustrating a configuration
of an auxiliary cleaning tool according to an exemplary embodiment
of the present disclosure;
[0050] FIG. 6 is a view schematically illustrating a configuration
of the auxiliary cleaning tool according to another embodiment of
the present disclosure;
[0051] FIG. 7 is a block diagram schematically illustrating a
control configuration of the robot cleaner according to an
exemplary embodiment of the present disclosure;
[0052] FIG. 8 is a flowchart schematically illustrating a method
for controlling the robot cleaner in accordance with an embodiment
of the present disclosure;
[0053] FIG. 9 is a view schematically illustrating operation of the
robot cleaner according to the embodiment of FIG. 8;
[0054] FIG. 10 is a flowchart schematically illustrating a method
for controlling the robot cleaner in accordance with another
embodiment of the present disclosure;
[0055] FIG. 11 is a view schematically illustrating operation of
the robot cleaner according to the embodiment of FIG. 10;
[0056] FIG. 12 is a graph schematically depicting obstacle sensing
results of the robot cleaner according to the embodiment of FIG.
10;
[0057] FIG. 13 is a flowchart schematically illustrating a method
for controlling the robot cleaner in accordance with another
embodiment of the present disclosure;
[0058] FIG. 14 is a view schematically illustrating operation of
the robot cleaner according to the embodiment of FIG. 13;
[0059] FIG. 15 is a graph schematically depicting obstacle sensing
results of the robot cleaner according to the embodiment of FIG.
13;
[0060] FIGS. 16 to 18 are views schematically illustrating
operation of the robot cleaner according to another embodiment of
the present disclosure;
[0061] FIGS. 19 to 21 are views schematically illustrating
operation of the robot cleaner according to another embodiment of
the present disclosure; and
[0062] FIGS. 22 to 24 are views schematically illustrating
operation of the robot cleaner according to another embodiment of
the present disclosure.
DETAILED DESCRIPTION
[0063] Hereinafter, embodiments of the present disclosure will be
described with reference to the accompanying drawings.
[0064] FIG. 1 is a view schematically illustrating an outer
appearance of a robot cleaner according to an exemplary embodiment
of the present disclosure.
[0065] Referring to FIG. 1, the robot cleaner, which is designated
by reference numeral "1", includes a body 10 to define an outer
appearance of the robot cleaner 1.
[0066] Various sensors are mounted to the body 10, to sense an
obstacle. The sensors may include a proximity sensor 61 and/or a
vision sensor 62. For example, when the robot cleaner 1 travels in
a random direction under the condition that there is no
predetermined path along which the robot cleaner 1 travels, that
is, in a cleaning system having no map, the robot cleaner 1 may
travel about a cleaning region and sense an obstacle, using the
proximity sensor 61. On the other hand, when the robot cleaner 1
travels along a predetermined path, that is, in a cleaning system
requiring a map, the vision sensor 62 may be installed to receive
position information of the robot cleaner 1, and thus to create a
map. The sensors may be implemented in various manners.
[0067] A signal sensor 63 may also be mounted to the body 10, to
receive a signal from a charger or an exhaust station.
[0068] A display unit 64 is coupled to the body 10, to display
various states of the robot cleaner 1. For example, the display
unit 64 may display a charged state of the battery, whether or not
the dust collector 55 is full of dust, a cleaning mode of the robot
cleaner 1, etc.
[0069] Configurations of the auxiliary cleaning units 21 and 22
will be described in more detail with reference to FIGS. 2 to
6.
[0070] FIG. 2 is a bottom view schematically illustrating a
configuration of the robot cleaner shown in FIG. 1.
[0071] Referring to FIG. 2, the robot cleaner 1 includes a main
brush unit 30, a power supply 50, drive wheels 41 and 42, a caster
43, and the auxiliary cleaning units 21 and 22.
[0072] The main brush unit 30 is mounted at an opening formed at a
portion of the bottom of the body 10 biased from a central region
of the body 10 in a rearward direction R. The main brush unit 30
sweeps dust accumulated on the floor, on which the body 10 is
disposed, such that the swept dust is guided to a dust inlet 33.
The opening of the bottom of the body 10, at which the main brush
unit 30 is mounted, functions as the dust inlet 33.
[0073] The main brush unit 30 includes a roller 31, and a main
brush 32 attached to an outer surface of the roller 31. As the
roller 31 rotates, the main brush 32 sweeps dust accumulated on the
floor such that the swept dust is guided to the dust inlet 33.
[0074] Although not shown in FIG. 2, a fan unit to generate suction
force is provided within the dust inlet 33. The fan unit functions
to move dust introduced into the dust inlet 33 to a dust
collector.
[0075] The power supply 50 supplies drive power to drive the body
10. The power supply 50 includes a battery electrically connected
to the body 10 and drivers to drive various elements mounted to the
body 10, to supply drive power to the body 10 and drivers. The
battery is constituted by a rechargeable secondary battery. When
the body 10 is coupled to a charger or an exhaust station after
completing a cleaning operation, the battery receives electric
power from the charger or exhaust station, to be charged.
[0076] The drive wheels 41 and 42 are centrally arranged at
opposite sides of the bottom of the body 10 in a symmetrical
manner, respectively. The drive wheels 41 and 42 may perform
movement operations including forward movement, backward movement,
and rotation during cleaning.
