# US 9,751,214 B2 · Apparatus for returning of robot and returning method thereof

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- Number: US 9,751,214 B2
- Document ID: US9751214B2
- Status: Granted
- Kind: B2
- Application number: 14/934,320
- Filed: 2015-11-06
- Published: 2016-08-11
- Granted: 2017-09-05
- Earliest claimed: 2015-02-06
- Assignees: Samsung Electronics Co., Ltd.
- Applicants: Samsung Electronics Co., Ltd.
- Inventors: Ji-min Kim; No-san Kwak; Shin Kim; Kyung-shik Roh; Soon-yong Park; Suk-june Yoon
- Web page: https://patentgrep.com/patent/US9751214B2

## CPC

- B60L 53/30: Constructional details of charging stations
- A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor}
- B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00)
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- B25J 9/1674: {characterised by safety, monitoring, diagnostic}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- B25J 11/0085: {Cleaning}
- B25J 19/005: {using batteries, e.g. as a back-up power source}
- B60L 53/60: Monitoring or controlling charging stations
- G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)}
- G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals}
- A47L 2201/022: Recharging of batteries
- A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection
- Y10S 901/01: Mobile robot
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

An apparatus for returning of robot and a returning method thereof are provided, in which the apparatus for returning of robot includes a signal transmitter which is disposed on a charging station and transmits a single front signal and a plurality of distance signals including first, second and third distance signals, a signal receiver which is disposed on the robot and includes a plurality of receiving sensors to receive any one among the single front signal and one among the plurality of distance signals, and a controller which calculates an angle of the charging station by using one among the received single front signal and the plurality of received distance signals and controls the driving so that the robot can return to the charging station by using the calculated angle of the charging station.

## Claims

### Claim 1

An apparatus for returning a robot to a charging station, the apparatus comprising:
a signal transmitter disposed on the charging station to transmit a plurality of signals to determine a distance of the robot from the charging station, the plurality of signals including a single narrow signal having a narrow transmission angle and a plurality of distance signals each having a wider transmission angle than the single narrow signal comprising a first distance signal, a second distance signal, and a third distance signal in which a respective transmission distance of the plurality of distance signals from the charging station consecutively increases;
a signal receiver disposed on the robot and comprising a plurality of receiving sensors to receive the plurality of signals;
at least one memory storing instructions; and
a controller including at least one processor that executes the instructions stored in the at least one memory to:
calculate an angle of the charging station with respect to the robot by using any among the single front signal and the plurality of distance signals as received, and
control a driving of the robot so that the robot returns to the charging station using the calculated angle with respect to the charging station,
wherein based on which ones of the plurality of signals are received by at least one among the plurality of receiving sensors, the controller controls the robot to:
drive away from the charging station when the first distance signal is received,
drive toward the charging station when the only distance signal received is the third distance signal,
perform a front-turn driving toward a direction corresponding to a preset angle based on a direction of the charging station with respect to the robot and searches for the single narrow signal when the only distance signal received is the second distance signal, and
drive toward the direction of the charging station and connect to the charging station when only the single narrow signal is received.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the plurality of receiving sensors are arranged on a boundary of the robot symmetrically from left to right with respect to a front of the robot.

### Claim 3 (depends on 2)

The apparatus of claim 2, wherein the plurality of receiving sensors have preset reception ranges.

### Claim 4 (depends on 2)

The apparatus of claim 2, wherein the plurality of receiving sensors are arranged on the boundary of the robot at equal intervals with respect to each other.

### Claim 5 (depends on 2)

The apparatus of claim 2, wherein the plurality of receiving sensors comprise a pair of front receiving sensors arranged in parallel on the front of the robot in which the reception ranges overlap with each other.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein, when a plurality of distance signals are received by some among the plurality of receiving sensors, a signal among the received plurality of distance signals having a smallest transmission angle and a distance is selected by the controller and the controller controls the robot according to the selected signal, and
when more than one of the plurality of distance signals and the single narrow signal are received by some among the plurality of receiving sensors, only the single narrow signal is selected by the controller and the controller controls the robot according to the selected single narrow signal.

### Claim 7

An apparatus for returning a robot to a charging station, the apparatus comprising:
a signal transmitter disposed on the charging station to transmit a plurality of signals to determine a distance of the robot from the charging station, the plurality of signals including a single narrow signal having a narrow transmission angle and a plurality of distance signals each having a wider transmission angle than the single narrow signal comprising a first distance signal, a second distance signal, and a third distance signal in which a respective transmission distance of the plurality of distance signals from the charging station consecutively increases;
a signal receiver disposed on the robot and comprising a plurality of receiving sensors to receive the plurality of signals;
at least one memory storing instructions; and
a controller including at least one processor that executes the instructions stored in the at least one memory to:
calculate an angle of the charging station with respect to the robot by using any among the single front signal and the plurality of distance signals as received, and
control a driving of the robot so that the robot returns to the charging station using the calculated angle with respect to the charging station,
wherein based on which ones of the plurality of signals are received by at least one among the plurality of receiving sensors, the controller controls the robot to:
drive away from the charging station when the first distance signal is received,
drive toward the charging station when the only distance signal received is the third distance signal,
perform a front-turn driving toward a direction corresponding to a preset angle based on a direction of the charging station with respect to the robot and searches for the single narrow signal when the only distance signal received is the second distance signal, and
drive toward the direction of the charging station and connect to the charging station when only the single narrow signal is received,
wherein the single narrow signal, the first distance signal, the second distance signal, and the third distance signal have different codes from each other,
the single narrow signal is transmitted from the center of the charging station toward the front of the apparatus, and
the first, the second and the third distance signals are each formed symmetrically from left to right of the apparatus with respect to the single narrow signal.

