ROBOT CLEANER AND METHOD FOR CONTROLLING THE SAME
First Claim
1. A robot cleaner comprising:
- a main body forming an exterior;
a floor detection sensor for detecting a distance from the main body to a floor surface;
a tilt sensor for detecting an inclination of the main body; and
a controller for determining whether there is a protruding part that protrudes from a floor surface in a running path of the main body, based on a first sensor value output by the floor detection sensor and a second sensor value output by the tilt sensor.
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Accused Products
Abstract
A robot cleaner is provided. The robot cleaner includes a main body forming an exterior; a floor detection sensor for detecting a distance from the main body to a floor surface; a tilt sensor for detecting inclination of the main body; and a controller for determining whether there is a protruding part that protrudes from a floor surface in a running path of the main body, based on a first sensor value output by the floor detection sensor and a second sensor value output by the tilt sensor. In accordance with embodiments of the present disclosure, a robot cleaner may properly move around and perform vacuuming by taking into account conditions of a floor surface. It may also smoothly climb over a doorsill and dynamically change its running pattern based on the presence/absence and position of an obstacle in climbing the doorsill.
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Citations
27 Claims
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1. A robot cleaner comprising:
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a main body forming an exterior; a floor detection sensor for detecting a distance from the main body to a floor surface; a tilt sensor for detecting an inclination of the main body; and a controller for determining whether there is a protruding part that protrudes from a floor surface in a running path of the main body, based on a first sensor value output by the floor detection sensor and a second sensor value output by the tilt sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling a robot cleaner, the method comprising:
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detecting a distance between a main body and a floor surface with a floor detection sensor; detecting an inclination of the main body with a tilt sensor; and determining whether there is a protruding part that protrudes from a floor surface in a running path of the main body, based on a first sensor value output from the floor detection sensor and a second sensor value output from the tilt sensor. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26)
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25. A method of controlling a robot cleaner configured to clean a floor surface, the method comprising:
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detecting an obstacle; determining whether the obstacle is on a first side or a second side of the robot cleaner; detecting whether there is a protrusion from the floor surface; and controlling the robot cleaner to move in a first pattern to climb the protrusion and to avoid the obstacle if the obstacle is determined as being on the first side or to move in a second pattern to climb the protrusion and to avoid the obstacle if the obstacle is determined as being on the second side.
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27. A robot cleaner comprising:
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a tilt sensor for measuring an inclination amount of the robot cleaner; a first floor detection sensor, disposed at a front portion of the robot cleaner, for detecting a first distance from a floor to the robot cleaner; a second floor detection sensor, disposed at a portion of the robot cleaner other than the front portion, for detecting a second distance from the floor to the robot cleaner; a controller to extract minimum and maximum values among sensor values of the first and second floor detection sensor, and to determine that the robot cleaner is climbing a protrusion from the floor surface when the difference between the minimum and maximum values is determined to be greater than a first threshold and when the inclination amount of the tilt sensor exceeds a second threshold.
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Specification