Moving distance sensing apparatus for robot cleaner and method therefor
First Claim
1. A moving distance sensing apparatus for a robot cleaner, comprising:
- a long distance sensor for sensing a moving distance with respect to a long distance;
a short distance sensor mounted on the same sensing line in one-to-one correspondence with the long distance sensor, for sensing a moving distance with respect to a short distance; and
a micro computer for determining a moving distance error on the basis of moving distance information with respect to the same direction provided by the long distance sensor and the short distance sensor.
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Accused Products
Abstract
Disclosed are a moving distance sensing apparatus for a robot cleaner and a method therefor capable of determining a precise moving distance with respect to the robot cleaner by setting a long distance sensor and a short distance sensor having respectively different sensing method from each other on the same sensing line in the robot cleaner to sense the long distance and the short distance for the same direction, and then by determining coherency to each moving distance on the basis of information provided by the two different sensors, the moving distance sensing apparatus comprising: a long distance sensor for sensing a moving distance with respect to a long distance; a short distance sensor mounted on the same sensing line in one-to-one correspondence with the long distance sensor, for sensing a moving distance with respect to a short distance; and a micro computer for determining a moving distance error on the basis of moving distance information with respect to the same direction provided by the long distance sensor and the short distance sensor.
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Citations
20 Claims
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1. A moving distance sensing apparatus for a robot cleaner, comprising:
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a long distance sensor for sensing a moving distance with respect to a long distance;
a short distance sensor mounted on the same sensing line in one-to-one correspondence with the long distance sensor, for sensing a moving distance with respect to a short distance; and
a micro computer for determining a moving distance error on the basis of moving distance information with respect to the same direction provided by the long distance sensor and the short distance sensor. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A moving distance sensing apparatus of a robot cleaner comprising:
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a ultrasonic sensor mounted on an outer circumferential surface of the robot cleaner at a uniform interval, and also mounted on the same sensing line in one-to-one correspondence with an infrared sensor, for sensing a moving distance with respect to a long distance;
an infrared sensor mounted on the same sensing line in one-to-one correspondence with the ultrasonic sensor, for sensing a moving distance with respect to a short distance; and
a micro-computer for determining a moving distance error on the basis of moving distance information with respect to the same direction provided by the ultrasonic sensor and the infrared sensor. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A method for sensing a moving distance of a robot cleaner comprising the steps of:
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sensing the moving distance with respect to a long distance by a long distance sensor and a moving distance with respect to a short distance by a short distance sensor while the robot cleaner moves;
calculating a decreasing rate or an increasing rate for the moving distance sensed by the respective sensors; and
in case that the decreasing rates or the increasing rates for the respectively calculated moving distance are coherent to each other, recognizing the moving distances as precise values, while in case that they are not coherent to each other, determining that there has occurred an error. - View Dependent Claims (14, 15, 16)
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17. A method for sensing a moving distance comprising the steps of:
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setting a long distance sensor and a short distance sensor having respectively different sensing method from each other in a body of a robot cleaner on the same sensing line;
simultaneously sensing moving distances for a long distance and a short distance, respectively, for the same direction by the sensors, and then calculating decreasing rates or increasing rates with respect to the sensed moving distances; and
comparing the decreasing rates or the increasing rates to determine whether to be coherent to each other, and then determining error for the moving distances. - View Dependent Claims (18, 19, 20)
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Specification