External recharging device robot cleaner

SWEDEN (12) PATENT WRITING (13) C2 (11) 525 628

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(19) SE ₍₅₁₎

International class ⁷

A47L 9/00, 11/40

PATENT AND REGISTRATION (45) (41) (22) (24) (62) (86) (86)

Patent filed Application widely available The patent application was submitted on expiration date

Tribal application number (83)

International filing day Filing date for European patent application Deposit of microorganism

2005-03-22

2004-02-16

2004-02-16

2002-04-16

0201127-8 (21) Patent Application Number 0400326-5

Application received as:

Swedish patent application completed international patent application with number □ converted European patent application with number (30)

2001-04-18 KR 01-20753 2001-08-06 KR 01-47287

2001-08-06 KR 01-47288 (73) (72) (74) (54) (56) (57)

LICENSORS Samsung Gwangju Electronics Co., Ltd., 271 Oseon-dong Gwangsangu Gwangju City

INVENTOR Jeong-gon Song, Gwangju City KR Jang-youn Ko, Gwangju City KR Kwang-su Kim, Gwangju City KR

OMBUD Awapatent i Linköping AB

NAME External charging device for charging a cleaning robot

CALLED PUBLICATIONS: - - SUMMARY:

An external charging device (30) for charging a cleaning robot (10) is shown in which the external charging device is designed to communicate wirelessly with the cleaning robot while the cleaning robot is performing a cleaning operation. The cleaning robot has a camera (13, 14) for photographing external environments. The external charging device (30) comprises: a body on which a power supply connection (35) is installed for connecting to a charging connection (31) for a battery in the cleaning robot, a control member (36, 38) formed at a particular location on the body ( 33) so that it can be photographed by the cleaning robot's camera (13, 14) and a charging position controlling mark (37, 39) formed at a certain position on the control member to be photographed by the cleaning robot's camera (13, 14).

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The numbers in parentheses indicate the INID code.

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SUMMARY

An external charging device (30) for charging a cleaning robot (10) is shown in which the external charging device is designed to communicate wirelessly with the cleaning robot while the cleaning robot is performing a cleaning operation. The cleaning robot has a camera (13, 14) for photographing external environments. The external charging device (30) comprises: a body on which a power supply connection (35) is installed for connecting to a charging connection (31) for a battery in the cleaning robot, a control member (36, 38) formed at a particular location on the body ( 33) so that it can be photographed by the cleaning robot's camera (13, 14) and a charging position controlling mark (37, 39) formed at a certain position on the control member to be photographed by the cleaning robot's camera (13, 14).

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Technical area

The present invention relates to an external charging device for charging a cleaning robot.

Description of prior art

Normally, a cleaning robot sucks dust or foreign matter from a cleaning surface and thus performs a cleaning operation while it is automatically traveling on a cleaning area without the influence of a user.

Since the cleaning robot regularly checks the location and measures distances to obstacles such as furniture, office appliances and wall, the cleaning robot can clean the cleaning area under control not to collide with any of the obstacles.

Such a cleaning robot is equipped with a battery, which supplies electricity necessary for the operation of the cleaning robot. The battery is rechargeable with an external charging device.

Accordingly, when the battery needs recharging, the cleaning robot must automatically locate the external charging device to return to the external charging device for charging.

For this purpose, the cleaning robot usually uses a high frequency signal received from the external charging device to detect the location of the external charging device.

However, this way has some shortcomings in that the level of the high frequency signal can be varied by external factors such as reflective waves and interference waves, and with level variation of the high frequency signal, the cleaning robot could not find

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the exact location necessary to dock with the external charging device.

SUMMARY OF THE INVENTION The present invention has been made to overcome the aforementioned problems or deficiencies in the prior art, and consequently, it is an object of the present invention to provide an external charging device for easy access and reconnection of the cleaning robot to the external charging device.

The invention is defined by the appended independent claim. Embodiments of the invention will be apparent from the appended independent claims and from the following description.

