CLEANING ROBOT, SYSTEM WITH CLEANING ROBOT, OUTER CHARGING DEVICE AND METHOD FOR RETURNING CLEANING ROBOT TO OUTER CHARGING DEVICE

摘要

FIELD: systems for cleaning different areas. SUBSTANCE: cleaning robot is designed for operating at wireless communication with outer device and it includes at least one camera for shooting environment arranged on housing of robot and controller for shooting image by means of said camera in order to identify connection position during connecting outer charging device with robot; for storing received image and for controlling driven unit in such a way that cleaning robot may move from outer charging device to target place when operation starting signal is fed to robot connected with outer charging device; for tracking path to connection position of robot and outer charging device during returning of robot to outer charging device in the result of comparing image sensed by camera at current time moment with stored image of connection position of robot and outer charging device. System with cleaning robot includes remote control apparatus wirelessly connected with cleaning robot. Outer charging device for charging cleaning robot wirelessly connected with said device during cleaning procedure includes housing supporting terminal of power source for connecting with charging terminal of battery of cleaning robot; guiding member arranged in predetermined place on housing with possibility of sensing it up by means of camera and guiding mark of charging position provided in predetermined place in guiding member with possibility of sensing it up by means of camera of cleaning robot. Method for returning cleaning robot to outer charging device according to operation starting signal fed to robot comprises steps of shooting by means of camera image for identifying charging position; for identifying connection position by robot connected with outer charging device during motion of cleaning robot, when charging of robot battery is necessary; after termination of such procedures tracking path to outer charging device due to comparing image sensed by camera in current time moment with stored image for identifying charging position and for returning cleaning robot to outer charging device. EFFECT: possibility for providing accurate position of robot at connecting it with charging device. 20 cl, 7 dwg