[0077] The caster 43 is installed at a front edge portion of the
bottom of the body 10 when viewed on the basis of a travel
direction. The caster 43 enables the body 10 to keep a stable
posture. The drive wheels 41 and 42, and caster 43 may be
configured into a single assembly detachably mounted to the body
10.
[0078] Openings are formed at opposite sides of a front portion of
the body 10 when viewed on the basis of a forward direction F,
respectively. The auxiliary cleaning units 21 and 22 are installed
to cover the openings, respectively.
[0079] FIG. 3 is a view schematically illustrating a configuration
for extending or retracting the auxiliary cleaning units in
accordance with an embodiment of the present disclosure.
[0080] Referring to FIG. 3, each of the auxiliary cleaning units 21
and 22 includes a side arm 102, a periphery cover 103, and an
auxiliary cleaning tool 110 (see FIGS. 5 and 6).
[0081] The side arm 102 is coupled to a front portion of the bottom
of the body 10 at one side of the body 10. An arm motor (not shown)
is received in the body 10 over the side arm 102, to drive the side
arm 102. The arm motor is connected to a rotation shaft (not shown)
via gears to transmit drive force to the side arm 102. The rotation
shaft is mounted to a coupling groove 101 formed at one end of the
side arm 102.
[0082] When the arm motor drives, the rotation shaft is rotated,
thereby causing the side arm 102 to pivot about the coupling groove
101. In this case, the side arm 102 pivots outwardly of the body
10. In this state, the periphery cover 103 no longer covers the
opening of the body 10. That is, the periphery cover 103 no longer
forms the periphery of the body 10.
[0083] A coupling groove 104, to which the auxiliary cleaning tool
110 is coupled, is formed at the other end of the side arm 102. A
rotation motor (not shown) is received in the body 10 over the
coupling groove 104, to drive the auxiliary cleaning tool 110. The
auxiliary cleaning tool 110 is rotated about the coupling groove
104 by drive force of the rotation motor.
[0084] FIG. 4 is a view schematically illustrating a configuration
for extending or retracting the auxiliary cleaning units in
accordance with another embodiment of the present disclosure.
[0085] Referring to FIG. 4, each of the auxiliary cleaning units 21
and 22 includes a side arm 106, a periphery cover 108, and an
auxiliary cleaning tool 110 (see FIGS. 5 and 6).
[0086] The side arm 106 is coupled to a front portion of the bottom
of the body 10 at one side of the body 10 via a coupling groove
105. An extension arm 107 is received in the side arm 106 such that
it is extendable outwardly of the side arm 106 in a sliding
manner.
[0087] The extension arm 107 moves forward and rearward within the
side arm 106 in a longitudinal direction of the side arm 106. To
this end, a rail is formed within the side arm 106, and a guide
(not shown), which is engaged with the rail, is formed at the
extension arm 107. Accordingly, the extension arm 107 may slidably
move along the rail in a state of being coupled to the rail.
Another extension arm may be received in the extension arm 107 such
that it is extendable outwardly of the extension arm 107 in a
sliding manner. Meanwhile, movement of the another extension arm
may be carried out in the same manner as described above. There is
no limitation as to the number of extension arms.
[0088] An arm motor (not shown) is received in the body 10 over the
side arm 106, to drive the extension arm 107. The arm motor
transmits drive force to the extension arm 107 via gears. When the
arm motor drives, the extension arm 107 slides outwardly of the
side arm 106, to extend outwardly of the body 10. In this state,
the periphery cover 108 no longer covers the opening of the body
10. That is, the periphery cover 108 no longer forms the periphery
of the body 10.
[0089] A coupling groove 109, to which the auxiliary cleaning tool
110 is coupled, is formed at one end of the extension arm 107. A
rotation motor (not shown) is received in the body over the
coupling groove 109, to drive the auxiliary cleaning tool 110. The
auxiliary cleaning tool 110 is rotated about the coupling groove
109 by drive force of the rotation motor.
[0090] FIG. 5 is a view schematically illustrating a configuration
of the auxiliary cleaning tool according to an exemplary embodiment
of the present disclosure.
[0091] Referring to FIG. 5, the auxiliary cleaning tool 110
includes brush arms 113 coupled to form a central common end such
that they outwardly extend in a radial direction from the central
common end while being spaced apart from one another in a
circumferential direction. An auxiliary brush 112 is coupled to
each brush arm 113. A rotation shaft 114 is formed at the central
common end of the brush arms 113. The rotation shaft 114 extends to
be coupled to the side arm 102 or extension arm 106 via the
coupling groove 104 or 109. When the auxiliary cleaning tool 110
rotates, the auxiliary brush 112 sweeps dust accumulated on an area
disposed adjacent to a wall toward the central region of the body
10 or disperses the dust.
[0092] FIG. 6 is a view schematically illustrating a configuration
of the auxiliary cleaning tool according to another embodiment of
the present disclosure.