The above object is achieved with an external charging device for charging a cleaning robot. The charging device is distinguished by the fact that the external charging device is designed to communicate wirelessly with the cleaning robot while the cleaning robot performs a cleaning operation, the cleaning robot having a camera for photographing external surroundings. The external charging device comprises a body on which a power supply connection is installed for connection to a battery charge connection in the cleaning robot, a control part formed at a particular location on the body so that it can be photographed by the cleaning robot's camera and a charging position controlling mark formed at a certain position. on the control part to be photographed by the cleaning robot's camera.

Preferably, the external charging device includes a seat portion in which a groove is provided for receiving part of the wheels of the cleaning robot in a position where a charging connection for the cleaning robot is connected to the power supply connection.

The guide portion forms the seat portion to a predetermined height parallel to the seat portion, and has the loading site guide mark formed on a bottom surface thereof.

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Further, the external charging device in accordance with the present invention may include a guide wall extending from the seat portion to a predetermined height, for moving forward or backward of the cleaning robot into or from the seat portion. The guiding portion and the loading site guide mark are drawn with a predetermined length corresponding to a distance from the guide wall to the seat portion for photographing the cleaning robot's camera.

The charge position controlling mark may be drawn in a linear pattern of predetermined length.

In accordance with another aspect of the present invention, the guide member may be formed on the body in a vertical relation to the body with a predetermined height, and the charge site control mark is formed on the guide member, in a position where the control mark can be photographed by one of the cleaning robot's front camera.

The control portion may be formed in a position facing the front camera of the cleaning robot where it is located on the seat portion of the cleaning robot.

Brief description of the drawings

The foregoing objects and advantages of the present invention will become more apparent from the following description of a preferred embodiment of the present invention.

FIG. 1 is a perspective view showing a cleaning robot from which a housing has been removed.

FIG. 2 is a block diagram showing a cleaning robot system in which the cleaning robot of FIG. 1 is used.

FIG. 3 is a block diagram of a central controller of FIG. 2nd

FIG. 4 is a perspective view showing an example in which an external charging device charges the cleaning robot of FIG. 1st

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FIG. 5 is a perspective view showing an external charging device in accordance with one embodiment of the present invention.

FIG. 6 is a perspective view of an external charging device in accordance with a further embodiment of the present invention.

FIG. 7 is a flowchart for explaining a process in which the cleaning robot returns to the external charging device.

Detailed description of embodiments

From now on, the present invention will be described in greater detail with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a cleaning robot from which a housing has been removed, and FIG. 2 is a block diagram showing the cleaning robot system at which the cleaning robot of FIG. 1 is used.

Referring to the drawings, the cleaning robot 10 includes a vacuum-sucking part 11, a sensor part 12, a front camera 13, an upper camera 14, a driving part 15, a transmission part 17, a control part 18 and a battery.

19.

The dust collecting part 11 is formed on a body 10a of the cleaning robot so that dust is drawn in from an opposite area of ​​the floor with the air suction process. The vacuum-sucking part 11 can be constructed in generally known ways. For example, the dust collecting part 11 may have a suction motor (not shown) and a dust chamber which collects the dust which is sucked through a suction pipe opposite formed with respect to the floor by driving the suction motor.

The sensor portion 12 includes obstacle sensors 12a located on the body surface at predetermined intervals from each other to send and receive signals, and a punch sensor 12b measuring a traveled distance.

Each obstacle sensor 12a includes an infrared light-emitting element 12a1 that emits an infrared ray of light, and a plurality of light-receiving elements

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which receives reflected rays. The many light receiving elements are arranged along an outer periphery of the obstacle sensor 12a in a vertical pattern. Alternatively, the obstacle sensor 12a may be formed by an ultrasonic sensor which emits ultrasonic waves and receives the reflected waves. The obstacle sensor 12a can be used to measure the distance to the wall.

The distance sensor 12b can be formed by a rotation detecting sensor which detects the number of turns of the wheels 15a to 15d. For example, the rotation detecting sensor may be an encoder that detects the number of turns for the motors 15e and 15f.

