Control method for cleaning robots
First Claim
1. A control method of a cleaning robot with a quasi-omnidirectional light detector and a directional light detector, comprising:
- spinning the quasi-omnidirectional light detector when the quasi-omnidirectional light detector detects a light beam;
stopping the spinning of the quasi-omnidirectional light detector and estimating a spin angle when the quasi-omnidirectional does not detect the light beam;
determining a spin direction according to the spin angle;
spinning the cleaning robot according to the spin direction; and
stopping the spinning of the cleaning robot when the directional light detector detects the light beam.
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Abstract
An embodiment of the invention provides a control method for a cleaning robot with a quasi-omnidirectional detector and a directional light detector. The method includes: rotating the non-omnidirectional light detector when the non-omnidirectional light detector detects a light beam; when the non-omnidirectional light detector does not detect the light beam, the non-omnidirectional light detector is stopped from being spun and a rotation angle is estimated; determining a rotation direction according to the rotation angle; rotating the cleaning robot according to the rotation direction; stopping the rotation of the cleaning robot when the directional light detector detects the light beam.
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Citations
18 Claims
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1. A control method of a cleaning robot with a quasi-omnidirectional light detector and a directional light detector, comprising:
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spinning the quasi-omnidirectional light detector when the quasi-omnidirectional light detector detects a light beam; stopping the spinning of the quasi-omnidirectional light detector and estimating a spin angle when the quasi-omnidirectional does not detect the light beam; determining a spin direction according to the spin angle; spinning the cleaning robot according to the spin direction; and stopping the spinning of the cleaning robot when the directional light detector detects the light beam. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A control method of a cleaning robot with a quasi-omnidirectional light detector and a directional light detector, comprising:
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detecting a light beam via the quasi-omnidirectional light detector; continuing the movement of the cleaning robot when the quasi-omnidirectional light detector detects a light beam for a first time; stopping the spinning of the quasi-omnidirectional light detector and estimating a spin angle when the quasi-omnidirectional light detector does not detect the light beam; determining a spin direction according to the spin angle; spinning the cleaning robot according to the spin direction; and stopping the spinning of the cleaning robot when the directional light detector detects the light beam. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A cleaning robot comprising:
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a non-omni directional light detector to detect a wireless signal; and a directional light detector to detect the wireless signal, wherein when the non-omni directional light detector detects the wireless signal, a spin direction is determined via the non-omni directional light detector, and the cleaning robot is spun according to the spin direction and the cleaning robot stops spinning when the directional light detector detects the wireless signal. - View Dependent Claims (17, 18)
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Specification