[0093] Referring to FIG. 6, the auxiliary cleaning tool 110'
includes a circular floorcloth holder 116. An auxiliary floorcloth
115 is fitted around the floorcloth holder 116 in a radial
direction. A rotation shaft 114 is formed at a center of the
floorcloth holder 116 such that it axially extends. The rotation
shaft 114 receives drive force from a rotation motor, to rotate the
auxiliary cleaning tool 110'. The rotation shaft 114 is coupled to
the side arm 102 or extension arm 106 via the coupling groove 104
or 109. When the auxiliary cleaning tool 110' rotates, the
auxiliary floorcloth 115 scrubs an area disposed adjacent to a
wall.
[0094] Meanwhile, the auxiliary brush 112 may be made of various
materials having elasticity. The auxiliary floorcloth 115 may be
made of a fiber material or various materials other than the fiber
material.
[0095] The robot cleaner 1 according to the illustrated embodiment
of the present disclosure may clean even an area of the floor
disposed adjacent to a wall or a corner area of the floor because
the effective cleaning region of the robot cleaner 1 is extended by
virtue of the auxiliary cleaning units 21 and 22 outwardly
extendable from the body 10.
[0096] In the following description, it is assumed that extension
of each auxiliary cleaning units 21 or 22 carried out during
operation of the auxiliary cleaning units 21 or 22 include both
pivotal movement of the side arm 102 outwardly of the body 10 in
the embodiment of FIG. 3 and extension of the extension arm 106
outwardly of the body 10 in the embodiment of FIG. 4, except for
the case in which the extension of each auxiliary cleaning unit 21
or 22 is separately described in conjunction with pivotal movement
of the side arm 102 or the extension of the extension arm 106.
Also, it is assumed that the auxiliary cleaning tool 110 cleans an
area of the floor disposed adjacent to a wall or a corner area of
the floor while rotating during cleaning operation of the robot
cleaner 1.
[0097] FIG. 7 is a block diagram schematically illustrating a
control configuration of the robot cleaner according to an
exemplary embodiment of the present disclosure.
[0098] Referring to FIG. 7, the robot cleaner 1 includes an input
unit 210, an obstacle sensing unit 220, a signal sensing unit 230,
a control unit 240, a body driver 250, a main brush unit driver
260, and an auxiliary cleaning unit driver 270.
[0099] The input unit 210 receives a user's operation command from
an operation panel provided at the body 10 or a remote controller.
The user's operation command includes commands associated with
travel, cleaning and charging operations of the robot cleaner 1. In
particular, the user directly operates the remote controller, to
input a command associated with, for example, protrusion of the
auxiliary cleaning units 21 and 22.
[0100] The obstacle sensing unit 220 senses an obstacle approaching
the body 10 during travel of the body 10. In more detail, the
obstacle sensing unit 220 receives information as to obstacles from
the proximity sensor 61 or vision sensor 62, and then senses an
obstacle disposed around the body 10.
[0101] For example, the proximity sensor 61 may be implemented in
the form of an ultrasonic sensor. In this case, the proximity
sensor 61 may transmit an ultrasonic wave, and then receive an
ultrasonic wave reflected from an obstacle, thereby sensing the
obstacle. For this function, the proximity sensor 61 may have the
form of a combination of at least one ultrasonic transmitter and at
least one ultrasonic receiver installed around the periphery of the
body 10. When the ultrasonic proximity sensor 61 further approaches
an obstacle, it generates a signal having higher power because the
intensity of an ultrasonic wave received by the ultrasonic
proximity sensor 61 after being reflected from the obstacle
increases. It may be possible to calculate the distance between the
body 10 and the obstacle, based on the output signal from the
proximity sensor 61.
[0102] Meanwhile, the vision sensor 62 acquires an image on the
travel path of the body 10, and then senses an obstacle through
processing of the acquired image. Practically, it may be possible
to calculate the distance between the body 10 and the obstacle in
the image processed by the vision sensor 62, based on
three-dimensional coordinates.
[0103] The signal sensing unit 230 senses a discriminating signal
transmitted from the charger or formed around the charger in
accordance with operation of the signal sensor 63.
[0104] The body driver 250 drives the drive wheels 41 and 42, to
move the robot cleaner 1. In accordance with a control command from
a travel controller 242, the body driver 250 controls the travel
direction and travel speed of the robot cleaner 1.
[0105] The main brush unit driver 260 drives the roller 31 in
accordance with a control command from a cleaning controller 241.
In accordance with rotation of the roller 31, the main brush 32
sweeps dust accumulated on the floor.
[0106] The auxiliary cleaning unit driver 270 drives the arm motor
in accordance with a control command from the cleaning controller
241, to perform extension or retraction of each auxiliary cleaning
unit 21 or 22. The auxiliary cleaning unit driver 270 also adjusts
an extension or retraction degree of each auxiliary cleaning unit
21 or 22 by adjusting the number of rotations of the arm motor in
accordance with the distance between the body 10 and the obstacle.
The auxiliary cleaning unit driver 270 also performs rotation of
the auxiliary cleaning tool 110 and adjusts the rotation speed of
the auxiliary cleaning tool 110, to cause the auxiliary brush 112
(or the rotation speed of the auxiliary cleaning tool 110', to
cause auxiliary floorcloth 115) to clean an area disposed adjacent
to a wall.
[0107] The control unit 240 controls the overall operation of the
robot cleaner 1 in accordance with a control program. The control
unit 240 mainly includes the cleaning controller 241, which
controls cleaning operation of the robot cleaner 1, the travel
controller 242, which controls travel of the robot cleaner 1, and a
charging controller 243 to control a charging operation of the
robot cleaner 1.
