Robot cleaner and method of controlling travel of the same
First Claim
Patent Images
1. A robot cleaner comprising:
- a cleaner body;
drive wheels to move the cleaner body;
a caster wheel rotatably mounted to the cleaner body;
a heading angle detection unit to detect a heading angle of the caster wheel signifying left or right deviation depending upon a state of a floor; and
a controller to adjust rates of rotation of the drive wheels based on the heading angle of the caster wheel.
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Abstract
A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.
17 Citations
19 Claims
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1. A robot cleaner comprising:
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a cleaner body; drive wheels to move the cleaner body; a caster wheel rotatably mounted to the cleaner body; a heading angle detection unit to detect a heading angle of the caster wheel signifying left or right deviation depending upon a state of a floor; and a controller to adjust rates of rotation of the drive wheels based on the heading angle of the caster wheel. - View Dependent Claims (2, 3, 4, 5)
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6. A method of controlling travel of a robot cleaner, comprising:
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detecting angle information of a caster wheel signifying left or right deviation depending upon a state of a floor; and adjusting rates of rotation of drive wheels based on the angle information of the caster wheel to travel the robot cleaner straight. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A robot cleaner comprising:
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wheels; a wheel heading angle deviation detector to detect a heading angle deviation of one of the wheels; and a wheel rotation rate controller to adjust a rate of rotation for at least one of the wheels based on the heading angle deviation. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification