Sensing climb of obstacle of a robotic cleaning device
First Claim
1. A method of controlling operation of a robotic cleaning device, comprising the steps of:
- detecting an obstacle to be traversed;
measuring a first tilt angle of the robotic cleaning device before the obstacle is traversed;
measuring a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle;
comparing the second tilt angle with the first tilt angle;
controlling the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle;
positioning the robotic cleaning device with respect to the obstacle to be traversed; and
controlling movement of the robotic cleaning device on the basis of the positioning,wherein the step of controlling the operation based on a difference between the second tilt angle and the first tilt angle comprises;
deactivating the positioning of the robotic cleaning device before the obstacle is traversed; and
re-activating the positioning of the robotic cleaning device when the second tilt angle is substantially equal to the first tilt angle.
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Accused Products
Abstract
A robotic cleaning device having a main body and a propulsion system to move the robotic cleaning device, an obstacle detecting device, a controller to control the propulsion system to move the robotic cleaning device, and an angle-measuring device to measure tilt angles of the robotic cleaning device. The controller controls the angle-measuring device to measure a first tilt angle of the robotic cleaning device before the obstacle is traversed, and to measure a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle. The controller compares the second tilt angle with the first tilt angle, and controls the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle.
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Citations
20 Claims
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1. A method of controlling operation of a robotic cleaning device, comprising the steps of:
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detecting an obstacle to be traversed; measuring a first tilt angle of the robotic cleaning device before the obstacle is traversed; measuring a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle; comparing the second tilt angle with the first tilt angle; controlling the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle; positioning the robotic cleaning device with respect to the obstacle to be traversed; and controlling movement of the robotic cleaning device on the basis of the positioning, wherein the step of controlling the operation based on a difference between the second tilt angle and the first tilt angle comprises; deactivating the positioning of the robotic cleaning device before the obstacle is traversed; and re-activating the positioning of the robotic cleaning device when the second tilt angle is substantially equal to the first tilt angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 19, 20)
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9. A robotic cleaning device comprising:
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a main body; a propulsion system arranged to move the robotic cleaning device; an obstacle detection device; a controller arranged to control the propulsion system to move the robotic cleaning device; and an angle-measuring device arranged to measure tilt angles of the robotic cleaning device; wherein the controller is arranged to control the angle-measuring device to measure a first tilt angle of the robotic cleaning device before a detected obstacle is traversed, and to measure a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle, the controller further being arranged to compare the second tilt angle with the first tilt angle, and to control the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle, and wherein the controller is further arranged to; perform a positioning of the robotic cleaning device with respect to the obstacle to be traversed, and control movement of the robotic cleaning device on the basis of the positioning, deactivate the positioning of the robotic cleaning device before the obstacle is traversed, and re-activate the positioning of the robotic cleaning device when the second tilt angle is substantially equal to the first tilt angle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification