Control method of performing rotational traveling of robot cleaner
First Claim
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1. A control method of a robot cleaner, comprising:
- determining, by a processor, whether or not to perform obstacle-following traveling of the robot cleaner; and
performing rotational traveling of the robot cleaner based on an arbitrary starting angle of the robot cleaner along a rotation trajectory having an arbitrary rotation radius about an arbitrary rotational center when it is determined to perform the obstacle-following traveling.
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Abstract
Disclosed herein is a control method of a robot cleaner in which a robot cleaner is moved at an arbitrary starting angle along a rotation trajectory having an arbitrary rotational center and rotation radius during obstacle-following traveling, whereby an obstacle-following traveling time is reduced and consequently, a movement time of the robot cleaner is reduced.
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Citations
23 Claims
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1. A control method of a robot cleaner, comprising:
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determining, by a processor, whether or not to perform obstacle-following traveling of the robot cleaner; and performing rotational traveling of the robot cleaner based on an arbitrary starting angle of the robot cleaner along a rotation trajectory having an arbitrary rotation radius about an arbitrary rotational center when it is determined to perform the obstacle-following traveling. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A control method of a robot cleaner selectively performing obstacle-following traveling, comprising:
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selecting, by a processor, a starting angle of the robot cleaner; and moving the robot cleaner at the selected starting angle such that a rotation radius of a movement trajectory of the robot cleaner increases as a rotation angle of the robot cleaner increases. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A control method of a robot cleaner, comprising:
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sensing whether or not an obstacle is present; selecting, by a processor, a starting angle of the robot cleaner based on the sensed result of the obstacle, a current angle of the robot cleaner being selected as the starting angle when the obstacle is sensed, a preset angle based on the current angle of the robot cleaner being selected as the starting angle when no obstacle is sensed; rotating the robot cleaner to the preset angle when no obstacle is sensed and maintaining the robot cleaner at the current angle when the obstacle is sensed; and moving the robot cleaner along a rotation trajectory after the angle rotation or angle maintaining. - View Dependent Claims (22)
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23. A control method of a robot cleaner, comprising:
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determining by a processor whether or not to perform wall-following traveling of the robot cleaner; and performing bouncing traveling of the robot cleaner when it is determined to perform the wall-following traveling, wherein the performing of the bouncing traveling comprises; moving the robot cleaner in a first travelling direction of allowing the robot cleaner to move away from a wall; and moving the robot cleaner in a second travelling direction of allowing the robot cleaner to move toward the wall, wherein a travelling speed of the robot cleaner is increased during the moving of the robot cleaner in the first travelling direction and the travelling speed of the robot cleaner is decreased during the moving of the robot cleaner in the second travelling direction.
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Specification