[0108] The cleaning controller 241 not only controls operation of
the main brush unit 30, but also determines whether each auxiliary
cleaning unit 21 or 22 is to be extended or retracted. The cleaning
controller 241 also controls an extension or retraction degree of
each auxiliary cleaning unit 21 or 22. Also, the cleaning
controller 241 determines an operation mode of the robot cleaner 1
among an automatic cleaning mode, a charging mode, a charging
completion mode, a charging stop mode, etc., and controls extension
or retraction of each auxiliary cleaning unit 21 or 22 in
accordance with the determined operation mode.
[0109] The travel controller 242 controls forward movement,
backward movement and rotation of the body 10. In more detail, the
travel controller 242 controls rotation directions and speed of the
drive wheels 41 and 42. When it is sensed that there is an obstacle
on the travel path of the body 10, the travel controller 242 also
determines whether the body 10 has to turn to the left or to the
right or has to move backward.
[0110] The charging controller 243 controls the robot cleaner 1 to
return to the charger or to the exhaust station when cleaning
operation is completed, to cause the robot cleaner 1 to be charged.
When a charging operation is carried out in a state in which the
body 10 docks with the charger, the charging controller 243
determines a charged state of the robot cleaner 1. That is, the
charging controller 243 may determine a completely charged state, a
power shut-off state of the charger during charging operation,
etc.
[0111] Hereinafter, methods for controlling extension and
retraction of the auxiliary cleaning units of the above-described
robot cleaner in accordance with embodiments of the present
disclosure will be described.
[0112] FIG. 8 is a flowchart schematically illustrating a method
for controlling the robot cleaner in accordance with an embodiment
of the present disclosure. FIG. 9 is a view schematically
illustrating operation of the robot cleaner according to the
embodiment of FIG. 8.
[0113] Referring to FIGS. 8 and 9, the obstacle sensing unit 220
senses an obstacle approaching the body 10 (410). Thereafter, the
cleaning controller 241 calculates the distance from the auxiliary
cleaning unit 21 to the obstacle, namely, a distance L (420). In
detail, the cleaning controller 241 may calculate the distance L
from the rotation shaft of the auxiliary cleaning unit 21 to the
obstacle, based on an output signal from the proximity sensor
61.
[0114] Subsequently, the cleaning controller 241 calculates a
distance D2, by which the auxiliary cleaning unit 21 is extendable
(430). The extendable distance D2 of the auxiliary cleaning unit 21
in a travel direction of the body 10 may be calculated, based on a
rotation radius R of the side arm 102 and a rotation radius rof the
auxiliary cleaning tool 110. Here, the rotation radius rof the
auxiliary cleaning tool 110 represents the rotation radius of the
brush arm 113 (or floorcloth holder 116 of auxiliary cleaning tool
110'), which does not have elasticity. In detail, the extendable
distance D2 of the auxiliary cleaning unit 21 may be calculated
through the following Expression:
Expression
[0115] D2=R*COS .theta.+r
[0116] In the Expression, ".theta." represents an angle formed by
the side arm 102 with respect to the travel direction of the body
10. The auxiliary cleaning unit 21 may extend by a distance
determined based on the angle .theta. while crossing a rotation
path 310 of the side arm 102 and a rotation path 320 of the
auxiliary cleaning tool 110.
[0117] Also, the extendable distance D2 of the auxiliary cleaning
unit 21 to prevent the outermost portion of the auxiliary cleaning
unit 21 from striking the obstacle is calculated. Here, the
outermost portion of the auxiliary cleaning unit 21 represents an
outermost peripheral portion of the rotating brush arm 113 (or
floorcloth holder 116 of auxiliary cleaning tool 110') in the
travel direction of the body 10. Accordingly, the auxiliary brush
112, which is made of an elastic material (or the auxiliary
floorcloth 115, which is made of a fiber material) may perform
cleaning in contact with an area disposed adjacent to a wall while
rotating along a rotation path 330.
[0118] Thereafter, the cleaning controller 241 adjusts the
extension distance of the auxiliary cleaning unit 21, and then
controls the auxiliary cleaning unit 21 to extend by the adjusted
extension distance (440). In this case, the extension distance of
the auxiliary cleaning unit 231 is associated with the pivot angle
of the side arm 102. The pivot angle of the side arm 102 is
associated with the angle .theta..
[0119] The cleaning controller 241 adjusts the pivot angle of the
side arm 102 and, as such, the distance D1 between the outermost
portion of the auxiliary cleaning unit 21 and the obstacle is
adjusted. The distance D1 may be calculated by a difference between
the distance L from the rotation shaft of the auxiliary cleaning
unit 21 to the obstacle and the extension distance of the auxiliary
cleaning unit 21, that is, the distance D2. The pivot angle of the
auxiliary cleaning unit 21 may be adjusted such that the distance
D1 between the outermost portion of the auxiliary cleaning unit 21
and the obstacle is greater than a predetermined first critical
value, but smaller than a predetermined second critical value.
[0120] FIG. 10 is a flowchart schematically illustrating a method
for controlling the robot cleaner in accordance with another
embodiment of the present disclosure. FIG. 11 is a view
schematically illustrating operation of the robot cleaner according
to the embodiment of FIG. 10. For convenience of description, this
method will be described in conjunction with the embodiment of FIG.