The front camera 13 is installed on the body 10a to photograph objects forward and output the photographed image to the control member 18.

Alternatively, a panning or tilting camera can also be used to photograph objects forward and above.

The driving member 15 includes a pair of front wheels

15a and 15b installed on the two front sides, a pair of rear wheel pairs 15c and 15d installed on the two rear sides, a pair of motors 15e and 15f rotating the rear auxiliary pairs 15c and 15d and a timing belt 15g transmitting the driving force generated from the rear the wheels 15c and 15d to the front wheels 15a and 15b. According to the control signal from the controlling part 18, the driving part 15 drives a motor 15e in a certain direction and the other motor 15f in the opposite direction. Rotation in the:. opposite directions can be achieved by driving. The motors 15e and 15f have different speeds (RPM).

. Alternatively, that is, instead of the wheels, can * · *. the driving member 15 is constructed as a belt or larval type.

·· a: The transmitting portion 17 transmits data to an antenna 17a, receives signals from the antenna 17a and transmits the received signal to the controlling portion 18.

The battery 19 is installed on the body 10a so that it can be charged by an external charging device 30 through a

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ο ζ. υ Ο ζ. ο battery charging terminal or terminal (not shown). The battery charging terminal is installed on the outer surface of the body 10a so that the battery charging terminal is connected to and separated from the external charging device 30.

A battery charge level sensing portion 20 detects the charge level in the battery 19, and emits a signal for the charge request when detecting a result indicating the lower charge level.

The external charging device 30 is designed to provide electricity through a power line connectable to a conventional AC power source and then supply the supplied electricity to the cleaning robot 10 through the power supply terminals.

FIG. 4 shows an example of the external charging device 30.

As shown in FIG. 4, the external charging device 30 has a seat portion 33 formed on the body thereof. The cleaning robot 10 is located on the seat portion 33.

The seat portion 33 has an open forward portion through which the cleaning robot runs in and out. Also, grooves 34 are formed in the seat portion 33 to partially receive the wheels of the cleaning robot 10. The grooves 34 correspond to the placement of the wheels 15 on the cleaning robot with a normal seat location.

The power supply terminals are formed in a rear wall of the seat part 33 so that when the cleaning robot 10 is placed in a normal position, the power supply terminals are connected to the charging terminal of the battery 19 in the cleaning robot 10.

The power supply terminal 31 is connected to the power line 35 through an internal voltage transformer and power cable. The internal voltage transformer, can be omitted.

FIG. 5 shows another example of the external charging device 30 designed for easier location of that charging location and simpler

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Here, the elements are designed with the same reference number as the previous drawings.

Referring to FIG. 5, the external charging device 30 includes an upper guide portion 36, spaced from the seat portion 33 by a predetermined distance in a parallel relationship thereto.

Further, guide walls 32 extend forwardly from the side walls of seat portion 33 such that the guide walls

32 slopes outward, gradually increasing the opening width to allow easier advance of the cleaning robot 10 into the seat portion 33.

Supported by and spaced upwardly from the seat portion 33 by a predetermined distance parallel to the seat portion 33, the guide portion 36 is in the form of the letter 'L'.

To enable the top camera 14 of the cleaning robot 10 to photograph from the guide walls 32 to the seat portion 33, the horizontal portion of the guide portion 36 extends parallel to the seat portion 33 from a position corresponding to the seat portion 33 to a position corresponding to the guide walls 32.

An upper charge position control mark is formed on the bottom surface of the guiding portion 36 in a linear fashion for easy recognition during the initial engraving of the upper camera 14. The upper charge position control mark assists in guiding the cleaning robot 10 during its advance into the seat portion 33. The upper control mark is indistinguishably colored from the rest of the base of the control portion 36:. so that the upper guide mark 37 can be distinguished from the other parts during image processing. For example, the control mark 37 can be colored black, while the rest of the area is colored white.

• · · * · FIG. 6 is a perspective view showing an external charging device. Here, like elements are designated by the same reference number as in previous figures.

