Robot cleaner system having external recharging apparatus and method for docking robot cleaner with external recharging apparatus

A robot cleaner system, comprising:

• an external recharging apparatus comprising,
• a power terminal connected to a utility power supply,
• a terminal block having the power terminal installed thereon, being disposed stationary in a predetermined location, and
• a recharging apparatus recognition mark formed on a bottom ahead of the terminal block;
• a robot cleaner comprising,
• a recognition mark sensor formed on a bottom of a robot cleaner body to detect the recharging apparatus recognition mark,
• a driving unit for moving the robot cleaner body,
• an upper camera mounted on the robot cleaner body to capture images of a ceiling,
• a bumper mounted on an outer circumference of the robot cleaner body, to output a collision signal when the robot cleaner collides with an obstacle,
• a recharging terminal mounted on the bumper, connectible with the power terminal,
• a rechargeable battery mounted on the robot cleaner body, recharged with a power fed through the recharging terminal, and
• a control unit, upon a reception of a recharging command, detecting the recharging apparatus recognition mark by using the recognition mark sensor, and controlling the driving unit to connect to the external recharging apparatus.

A robot cleaner system, comprising:

• a power terminal connected to a utility power supply;
• an external recharging apparatus having the power terminal installed thereon, and a terminal block secured in a predetermined position;
• a recharging apparatus recognition mark formed on a side of the power terminal in a front of the terminal block;
• and
• a robot cleaner comprising,
• a recognition mark sensor disposed on a body of the robot cleaner to detect the recharging apparatus recognition mark,
• a driving portion for driving the body of the robot cleaner,
• an upper camera mounted on the body of the robot cleaner to take images of ceiling,
• a bumper mounted on an outer circumference of the body of the robot cleaner to output a collision signal in the case of collision with an obstacle,
• a recharging terminal formed on the bumper in a connectible manner with the power terminal,
• a rechargeable battery mounted on the body of the robot cleaner, charged with electricity through the recharging terminal, and
• a control unit, upon reception of a recharging command, for detecting the recharging apparatus recognition mark by using the recognition mark sensor and controlling the driving portion, docking the robot cleaner into the external recharging apparatus.

A robot cleaner system, comprising:

• an external recharging apparatus connected to a utility power supply;
• a robot cleaner comprising,
• a body,
• a driving portion for driving a plurality of wheels formed at a lower portion of the body,
• an upper camera mounted on an upper portion of the body to take images of a ceiling in perpendicular relation with respect to an advancing direction of the robot cleaner, and
• a remote controller for wirelessly controlling the robot cleaner,
• a recharging apparatus recognition mark formed on the external recharging apparatus;
• and
• a recognition mark sensor mounted on the body of the robot cleaner to detect the recharging apparatus recognition mark, wherein the remote controller detects the recharging apparatus recognition mark by using the recognition mark sensor, and then controls the driving portion so that the robot cleaner docks into the external recharging apparatus for charging of a rechargeable battery.

A docking method of a robot cleaner for docking with an external recharging apparatus, comprising the steps of:

• the robot cleaner running off from a connection with the external recharging apparatus upon reception of a work start signal, the robot cleaner, upon detecting of a first location recognition mark through an upper camera during running, storing an upper image where the first location recognition mark is first detected as an entry spot information;
• the robot cleaner performing an assigned job;
• upon input of a recharge command signal, the robot cleaner returning to an entry spot by using a current location information and the stored entry spot information, the current location information calculated from the upper images captured by the upper camera;
• detecting the external recharging apparatus by detecting through a sensor on a robot cleaner body a recharging apparatus recognition mark;
• the robot cleaner connecting to a power terminal of the external recharging apparatus by a recharging terminal thereof;
• and
• recharging a rechargeable battery with an external power through the recharging terminal.