### Claim 8 (depends on 7)

The apparatus of claim 7, wherein the first distance signal and the second distance signal have different codes between the signals formed on one side and the signals formed on other side of the single narrow signal.

### Claim 9 (depends on 8)

The apparatus of claim 8, wherein the third distance signal comprises a transmission angle covering both sides of the charging station.

### Claim 10 (depends on 1)

The apparatus of claim 1, wherein the first to the third distance signals have overlapping areas with respect to each other, and
the controller selects the distance signal having the smallest transmission distance when at least two distance signals are received by at least one among the plurality of receiving sensors, selects the single narrow signal only when any one among the plurality of distance signals and the single narrow signal is received, and controls a driver of the robot according to the selected signal.

### Claim 11 (depends on 1)

The apparatus of claim 1, wherein the single narrow signal and the plurality of distance signals are infrared signals.

### Claim 12

A method for returning a robot to a charging station, the method comprising:
determining whether returning conditions are met according to at least one of a determined charging amount of a battery and a determined amount of dust obtained by the robot;
when the determined returning conditions are met, searching any one among a plurality of signals received by the charging station to determine a distance of the robot from the charging station, the plurality of signals transmitted from the charging station including a single narrow signal and a plurality of distance signals including a first distance signal, a second distance signal and a third distance signal in which a transmission distance of the plurality of distance signals from the charging station consecutively increases;
driving the robot away from the charging station when the first distance signal is received by at least one among a plurality of receiving sensors provided on the robot;
driving the robot toward the charging station when only the third distance signal of the plurality of distance signals is received by the at least one among a plurality of receiving sensors provided on the robot;
front-turn driving the robot toward a direction corresponding to a preset angle (θo) based on a direction of the charging station and searching for the single narrow signal when the second distance signal is received by the at least one among the plurality of receiving sensors; and
driving the robot toward the direction of the charging station and connecting the robot to the charging station when only the single narrow signal is received by the at least one among the plurality of receiving sensors.

### Claim 13 (depends on 12)

The method of claim 12, wherein the first distance signal, the second distance signal, and the third distance signal have overlapping areas with respect to each other,
the distance signal of the plurality of distance signals having a smallest transmission angle and distance is selected when at least two of the plurality of distance signals are received by at least one among the plurality of receiving sensors, or
only the single narrow signal is selected when any one among the plurality of distance signals and the single narrow signal are received, and
driving is performed according to the selected signal.

### Claim 14 (depends on 13)

The method of claim 13, wherein the direction of the charging station is determined according to an angle of the charging station calculated by an arrangement angle from a front center line of the robot to the receiving sensor which receives the selected signal.

### Claim 15 (depends on 14)

The method of claim 14, wherein the direction of the charging station is repeatedly determined at a preset calculating period from a time when at least one among the plurality of receiving sensors provided on the robot receives the single narrow signal and any one among the plurality of distance signals comprising the first to the third distance signals to a time when the robot connects to the charging station.

### Claim 16 (depends on 14)

The method of claim 14, wherein the plurality of receiving sensors are arranged on the boundary of the robot symmetrically from left to right with respect a front of the robot, and
the angle (θs) of the charging station is calculated according to a following mathematical formula 1
θ
s
=
∑
i
=
1
N
⁢
⁢
θ
i
⁢
f
⁡
(
i
)
∑
i
=
1
N
⁢
⁢
f
⁡
(
i
)
[
Formula
⁢
⁢
1
]
where N is number of the receiving sensors, i is serial number of the receiving sensors, θi is angle of a receiving sensor at i times which is measured clockwise from the front center line of the robot if i is odd number, or angle of a receiving sensor at i times which is measured counter-clockwise from the front center line of the robot if i is even number, f(i)=1 if the receiving sensor at i times receives the selected signals, and f(i)=0 if the receiving sensor at i times does not receive the selected signals, wherein θi is −180°≦θi≦180° and θs is −180°θs≦180°.

### Claim 17 (depends on 16)

The method of claim 16, wherein the preset angle (θo) is established within a range from −180° to +180°, and
when the second distance signal is received by some among the plurality of receiving sensors provided on the robot, the robot performs a front-straight driving if the angle of the charging station is uniform to the preset angle in terms of size, and the direction is different from each other.

### Claim 18 (depends on 14)

The method of claim 14, wherein the front-turn driving is performed according to a preset angular velocity corresponding to the calculated angle of the charging station.

### Claim 19 (depends on 18)

The method of claim 18, wherein the front-turn driving is performed according to an angular velocity proportional to a size of the calculated angle of the charging station.