: ***: Referring to FIG. 6, includes the external ·· · • j. charging device 30 a vertical guide portion 38 vertically. formed on one side of the seat portion 33.

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The vertical guide portion 38 projects from the seat portion 33 to a predetermined height where the vertical guide portion 38 faces the front camera 13 of the cleaning robot 10 as located on the seat portion 33.

The vertical control portion 38 is at a height higher than the front camera 13 of the cleaning robot 10 located on the seat portion 33.

For easier recognition of the image during shooting with front camera 13 and also for easier determination of the cleaning robot 10's relation to the charge position, a circular charge position control mark 39 is formed near the center of the vertical control portion 38.

The charge position control mark 39 and the rest of the vertical control part 38 are differently colored.

The controller 18 processes the signal received through the transmitting portion 17 and controls the respective elements. If there is a key input device (not shown) on the body 10a with a plurality of keys to set various functions for the respective devices, the controlling portion 18 processes key signals input through the key input device.

When the cleaning robot 10 is out of operation, the control member 18 controls the respective elements so that the cleaning robot 10 can be in standby mode while it is connected to and charged by the external charging device 30. By connecting the cleaning robot 10 to the external charging device 30 when not working, the battery 19 maintains a certain charge level.

When a work start signal is received, the control portion 18 is connected to the external charging device 30, storing in the memory device 16 the images of objects above the external charging device 30 photographed with the upper camera 14 and / or images of objects in front of the external charging device 30 photographed with the front camera. 13th

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That is, when the external charging device of FIG. 4 or FIG. 5 is used, the control portion 18 stores the images of equipment or ornaments above, or the images of the upper charge position mark 37, all taken with camera

14.

Using the external charging device of FIG. 6, the control portion 18 of the memory device 16 stores the images of the circular charge position control mark 39 taken by the front camera 13 facing the charge position 10 control mark 39 when the cleaning robot 10 is connected to the external charging device 30 and / or when the cleaning robot 10 has withdrawn from the external charging device. 30 at a predetermined distance.

The work start signal is for cleaning work or monitoring work with the cameras 12 and 14.

When the cleaning robot 10 returns to the external charging device 30, the control portion 18 compares the current images taken with the upper camera 14 and / or the front camera 13 with the stored images of the charge position for determining the charge position, and consequently controls the driving part 15 so that the cleaning robot 10 can dock with the external charging device 30.

That is, when the cleaning robot 10 returns to the external charging device 30, the controlling member 18 recognizes the distance and the direction of the cleaning robot 10 relative to the external charging device 30 by comparing the stored images above and / or in front of the external charging device 30 with the newly taken the image above and / or in front of the cleaning robot 10. Accordingly, the control member 18 controls the driving member 15 so that the cleaning robot 10 can return from the current position to the destination, for example to the external charging device 30, when traveling on the path to the destination, the controlling member 18 controls the driving member 15 based on the information about the current position obtained by the running distance measured by the encoder and by

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comparing the newly captured images above and / or images in front with stored images, so that the cleaning robot 10 can track the path to the destination.

In the examples described above, the control portion 18 directly photographs and stores the images above and / or in front of the external charging device 30, and the cleaning robot 10 returns to the external charging device 30 using the stored images and the current images.

In another aspect, in order to reduce the image processing load of the cleaning robot 10, a cleaning robot system is set up to externally handle processes for the return of the cleaning robot 10 such as storage / analysis of the images above and / or the images in front of it.

Accordingly, the cleaning robot 10 is designed to wirelessly transmit images photographed with the cameras 13 and 14 and operate in accordance with control signals wirelessly received from outside. Also, a remote control 40 is provided for wirelessly controlling the cleaning robot 10 in processes such as operating control, return to the charging device 30, or the like.

The remote control 40 includes a wireless relay 41 and a central control unit 50.