3.
[0121] Referring to FIGS. 10 and 11, the obstacle sensing unit 220
senses an obstacle approaching the body 10 (510). At least one
proximity sensor 61 is installed at the periphery of the body 10.
The proximity sensor 61 senses an obstacle in a sensing direction
thereof. In the illustrated case, a plurality of proximity sensors
61 is installed.
[0122] Thereafter, the cleaning controller 241 analyzes results of
obstacle sensing in accordance with positions of the proximity
sensors 61 (520). Through analysis of the obstacle sensing results,
it may be seen that output signals from the proximity sensors 61
exhibit different intensities in accordance with different sensing
directions of the proximity sensors 61, as shown in FIG. 12. For
example, when an obstacle is disposed in the travel direction of
the body 10, output signals from the proximity sensors 61 exhibit
higher intensities in the arrangement order of the proximity
sensors 61 nearer to the front of the body 10. In the illustrated
case, it may be possible to calculate the distance to the obstacle,
based on the output signal from the proximity sensor 61 disposed at
a sensor position A.
[0123] The cleaning controller 241 analyzes whether the output
signal from each proximity sensor 61 is higher or lower than a
predetermined critical value. Here, the critical value corresponds
to the distance from the body 10 to the outermost portion of the
auxiliary cleaning unit 21 in the travel direction of the body
10.
[0124] Subsequently, the cleaning controller 241 determines an
extension position of the auxiliary cleaning unit 21, based on the
results of analysis (530). The auxiliary cleaning unit 21 may
extend to the extension position while crossing the rotation path
310 of the side arm 102 and the rotation path 320 of the auxiliary
cleaning tool 110. The extension position of the auxiliary cleaning
unit 21 corresponds to a position on the rotation path 310 of the
side arm 102
[0125] When the output signal from the proximity sensor 61 is
higher than the predetermined critical value, the cleaning
controller 241 may determine that, in association with the position
of the proximity sensor 61, there is an insufficient space to allow
the auxiliary cleaning unit 21 to extend. In this case, from among
the proximity sensors 61, each of which outputs a signal lower than
the critical value, one proximity sensor 61 outputting a signal
having highest intensity is selected. After determining the
position of the selected proximity sensor 61, the cleaning
controller 241 determines an extension position of the auxiliary
cleaning unit 21 on the rotation path 310 of the side arm 102,
based on the determined position of the proximity sensor 61.
[0126] On the other hand, when the output signal from the proximity
sensor 61 is lower than the predetermined critical value, the
cleaning controller 241 may determine that, in association with the
position of the proximity sensor 61, there is a sufficient space to
allow the auxiliary cleaning unit 21 to extend. In this case, the
cleaning controller 241 determines the position of the proximity
sensor 61, and then determines an extension position of the
auxiliary cleaning unit 21 on the rotation path 310 of the side arm
102, based on the determined position of the proximity sensor
61.
[0127] Alternatively, it may be possible to determine an extension
position of the auxiliary cleaning unit 21 on the rotation path 310
of the side arm 102, based on an intermediate position between the
position of the proximity sensor 61 outputting a highest-intensity
signal and the position of the proximity sensor 61 outputting a
second higher-intensity signal.
[0128] Thereafter, the cleaning controller 241 adjusts a pivot
angle of the side arm 102, based on the determined extension
position, to cause the auxiliary cleaning unit 21 to extend to the
determined extension position (540).
[0129] FIG. 13 is a flowchart schematically illustrating a method
for controlling the robot cleaner in accordance with another
embodiment of the present disclosure. FIG. 14 is a view
schematically illustrating operation of the robot cleaner according
to the embodiment of FIG. 13. For convenience of description, this
method will be described in conjunction with the embodiment of FIG.
4.
[0130] Referring to FIGS. 13 and 14, the obstacle sensing unit 220
senses an obstacle approaching the body 10 (610).
[0131] Thereafter, the cleaning controller 241 analyzes results of
obstacle sensing in accordance with positions of the proximity
sensors 61 (620). Through analysis of the obstacle sensing results,
it may be seen that output signals from the proximity sensors 61
exhibit different intensities in accordance with different sensing
directions of the proximity sensors 61, as shown in FIG. 15. For
example, when an obstacle is disposed in an extension direction of
the auxiliary cleaning unit 21, output signals from the proximity
sensors 61 exhibit higher intensities in the arrangement order of
the proximity sensors 61 nearer to the auxiliary cleaning unit 21.
In the illustrated case, it may be possible to analyze the results
of obstacle sensing, taking into consideration only the output
signal from the proximity sensor 61 disposed in the extension
direction of the auxiliary cleaning unit 21. Also, it may be
possible to calculate the distance to the obstacle, based on an
output signal from the proximity sensor 61 disposed at a sensor
position B, C or D.
[0132] The cleaning controller 241 analyzes whether the output
signal from each proximity sensor 61 is higher or lower than a
predetermined critical value. Here, the critical value corresponds
to the distance from the body 10 to the outermost portion of the
auxiliary cleaning unit 21 in the extension direction of the
extension arm 107.
