Method for compensating rotational position error of robot cleaner
First Claim
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1. A method for compensating a rotational position error of a robot cleaner comprising:
- detecting an offset value of a sensor for detecting a rotational speed of a robot cleaner;
compensating the detected offset value; and
correcting a rotational position of the robot cleaner on the basis of the compensated offset values,wherein compensating the offset value comprises obtaining an average value of the detected offset values and a standard deviation, averaging the noise-removed offset value on the basis of the average value and the standard deviation, and determining the averaged offset value as a new offset value.
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Abstract
A method for compensating a rotational position error of a robot cleaner is disclosed to reduce a rotational position error of a robot cleaner by compensating an offset value of a gyro sensor of the robot cleaner. The method includes: detecting an offset value of a sensor for detecting a rotational speed of a robot cleaner; compensating the detected offset value; and correcting a rotational position of the robot cleaner on the basis of the compensated offset value.
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Citations
20 Claims
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1. A method for compensating a rotational position error of a robot cleaner comprising:
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detecting an offset value of a sensor for detecting a rotational speed of a robot cleaner; compensating the detected offset value; and correcting a rotational position of the robot cleaner on the basis of the compensated offset values, wherein compensating the offset value comprises obtaining an average value of the detected offset values and a standard deviation, averaging the noise-removed offset value on the basis of the average value and the standard deviation, and determining the averaged offset value as a new offset value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for compensating a rotational position error of a robot cleaner comprising:
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detecting an offset value of a gyro sensor after stopping a robot cleaner for a predetermined time when the robot cleaner is in an offset compensation mode; obtaining an average value of the detected offset values and a standard deviation; averaging the noise-removed offset value on the basis of the average value and the standard deviation; determining the averaged offset value as a new gyro offset value; and compensating a rotational position error of the robot cleaner on the basis of the new gyro offset value. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification