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APPARATUS FOR LOCALIZING CLEANING ROBOT, CLEANING ROBOT, AND CONTROLLING METHOD OF CLEANING ROBOT

  • US 20170083023A1
  • Filed: 07/06/2016
  • Published: 03/23/2017
  • Est. Priority Date: 09/18/2015
  • Status: Active Grant
First Claim
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1. A cleaning robot comprising:

  • a main body;

    a driving unit that moves the main body;

    a data acquisition unit to acquire actual sensor data by measuring a distance from a current position to an object to be measured;

    a local map acquisition unit to acquire a local map by scanning the vicinity of the current position based on an environmental map stored in advance; and

    a processor to determine coordinates of the current position for the local map by performing matching between the local map and the actual sensor data, and to determine a traveling direction based on the current position by calculating a main segment angle of a line segment existing in the local map.

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