ROBOT CLEANER AND CONTROL METHOD THEREOF
First Claim
1. A robot cleaner comprising:
- a traveling unit to move the robot cleaner;
an ultrasonic sensor to emit an oscillation wave, to receive a reflection wave reflected from an object surface, and to output vibration generated by the oscillation wave and vibration generated by the reception of the reflection wave as an electrical signal; and
a controller to determine information about the object surface based on the electrical signal output from the ultrasonic sensor, and to control movement of the traveling unit based on the information about the object surface.
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Accused Products
Abstract
A robot cleaner includes a main body, a traveling unit installed in the main body, to move the main body, an ultrasonic sensor to emit an oscillation wave, to receive a reflection wave reflected from an object surface, and to output vibration generated by the oscillation wave and vibration generated by the reception of the reflection wave as an electrical signal, a waveform analyzer to calculate a generation time period of the electrical signal output from the ultrasonic sensor, and a controller to determine information about the object surface based on the calculated generation time period of the electrical signal, and to control movement of the traveling unit based on the information about the object surface.
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Citations
43 Claims
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1. A robot cleaner comprising:
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a traveling unit to move the robot cleaner; an ultrasonic sensor to emit an oscillation wave, to receive a reflection wave reflected from an object surface, and to output vibration generated by the oscillation wave and vibration generated by the reception of the reflection wave as an electrical signal; and a controller to determine information about the object surface based on the electrical signal output from the ultrasonic sensor, and to control movement of the traveling unit based on the information about the object surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method of controlling a robot cleaner, the method comprising:
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driving an ultrasonic sensor to emit an oscillation wave; receiving a reflection wave reflected from an object surface by way of the ultrasonic sensor; detecting an electrical signal when vibration generated by the oscillation wave and vibration generated by the reflection wave are output as the electrical signal from the ultrasonic sensor; determining information about the object surface based on the detected electrical signal; and controlling movement of a traveling unit of the robot cleaner based on the information about the object surface. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A robot cleaner comprising:
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a main body; a traveling unit installed in the main body, to move the main body; an ultrasonic sensor to emit an oscillation wave, to receive a reflection wave reflected from an object surface, and to output vibration generated by the oscillation wave and vibration generated by the reception of the reflection wave as an electrical signal; a waveform analyzer to calculate a generation time period of the electrical signal output from the ultrasonic sensor; and a controller to determine information about the object surface based on the calculated generation time period of the electrical signal, and to control movement of the traveling unit based on the information about the object surface. - View Dependent Claims (40)
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41. A robot cleaner comprising:
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an ultrasonic sensor to emit an oscillation wave, to receive a reflection wave reflected from a floor, and to output a signal generated from the oscillation wave and from the reception of the reflection wave; and a controller to determine information about the floor based on the electrical signal output from the ultrasonic sensor.
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42. A robot cleaner configured to travel on a floor surface, the robot cleaner comprising:
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a first ultrasonic sensor to acquire information about the floor surface, the first ultrasonic sensor being disposed on the robot cleaner a first distance above the floor; a second ultrasonic sensor to acquire information about the floor surface, the second ultrasonic sensor being disposed on the robot cleaner a second distance above the floor surface, wherein the first distance is different than the second difference. - View Dependent Claims (43)
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Specification