[0133] Subsequently, the cleaning controller 241 determines an
extension position of the auxiliary cleaning unit 21, based on the
results of analysis (630). The auxiliary cleaning unit 21 may
extend to the extension position along an extension path 340 of the
extension arm 107. The extension position of the auxiliary cleaning
unit 21 corresponds to a position on the extension path 340 of the
extension arm 107.
[0134] When the output signal from the proximity sensor 61 is
higher than the predetermined critical value, the cleaning
controller 241 may determine that, in association with the position
of the proximity sensor 61, there is an insufficient space to allow
the auxiliary cleaning unit 21 to extend. In this case, from among
the proximity sensors 61, each of which outputs a signal lower than
the critical value, one proximity sensor 61 outputting a signal
having highest intensity is selected. After determining the
position of the selected proximity sensor 61, the cleaning
controller 241 determines an extension position of the auxiliary
cleaning unit 21, based on the determined position of the proximity
sensor 61. In the illustrated case, an extension position of the
auxiliary cleaning unit 21 may be determined, based on an output
signal from the proximity sensor 61 disposed at a sensor position B
or D.
[0135] On the other hand, when the output signal from the proximity
sensor 61 is lower than the predetermined critical value, the
cleaning controller 241 may determine that, in association with the
position of the proximity sensor 61, there is a sufficient space to
allow the auxiliary cleaning unit 21 to extend. In this case, the
cleaning controller 241 determines the position of the proximity
sensor 61, and then determines an extension position of the
auxiliary cleaning unit 21, based on the determined position of the
proximity sensor 61. In this case, it may be possible to extend the
auxiliary cleaning unit 21 to a maximum extension position
thereof.
[0136] Thereafter, the cleaning controller 241 adjusts an extension
distance of the side arm 102, based on the determined extension
position, to cause the auxiliary cleaning unit 21 to extend to the
determined extension position (640).
[0137] Although adjustment of the extension distance of the
auxiliary cleaning unit 21 upon controlling the auxiliary cleaning
unit 21 has been described as being carried out on the basis of the
travel direction of the body 10, the adjustment may be carried out
in the same manner as the above-described cases, for an obstacle
disposed in a direction other than the above-described directions
of the body 10.
[0138] Also, although the above description has been given in
conjunction with, for example, the right auxiliary cleaning unit
21, for convenience of description, the same adjustment as
described above may be carried out in conjunction with the left
auxiliary cleaning unit 22.
[0139] Also, control of retraction of the auxiliary cleaning units
21 and 22 may be carried out in a reverse manner to that of the
above-described control of extension of the auxiliary cleaning
units 21 and 22.
[0140] FIGS. 16 to 18 are views schematically illustrating
operation of the robot cleaner according to another embodiment of
the present disclosure.
[0141] Referring to FIGS. 16 to 18, the cleaning controller 241
determines the shape of an obstacle, and controls extension or
retraction of each auxiliary cleaning unit 21 or 22, based on the
determined shape of the obstacle.
[0142] When proximity sensors 61, which are provided in plural
while being disposed around the body 10, output higher-intensity
signals in the arrangement order of the proximity sensors 61 nearer
to one lateral side of the body 10, it may be determined that there
is an obstacle in the form of a flat wall at the lateral side of
the body 10. In this case, for the sensed obstacle, the cleaning
controller 241 controls the auxiliary cleaning unit 21 or 22 such
that the auxiliary cleaning unit 21 or 22 is retracted after being
maintained in an extended state for a predetermined time.
Alternatively, the cleaning controller 241 may control the
auxiliary cleaning unit 21 or 22 such that the auxiliary cleaning
unit 21 or 22 is extended after being maintained in a retracted
state for a predetermined time.
[0143] The cleaning controller 241 independently controls the left
auxiliary cleaning unit 22 and the right auxiliary cleaning unit 21
such that they are independently extended or retracted. In this
case, when an obstacle is disposed only at the left or right of the
body 10, the cleaning controller 241 performs a control operation
such that only the left or right auxiliary cleaning unit 22 or 21
is extended or retracted. Alternatively, the cleaning controller
241 may perform a control operation such that both auxiliary
cleaning units 21 and 22 are simultaneously extended or
retracted.
[0144] On the other hand, even when there are three or more
auxiliary cleaning units, the cleaning controller 241 may control
the auxiliary cleaning units in the same manner as described
above.
[0145] When output signals from a certain number of proximity
sensors 61 have values gradually increasing from a predetermined
value in the arrangement order of the proximity sensors 61 nearer
to one lateral side of the body 10, and output signals from a
certain number of proximity sensors 61 have values gradually
increasing from a predetermined value in the arrangement order of
the proximity sensors 61 nearer to the front of the body 10, the
cleaning controller 241 may determine that there are obstacles in
the form of walls at the lateral side and front side of the body
10, respectively, that is, there is an obstacle in the form of a
corner wall. For the corner wall obstacle, the cleaning controller
241 controls the auxiliary cleaning units 21 and 22 to be retracted
after being maintained in an extended state for a predetermined
time. Also, the cleaning controller 241 controls the auxiliary
cleaning units 21 and 22 to be extended after being maintained in a
retracted state for a predetermined time.
[0146] When an obstacle is disposed at the front side of the body
10, the cleaning controller 241 controls the auxiliary cleaning
units 21 and 22 to be simultaneously extended.