The wireless relay 41 processes wireless signals received from the cleaning robot 10 and then transmits the processing signal to the central controller 50 through a line. Then, the wireless relay 41 wirelessly transmits the signal received from the central controller 50 to the cleaning robot 41 through the antenna

42.

A normal computer can serve as the central controller 50, as shown in FIG. 3. As shown in FIG. 3, the central control unit 50 includes a central unit (CPU, 51), a read-only memory (ROM, 52), a direct memory (RAM, 53), a display unit 54, an input unit 55, a memory 56 and a communication device 57.

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The memory 56 has a cleaning robot control 56a which controls the cleaning root 10 and also processes signals transmitted from the cleaning root 10.

When enabled, the cleaning robot control 56a provides a menu on the display unit 54 for a user's settings of the control of the cleaning robot control. When a user makes a selection from the menu, the cleaning robot control 56a operates so that the cleaning robot 10 can perform the task selected by the user. Preferably, the menu is divided into large categories such as cleaning operations and control operations, and the large categories are provided with submenu menus which provide a variety of menus supported by the apparatus used such as target area menu, mode of operation, or the like.

When a work start signal is input to the cleaning root at a predetermined time by input device 55, from the cleaning rooter 10, the control 56a receives and stores in memory 56 the images of the external charging device 30 taken with the upper camera 14 and / or images above and / or images. in front of the external charging device 30 taken with the front camera 13 of the cleaning robot 10 during operation, connected to the external charging device 30. After that, the control 56a controls the cleaning root 10 so that the cleaning robot 10 can perform an ordered task as ordered. According to control information received from the control 56a through the wireless relay 41, the control portion 18 of the cleaning robot 10 controls the driving portion 15 and / or vacuuming portion 11, and transmits the images above the cleaning robot 10 taken by camera 14 and / or the images in front of the cleaning robot 10 taken by front camera 13 to the central controller 50 through the wireless relay 41.

Upon receiving a battery charge request signal from the cleaning robot 10, or if the work is determined to be completed, the control 56a controls the cleaning robot 10 so that the cleaning robot 10 can return to the external charging device 30. During the operation, compare

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the control 56a images above and / or in front of the external charging device 30 stored in memory 56 with the current image above and / or in front of the cleaning robot 10 taken with the upper camera 14 and / or the front camera 13 and transmits, tracks a path to the external charging device 30, and guides the cleaning robot 10 back to the exact location of the external charging device 30.

The process of tracing a path to the external charging device 30 is described in more detail below with reference to FIG. 7th

In the description below, the initial state of the cleaning robot 10 is readiness, connected to the external charging device 30.

First, it is determined whether or not the work start signal has been received (step S100).

In determining that the work-starting signal is received, the images are photographed by the charging location and stored for use when the cleaning robot 10 needs to recognize the position of the external charging device 30 (step S110).

Here, 'images of charge position' are images above and / or in front of the external charging device 30 taken when the cleaning robot 10 is connected to the external charging device 30. When using the external charging device of FIG. 5 and 6, the images of the upper guide mark 37 or the circular guide mark 39 serve as pictures of the charging position.

When the shooting and storing of the images from the charging position is complete, the work ordered (step S120) is performed. That is, when the cleaning operation is ordered, the cleaning robot 10 is thus driven and separated from the connection to the external charging device 30 and traveling on a predetermined path.

During the movement of the cleaning robot 10, the vacuum cleaner part 11 of the cleaning robot 10, sucking in foreign matter, is driven from the cleaning surface. If registration work is ordered, the cleaning robot 10 is operated and separated

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from the connection to the external charging device 30 to a recording destination, photographs the target objects with the cameras 13 and 14, and transmits or stores the photographs.

Then, determine if the work has been completed or not (step S130).

When it is determined that the work is not completed in S130, it is determined whether recharging is necessary or not (step S140).

When it is determined that the work has been completed, or recharging is needed, the return process is performed to the charging position.

