Control method of performing rotational traveling of robot cleaner
First Claim
Patent Images
1. A control method of a robot cleaner, comprising:
- determining whether or not to perform obstacle-following traveling of the robot cleaner; and
performing rotational traveling of the robot cleaner based on an arbitrary starting angle of the robot cleaner along a rotation trajectory having an arbitrary rotation radius about an arbitrary rotational center when it is determined to perform the obstacle-following traveling.
1 Assignment
0 Petitions
Accused Products
Abstract
Disclosed herein is a control method of a robot cleaner in which a robot cleaner is moved at an arbitrary starting angle along a rotation trajectory having an arbitrary rotational center and rotation radius during obstacle-following traveling, whereby an obstacle-following traveling time is reduced and consequently, a movement time of the robot cleaner is reduced.
-
Citations
22 Claims
-
1. A control method of a robot cleaner, comprising:
-
determining whether or not to perform obstacle-following traveling of the robot cleaner; and performing rotational traveling of the robot cleaner based on an arbitrary starting angle of the robot cleaner along a rotation trajectory having an arbitrary rotation radius about an arbitrary rotational center when it is determined to perform the obstacle-following traveling. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A control method of a robot cleaner selectively performing obstacle-following traveling, comprising:
-
selecting a starting angle of the robot cleaner; and moving the robot cleaner at the selected starting angle such that a rotation radius of a movement trajectory of the robot cleaner increases as a rotation angle of the robot cleaner increases. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
-
-
21. A control method of a robot cleaner, comprising:
-
sensing whether or not an obstacle is present; selecting a starting angle of the robot cleaner based on the sensed result of the obstacle, a current angle of the robot cleaner being selected as the starting angle when the obstacle is sensed, a preset angle based on the current angle of the robot cleaner being selected as the starting angle when no obstacle is sensed; rotating the robot cleaner to the preset angle when no obstacle is sensed and maintaining the robot cleaner at the current angle when the obstacle is sensed; and moving the robot cleaner along a rotation trajectory after the angle rotation or angle maintaining. - View Dependent Claims (22)
-
Specification