[0147] When the proximity sensors 61, output signals of which are
higher than a predetermined value, do not output such higher
signals in a continuous manner, the cleaning controller 241 may
determine that there is an obstacle having a smaller size than a
reference size around the body 10. For such an obstacle having a
smaller size than the reference size, the cleaning controller 241
controls the auxiliary cleaning units 21 and 22 to be prevented
from extending. The obstacle, which has a smaller size than a
reference size, may be a flowerpot or a chair leg disposed on the
floor, on which the body 10 travels. When the auxiliary cleaning
units 21 and 22 extend in this case, they may strike the flowerpot,
chair leg or the like or they may interfere with obstacle-bypassing
travel of the body 10.
[0148] FIGS. 19 to 21 are views schematically illustrating
operation of the robot cleaner according to another embodiment of
the present disclosure.
[0149] Referring to FIGS. 19 to 21, the cleaning controller 241
controls extension or retraction of the auxiliary cleaning units 21
and 22 in accordance with a travel direction of the body 10.
[0150] When the body 10 approaches an obstacle in the form of a
corner wall, the cleaning controller 241 controls the auxiliary
cleaning units 21 and 22 to be simultaneously extended. In this
case, the travel controller 242 controls the drive wheels 41 and 42
such that the body 10 rotates in place or moves backward, to bypass
the obstacle.
[0151] In this case, the cleaning controller 241 may control the
auxiliary cleaning units 21 and 22 to be retracted before the
rotation or backward movement of the body 10. Also, the cleaning
controller 241 may control the auxiliary cleaning units 21 and 22
such that a preceding one of the auxiliary cleaning units 21 and 22
in a rotation direction of the body 10 is retracted before or after
rotation of the body 10 in accordance with the rotation direction
of the body 10. Alternatively, the cleaning controller 241 may
control the auxiliary cleaning units 21 and 22 such that a
following one of the auxiliary cleaning units 21 and 22 in the
rotation direction of the body 10 is retracted before or after
rotation of the body 10 in accordance with the rotation direction
of the body 10.
[0152] Also, the cleaning controller 241 may control the auxiliary
cleaning units 21 and 22 such that the auxiliary cleaning units 21
and 22 extend by different distances in accordance with a rotation
direction of the body 10. For example, when the body 10 rotates in
a counterclockwise direction, the cleaning controller 241 may
control the auxiliary cleaning units 21 and 22 such that the
extension distance of the left auxiliary cleaning unit 22 is
reduced, and the extension distance of the right auxiliary cleaning
unit 21 is increased.
[0153] Thus, when the body 10 travels while bypassing an obstacle
in the form of a corner wall, it is possible to prevent the
auxiliary cleaning units 21 and 22 from striking the obstacle.
[0154] Even when there is a step on a bypass travel path of the
body 10, the same effect as in the above case may be obtained. In
particular, even when the step is not disposed on a travel path of
the body 10, there may be a possibility that the auxiliary cleaning
units 21 and 22 strike the step. In this case, accordingly, a
preceding one of the auxiliary cleaning units 21 and 22 in a
rotation direction of the body 10, for example, the auxiliary
cleaning unit 22, is controlled to be previously retracted. In this
case, in order to allow the auxiliary cleaning unit 21 following
the auxiliary cleaning unit 22 in the rotation direction of the
body 10 to be naturally retracted, electric power supplied to the
arm motor of the auxiliary cleaning unit 21 may be reduced.
Alternatively, spring structures may be employed for respective
auxiliary cleaning units 21 and 22.
[0155] Meanwhile, when the body 10 performs bypass travel to bypass
an obstacle in the form of a corner wall, the travel controller 242
may perform a control operation to reduce the travel speed of the
body 10 while increasing the rotation speed of the auxiliary
cleaning tool 110. When the travel speed of the body 10 is reduced,
the cleaning time for a corner wall is increased. When the rotation
speed of the auxiliary cleaning tool 110 is increased, the number
of times to sweep dust at a corner wall area is increased.
Accordingly, there is an effect of enhancing cleaning efficiency
for a corner wall area.
[0156] FIGS. 22 to 24 are views schematically illustrating
operation of the robot cleaner according to another embodiment of
the present disclosure.
[0157] Referring to FIGS. 22 to 24, the cleaning controller 241
controls extension or retraction of the auxiliary cleaning units 21
and 22 in accordance with a cleaning mode of the body 10.
[0158] In an automatic cleaning mode, when an obstacle approaching
the body 10 is sensed, the cleaning controller 241 performs a
control operation to extend the auxiliary cleaning units 21 and 22.
When the robot cleaner 1 starts a cleaning operation in accordance
with the automatic cleaning mode, the cleaning controller 241 also
performs a control operation to prevent the auxiliary cleaning
units 21 and 22 from extending for a predetermined time.
[0159] In a return mode, the charging controller 243 performs a
control operation to return the body 10 to the charger 80. The
cleaning controller 241 performs a control operation to prevent the
auxiliary cleaning units 21 and 22 from extending while the body 10
returns to the charger 80. Alternatively, the cleaning controller
241 may perform a control operation to prevent the auxiliary
cleaning units 21 and 22 from extending when it is determined that
an obstacle sensed while the body 10 returns to the charger 80 in
the return mode is the charger 10.