Upon return, for example, a return path, the distance, and the direction of the external charging device 30 are calculated, using path information for the movement of the cleaning robot 10 which is measured since the separation of the cleaning robot 10 from the external charging device 30 and / or images around the cleaning robot 10. are removed by the cameras 13 and 14 and then stored the separation of the cleaning robot 10 from the external charging device 30. Then, in accordance with the calculated path information for the movement of the cleaning robot 10, controls the driving portion 15 for return to the external charging device 30.

During the separation and return of cleaning robot 10 from / to external charging device 30, it is preferable to determine the position using information obtained and recognized by comparing the travel distance measured by the encoder, current images taken with cameras 13 and 14 and stored images.

During the process where the cleaning robot 10 returns to the external charging device 30, it is determined whether or not the stored images from the charging device position are captured by the cameras 13 and 14 (step S160). Specifically, it is determined whether the images taken by the upper camera 14 or the front camera 13 include the images above the charging device or images of the charge position control marks 37 and 39, in whole or in part.

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When it is determined that the current image does not contain the images of the charging position, the return path of the cleaning robot 10 is adjusted to the charging position (step S170).

The return path adjustments include methods such as turning or forward movement of the cleaning robot 10 at a predetermined angle or distance.

Until the image of the charging position is included in the current image, the steps from S150 to 170 are repeated.

When it is determined that the image of the charge position is included in the current image after the aforementioned process, the cleaning robot 10 is connected to the external charging device 30 (step S180).

The following are examples of using the external charging device 30 of FIG. 4 or FIG. 5. In this case, when the stored images above the external charging device 30 or the upper control mark 37 are captured and photographed by the upper camera 14 in S160, the cleaning robot 10 is advanced into the seat position 33 based on the image information from the images above the external charging device 30 or the upper guide mark 37. In particular, when a cleaning robot 10 almost reaches the external charging device 30 and thus some parts of the image above the external charging device 30 or the upper control mark 37 stored in the upper camera 14 are captured, the cleaning robot 10 advances into the seat part 33 of the external charging device 30 during adjusting its trajectory based on information about the positions of the control marks on a screen that is currently photo30 graphed. Accordingly, the upper image or the upper guide mark 37 can detect a predetermined path on the screen.

The following are cases when the external charging device 30 of FIG. 6 is used. In this case, when the charge position control mark 37 is captured by the front camera 13 in S160, the connection of the cleaning robot 10 to the external charging device 30 is based on the image information of the control mark 37 in S180 to be described below. That is, the photograph of the current charge position

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circular control mark 39 is compared to the stored image of the cleaning position control mark 39 in size, angle deviation and position on the screen, and the cleaning robot 10 returns to the charging position along a return path that matches the current image of the circular control mark 39 with the stored image of the circular control mark 39 (step S180).

When the image of the charge position is captured by camera 13, based on the position information on the screen of the recently loaded position image, the forward movement and positioning of the cleaning robot 10 into the seat portion 33 can be carried out with ease, and with the decrease of the frequency docking error.

As described above, with the cleaning robot 10, a system therewith and a method for finding a path to the external charging device 30, the cleaning robot 10, which was separated from the external charging device 30, can return to the external charging device 30 using the previously stored the pictures of the charging position and the pictures of the current position taken with the camera when the cleaning robot 10 has completed its cleaning work or needs to be charged. Accordingly, an error rate in recognition of the position, which often occurs due to external interfering signals, can be reduced, and also, errors in tracking a path to the charging device and connecting the cleaning robot 10 to the external charging device 30 can be reduced.

The above objects are accomplished with a cleaning robot for performing work during wireless communication with an external device in, including a driving part for driving a plurality of wheels, at least one camera installed on the body of the cleaning robot, the camera for photographing external environments, and a controller for photographing an image through a camera to recognize a connection location where the external charging device is connected to the cleaning robot and storing the photographed image, and to control it.

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<img file="SE525628C2_D0017.tif" />

the driving member so that the cleaning robot can move from the external charging device to a destination when a work start signal is received in the cleaning robot connected to the external charging device; and to trace a path to the connection location of the external charging device and the cleaning robot during the return of a cleaning robot to the external charging unit, comparing a current image currently taken by the camera with a stored image of the connection location of the cleaning robot and the external charging device.

