초록 ▼

A robot cleaner capable of returning to an external recharging device. The robot cleaner includes a driving portion for driving a plurality of wheels, at least one camera installed on a body of the robot cleaner, the camera for photographing external surroundings, and a controller for photographing

A robot cleaner capable of returning to an external recharging device. The robot cleaner includes a driving portion for driving a plurality of wheels, at least one camera installed on a body of the robot cleaner, the camera for photographing external surroundings, and a controller for photographing an image through a camera for recognition of a connection position where the external recharging device is connected with the robot cleaner and stores the photographed image, and controls the driving portion so that the robot cleaner can move from the external recharging device to a destination when an operation start signal is received in the robot cleaner connected to the external recharging device, and for tracing a path to the connection position of the external recharging device and the robot cleaner during a robot cleaner's return to the external recharging device while comparing a current image currently taken by the camera with a stored image of the connection position of the robot cleaner and the external recharging device. Returning of the robot cleaner is carried out when the robot cleaner, separated from the external recharging device, completes its job or needs a recharging, by using the previously stored image and an image currently taken by the camera. Accordingly, an error in the location process, mainly caused due to external interference signals, is decreased, and errors in tracing a path and connecting to the external recharging device can also be decreased.

대표청구항 ▼

1. A robot cleaning system comprising:a robot cleaner; andan external recharging device;wherein the robot cleaner comprises:a driving portion for driving a plurality of wheels;at least one camera installed on a body of the robot cleaner, the camera for photographing external surroundings;an obstacle

1. A robot cleaning system comprising:a robot cleaner; andan external recharging device;wherein the robot cleaner comprises:a driving portion for driving a plurality of wheels;at least one camera installed on a body of the robot cleaner, the camera for photographing external surroundings;an obstacle sensor;a distance sensor to measure a running distance of the robot cleaner; anda controller for photographing an image through the camera for a recognition of a connection position where the external recharging device is connected with the robot cleaner and storing the photographed image, wherein the controller is used for controlling the driving portion so that the robot cleaner can move from the external recharging device to a destination when an operation start signal is received in the robot cleaner connected to the external recharging device, wherein the controller is used for tracing a path to the connection position of the external recharging device and the robot cleaner during a robot cleaner's return to the external recharging device while comparing a current image currently taken by the camera with a stored image of the connection position of the robot cleaner and the external recharging device;wherein the external recharging device comprises:a body member;sidewalls coupled to the body member for forming a seated section in the body member for holding the robot cleaner; andguide members coupled to the body member for guiding the robot cleaner into the seated section of the body member, wherein the guide members comprises:an upper guide member coupled to the body member and positioned above the seated section;side guide members extending frontward from the sidewalls, wherein the side guides gradually increase an opening width for guiding the robot cleaner into the seated section of the body member; anda pair of wheel grooves formed in the seated section for positioning the robot cleaner in the seated section.2. The robot cleaner of claim 1, wherein the camera comprises an upper camera mounted on the body of the robot cleaner to photograph an object vertically above the robot cleaner with respect to a running direction, and the controller receives an image above the external recharging device from the upper camera on the robot cleaner that is connected to the external recharging device, to photograph the image and store the received image, as the image of the connection position, and traces a path to the external recharging device when the robot cleaner returns to the external recharging device by comparing the image taken by the upper camera with the stored image of the connection position.3. The robot cleaner of claim 1, further comprising a power level detect portion for detecting the power level of a battery that is mounted on the body in a removable manner with respect to the external recharging device, wherein the controller stops the job upon receipt of a recharging request signal from the power level detect portion, and controls the driving portion so that the robot cleaner can return to the external recharging device.4. The robot cleaner of claim 1, wherein the controller controls the driving portion so that the robot cleaner can return to the external recharging device when the robot cleaner completes a cleaning job.5. The robot cleaner of claim 1, further comprising a front camera mounted on the body of the robot cleaner to photograph an image in front of the robot cleaner in a running direction, wherein the controller receives the image in front of the external recharging device taken by the front camera and stores the received image as an image of connection position of the robot cleaner and the external recharging device, and traces a path to the external recharging device by comparing the image taken by the front camera with the stored image of the connection position of the robot cleaner and the external recharging device when the robot cleaner returns to the external recharging device.