Detecting apparatus of robot cleaner and controlling method of robot cleaner
First Claim
1. A robot cleaner, comprising:
- a detecting unit that detects a cleaning region or a not-yet-cleaned region in a target cleaning region; and
a controller that sets the detected cleaning region as a current cleaning region and that sets the detected not-yet-cleaned region as a new cleaning region and issues a cleaning command,wherein the detecting unit detects at least one of a surface of a wall or a corner when the robot cleaner travels through the target cleaning region, andwherein the controller recognizes a corresponding travel region of the robot cleaner as the target cleaning region based on at least one of a number of non-detections of the surface of the wall or a number of detections of the corner.
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Abstract
A method for controlling a robot cleaner includes: detecting a cleaning target space, setting a cleaning region within the detected cleaning space and cleaning the set cleaning region; if the set cleaning region is completely cleaned, moving to a not-yet-cleaned region adjacent to a cleaning completion spot of the cleaning region; and setting a new cleaning region in the not-yet-cleaned region and performing cleaning. Without repeating a cleaning region in the cleaning target space, the robot cleaner can extend its cleaning region, so the cleaning efficiency of the robot cleaner can be improved. Also, the robot cleaner can be smoothly enter a new cleaning target space or released therefrom. In particular, even when the entrance of the new cleaning target space is narrow, the robot cleaner can smoothly enter the new cleaning target space and gets out thereof.
38 Citations
17 Claims
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1. A robot cleaner, comprising:
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a detecting unit that detects a cleaning region or a not-yet-cleaned region in a target cleaning region; and a controller that sets the detected cleaning region as a current cleaning region and that sets the detected not-yet-cleaned region as a new cleaning region and issues a cleaning command, wherein the detecting unit detects at least one of a surface of a wall or a corner when the robot cleaner travels through the target cleaning region, and wherein the controller recognizes a corresponding travel region of the robot cleaner as the target cleaning region based on at least one of a number of non-detections of the surface of the wall or a number of detections of the corner. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for controlling a robot cleaner including a detector that detects a position of the robot cleaner in a space to be cleaned, a driver that moves the robot cleaner, and a controller that controls operation of the robot cleaner, the method comprising:
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operating the detector and detecting a target cleaning space, setting a cleaning region within the detected target cleaning space, and cleaning the set cleaning region; operating the driver and moving the robot cleaner to a not-yet-cleaned region adjacent to a cleaning completion spot of the set cleaning region when the set cleaning region is completely cleaned; and setting, by the controller, the detected not-yet-cleaned region as a new cleaning region and performing a cleaning operation in the newly set cleaning region, wherein detecting a target cleaning space comprises operating the detector and detecting at least one of a surface of a wall or a corner when the robot cleaner travels through the target cleaning space, wherein the controller recognizes a corresponding travel region as the target cleaning space based on at least one of a number of non-detections of the surface of the wall or a number of detections of the corner. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for controlling a robot cleaner including a detector, a driver, a controller and a storage device, the method comprising:
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operating the detector and detecting a target cleaning space, setting a cleaning region within the detected target cleaning space, and cleaning the set cleaning region, wherein detecting the target cleaning space comprises; detecting at least one of at least one wall surface forming the target cleaning space or at least one corner in the target cleaning space; and recognizing a corresponding region as the target cleaning space when at least one of a first condition or a second condition is met, the first condition being a condition in which the robot cleaner does not detect the wall surface while traveling is accumulated twice, and the second condition being a condition in which the robot cleaner detects the corner is accumulated twice; operating the driver and moving the robot cleaner to a not-yet-cleaned region adjacent to a completion point of the set cleaning region; setting, by the controller, the not-yet cleaned region as a new cleaning region and performing a cleaning operation in the newly set cleaning region; and correcting a location of the robot cleaner when an accumulated movement distance of the robot cleaner within the target cleaning space is greater than or equal to a pre-set reference distance.
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Specification