The camera includes an upper camera mounted on the cleaning robot's body to photograph an object vertically above the cleaning robot for a direction of travel. The controller receives an image above the external charging device from the top camera of the cleaning robot connected to the external charging device, to photograph the image and store the received image as the image of the connection location, and trace a path to the external charging device when the cleaning robot recovers external charging device by comparing the image taken by the upper camera with the stored image of the connection location.

Preferably, the cleaning robot comprises an energy level detecting member for sensing the energy level of a battery mounted on the body in a removable manner with respect to the external charging device. The controller interrupts the work when it receives a recharge request signal from the energy level sensing portion, and controls the driving portion so that the cleaning robot can return to the external recharge device.

The cleaning robot further comprises a front camera mounted on the body of the cleaning robot to photograph an image in front of the cleaning robot in the direction of travel, and the controller receives the front image in front of the external charging device taken by the front camera and stores the received image as an image of the connection location for the

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525 628 • * · • · · · • ···· · · · ··· • »· • · · ·· ······ •« • «• ·· The cleaning robot and external charging device, and detects a path to the external charging device by comparing the image taken by the front camera with the stored image of the connection location of the cleaning robot and with the external charging device when the cleaning robot returns to the external charging device.

The above objects are also accomplished with a cleaning robot system, including a remote control wireless communicating with a cleaning robot having a driving portion consisting of a plurality of wheels and at least one camera positioned on a cleaning robot body for photographing external environments. The remote control receives an image from the camera for detecting a connection location for the cleaning robot and an external charging unit and stores the received image, and controls the driving portion so that the cleaning robot can move to a destination from the external charging device when a work start signal is received in the cleaning robot connected to it. charging device, and controlling the cleaning robot so that the cleaning robot can connect to the external charging device by comparing a current image taken by the camera with a stored image of the connection location of the cleaning robot and the external charging device.

Preferably, the remote control from the upper camera receives the image above the external charging device taken when the cleaning robot is connected to the external charging device, and stores the received image as the image of the connection point for charging.

It is also preferred that the remote control stops the cleaning robot upon receiving a recharge request signal generated by the energy level sensing portion and transmitted from the cleaning robot, and controls the driving portion so that the cleaning robot can return to the external recharging device.

Further, the above objects are also accomplished by a method of returning the cleaning robot to an external a · a · a · a · a

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PRUO^otO216M charging device in accordance with the present invention, including the steps; when a work start signal is received to the cleaning robot connected to the external charging device, photographing through a cleaning robot camera an image for recognizing the charging location, for the cleaning robot to recognize a connection location where the cleaning robot is connected to the external charging device; performing an assigned job by operating the cleaning robot; and when the cleaning robot needs to be recharged, or when an assigned work is completed, trace a path to the external charging device by comparing a current image just taken by the camera with the stored image for recognizing the charging location, and returning the cleaning robot to the external charging device.

The following paragraphs describe embodiments of a cleaning robot as well as a cleaning robot system:

A cleaning robot for performing a job during wireless communication with an external device may include:

a driving part for driving a plurality of wheels; at least one camera installed on the cleaning robot's body, the camera for photographing outside environments; and a controller for photographing an image through a camera for detecting a connection position where the external charging device is connected to the cleaning robot and storing the photographed image, the controller for controlling the driving portion so that the cleaning robot can be moved from the external charging device to a destination when a work start signal is received in the cleaning robot connected to the external charging device; the control unit for tracking a path to the connection position of the external charging device and the cleaning robot during a cleaning robot's return to the external charging device, comparing an actual image: 004-02-1-1 / li: iE V: No2r g am so 11 crilö AWOO PATENT LAW

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525 628 • ···· · · taken by the camera with a stored image of the connection position of the cleaning robot and the external charging device.