[0160] When the robot cleaner 1 travels to return to the charger 80
after completing cleaning, it is unnecessary to extend the
auxiliary cleaning units 21 and 22, for cleaning. When the
auxiliary cleaning units 21 and 22 are in an extended state, they
may interfere with docking of the body 10 with the charger 80.
[0161] Meanwhile, a signal transmitter 81 to transmit a
discriminating signal is installed at the charger 80 in order to
enable the cleaning controller 241 to discriminate the charger 80
from obstacles.
[0162] The discriminating signal may be an infrared signal 82
transmitted from the signal transmitter 81 to enable the robot
cleaner 1 to trace the position of the charger 80 or to dock with
the charger 80, as shown in FIG. 22. In this case, the infrared
signal 82 may be transmitted from the charger 80 in a radial manner
or in a straight manner. When the infrared signal 82 is transmitted
from the charger 80 in a radial manner, it may be divided into a
low-power signal and a high-power signal, to form two different
signal zones. For example, the low-power signal may form a signal
zone enabling tracing of the position of the charger 80, and the
high-power signal may form a signal zone enabling docking with the
charger 80 during tracing of the position of the charger 80.
[0163] The signal sensing unit 230 senses the infrared signal 82
transmitted from the charger 80. When the infrared signal 82 is
sensed, the cleaning controller 241 determines that the charger 80
is disposed in front of the body 10, and then performs a control
operation to prevent the auxiliary cleaning units 21 and 22 from
extending until the body 10 docks with the charger 80.
[0164] Alternatively, the discriminating signal may be a
short-range radio frequency (RF) signal transmitted from the
charger 80. In this case, as shown in FIG. 23, an RF signal zone 83
is formed around the charger 80. When the body 10 enters the RF
signal zone 83, the signal sensing unit 230 may sense the
short-range RF signal transmitted from the charger 80. Upon sensing
the short-range RF signal, the cleaning controller 241 determines
that the charger 80 is disposed around the body 10, and then
performs a control operation to prevent the auxiliary cleaning
units 21 and 22 from extending until the body 10 docks with the
charger 80.
[0165] Also, the discriminating signal may be a magnetic field
signal formed around the charger 80. For example, when a magnetic
belt 84 is installed at the charger 80 such that it surrounds a
front surface, lateral surfaces, overall surface or one surface of
the charger 80, a magnetic field zone 85 may be formed around the
charger 80 by the magnetic belt 84. Of course, the magnetic belt 84
may have a shape other than a belt shape.
[0166] The signal sensing unit 230 senses the magnetic field formed
around the charger 80. When the magnetic field is sensed, the
cleaning controller 241 determined that the charger 80 is disposed
around the body 10, and then performs a control operation to
prevent the auxiliary cleaning units 21 and 22 from extending until
the body 10 docks with the charger 80.
[0167] The cleaning controller 241 also performs the control
operation to prevent the auxiliary cleaning units 21 and 22 from
extending in a charging mode, in which the body 10 performs a
charging operation, in a charging completion mode, in which the
charging operation of the body 10 is completed, and the charging
stop mode, in which supply of electric power to the charger 80 is
stopped during the charging operation of the body 10.
[0168] The above-described operations of the robot cleaner 1 may be
applied to the exhaust station to exhaust dust collected in the
robot cleaner 1 in the same manner as applied to the charger
80.
[0169] Meanwhile, although the auxiliary cleaning units 21 and 22
of the robot cleaner 1 have been described as being coupled to left
and light sides of the body 10 in the above-described embodiments
of the present disclosure, there is no limitation as to the number
of auxiliary cleaning units and the installation positions of
auxiliary cleaning units.
[0170] As apparent from the above description, in accordance with
one aspect of the present disclosure, it may be possible to adjust
an extension or retraction degree of each auxiliary cleaning unit
when an obstacle is sensed. Accordingly, it may be possible to
prevent the auxiliary cleaning unit from striking an obstacle, and
to enhance cleaning efficiency for an area disposed adjacent to a
wall, etc. In accordance with another aspect of the present
disclosure, it may be possible to control extension or retraction
of each auxiliary cleaning unit in accordance with the shape of an
obstacle. Accordingly, in this case, it may be possible to reduce
the cleaning time of the robot cleaner, and to further enhance
cleaning efficiency for an area disposed adjacent to a wall, etc.
In accordance with another aspect of the present disclosure, it may
be possible to control extension or retraction of each auxiliary
cleaning unit in accordance with a travel direction of the body of
the robot cleaner. In this case, accordingly, the robot cleaner may
travel without striking an obstacle even when it performs
obstacle-bypassing travel. In accordance with another aspect of the
present disclosure, it may be possible to control extension or
retraction of each auxiliary cleaning unit in accordance with a
cleaning mode. Accordingly, in this case, the robot cleaner may
rapidly return to the charger or exhaust station. Also, the robot
cleaner may determine the charger or exhaust station as an
obstacle, thereby preventing the auxiliary cleaning unit from
striking the charger or exhaust station.
[0171] Although a few embodiments of the present disclosure have
been shown and described, it would be appreciated by those skilled
in the art that changes may be made in these embodiments without
departing from the principles and spirit of the disclosure, the
scope of which is defined in the claims and their equivalents.
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