CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME
First Claim
1. A cleaning robot comprising:
- a main body;
a moving assembly mounted on a bottom surface of the main body to perform forward movement to move the main body in a first direction that is a traveling direction of the main body, backward movement to move the main body in a second direction opposite to the first direction, and rotation to rotate the main body within a predetermined range to change the traveling direction of the main body;
a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor;
a detector to detect an obstacle around the main body; and
a controller to determine whether an obstacle is present in front of the main body in the traveling direction based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by an angle equal to or greater than a predetermined angle upon determining that the obstacle is present, and determine that the main body is in a stuck state to control the backward movement of the main body when the main body rotates by an angle less than the predetermined angle.
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Accused Products
Abstract
A cleaning robot includes a non-circular main body, a moving assembly mounted on a bottom surface of the main body to perform forward movement, backward movement and rotation of the main body, a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor, a detector to detect an obstacle around the main body, and a controller to determine whether an obstacle is present in a forward direction of the main body based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by a predetermined angle or more upon determining that the obstacle is present in the forward direction, and determine that the main body is in a stuck state to control the backward movement of the main body if the main body rotates by the predetermined angle or less.
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Citations
32 Claims
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1. A cleaning robot comprising:
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a main body; a moving assembly mounted on a bottom surface of the main body to perform forward movement to move the main body in a first direction that is a traveling direction of the main body, backward movement to move the main body in a second direction opposite to the first direction, and rotation to rotate the main body within a predetermined range to change the traveling direction of the main body; a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor; a detector to detect an obstacle around the main body; and a controller to determine whether an obstacle is present in front of the main body in the traveling direction based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by an angle equal to or greater than a predetermined angle upon determining that the obstacle is present, and determine that the main body is in a stuck state to control the backward movement of the main body when the main body rotates by an angle less than the predetermined angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A cleaning robot comprising:
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a main body; a moving assembly mounted on a bottom surface of the main body to move the main body; a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor; a detector to detect whether the main body is in a stuck state of being stuck in an internal space formed in an obstacle; and a controller to control the moving assembly such that the main body travels in a direction opposite to a direction when entering into the internal space formed in the obstacle upon determining that the main body is in the stuck state based on a detection signal of the detector. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method for controlling a cleaning robot including a main body comprising:
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determining whether an obstacle is present in front of the main body in a traveling direction while performing traveling and cleaning; determining whether the main body is in a stuck state of being stuck in an internal space formed in an obstacle upon determining that the obstacle is present; and moving the main body backward in a direction opposite to the traveling direction of the main body to perform an attempt to escape from the internal space formed in the obstacle upon determining that the main body is in the stuck state. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. An autonomous robot comprising:
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a main body; a moving assembly mounted on a bottom surface of the main body to move the main body; a detector to detect whether the main body is in a stuck state of being stuck in an internal space formed in an obstacle; and a controller to control the moving assembly such that the main body travels in a direction opposite to a direction when entering into the internal space formed in the obstacle upon determining that the main body is in the stuck state based on a detection signal of the detector. - View Dependent Claims (28, 29, 30, 31, 32)
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Specification