The cleaning robot may comprise an upper camera placed on the body of the cleaning robot for photographing an object vertically above the cleaning robot with respect to a direction of travel, and the controller receives an image above the external charging device from the upper camera of the cleaning robot connected to the external charging device. photograph the image and store the received image as the image of the connection position, and tracing a path to the external charging device when the cleaning robot returns to the external charging device by comparing the image taken by the upper camera with the stored image of the connection position.

The cleaning robot may further comprise: a charge level detecting portion for detecting the charge level of a battery mounted on the body in a removable manner with respect to the external charging device, wherein the controller interrupts the work upon receiving a charge request signal from the charge level detecting portion. so that the cleaning robot can return to the external charging device.

In the cleaning robot, the control unit can control the driving part so that the cleaning robot can return to the external charging device when the cleaning robot's work is completed.

The cleaning robot may further comprise a front camera mounted on the body of the cleaning robot to photograph an image in front of the cleaning robot in a travel direction, wherein the controller receives the front image of the external charging device taken by the front camera and stores the received image as an image of the connection position of the cleaning robot and the external ·· ··· ··· »·· · ··· ·· ·· · · · · · · · · · · · · ··· &lt;

525 628 and trace a path to the external charging device by comparing the image taken by the front camera with the stored image of the camera. the connection position of the cleaning robot and the external charging device 5 when the cleaning robot returns to the external charging device.

A cleaning robot system may include: a remote control wireless communicating with a cleaning robot, the cleaning robot having a driving portion 10 of a plurality of wheels and at least one camera mounted on a body of the cleaning robot for photographing external environments, the remote control receiving an image from the camera for recognizing a connection robot for cleaning and an external charging device and storing the received image, the remote control for controlling the driving member so that the cleaning robot can move to a destination from the external charging device when a work start signal is received in the cleaning robot connected to the external charging device; the remote control for controlling the cleaning robot so that the cleaning robot can connect to the external charging device by comparing a current image taken by the camera with a stored image of the connection position of the cleaning robot and the external charging device.

The cleaning robot system may further comprise an upper camera positioned on the body of the cleaning robot to photograph an image vertically above the cleaning robot with respect to a travel direction, wherein the remote control from the upper camera receives the image above the external charging device taken when the cleaning robot is connected to the external charging device. the received image as the image of the connection position for charging.

The cleaning robot system may further comprise a charge level detecting portion for detecting one

2004

1.

525 628 pHUOM-OSibM charge level in a battery mounted on the cleaning robot in a removable manner with respect to the external charging device, wherein the remote control stops the cleaning robot upon receiving a charge request signal generated at the charge level detecting portion and transmitted from the cleaning robot, the cleaning robot can return to the external charging device.

Furthermore, the cleaning robot system can be designed such that the remote control controls the cleaning robot when the cleaning robot finishes its work so that the cleaning robot can return to the external charging device.

A method for a cleaning robot to return to an external charging device may comprise the steps of:

a. When a work start signal is received to the cleaning robot connected to the external charging device, photography by a camera on the cleaning robot of an image for recognizing the charging position, for the cleaning robot's recognition of a position where the cleaning robot is connected to the external charging device;

b. perform an assigned job by operating the cleaning robot; and

c. when the cleaning robot needs a recharge, or when an assigned work is completed, trace a path to the external recharging device by comparing one. ... current image recently taken by the camera with the stored image for recognizing the charging position, and^:. return the cleaning robot to the external charge • · ·

the device.

• ·

In the method, in step (a), the cleaning robot, connected to the external charging device, can photo35 dig through the camera and store an image above the external ··· ···. the charging device for recognizing the charging position.

···· • ·»

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PRUME 02 · 16r • ·· • · ·· · ··· ··· ···· · ··

In the method, in step (a), the cleaning robot can photograph through the camera and store an image in front of the external charging device for recognizing the charging position.

Thus far, the preferred embodiments of the present invention have been illustrated and described. However, the present invention is not limited to the preferred embodiments described herein, and a person skilled in the art can modify the present invention without altering the idea of ​​the present invention according to the claims.

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