Autonomous cleaner and method of controlling the same
First Claim
1. A method of controlling an autonomous cleaner comprising a body, and at least one driving wheel assembly to drive the body, the at least one driving wheel assembly having a driving wheel, a driving motor to drive the driving wheel and a housing accommodating the driving wheel and the driving motor, the method comprising:
- detecting, by a sensor, a displacement of the driving wheel corresponding to a reference position by sensing a sensor target, the sensor target provided to be movable with the driving wheel inside the housing;
determining, by one or more processors, material quality or condition of a floor surface according to the displacement of the driving wheel, andcontrolling a driving of the autonomous cleaner according to the determined material quality or the condition of the floor surface.
1 Assignment
0 Petitions
Accused Products
Abstract
An autonomous cleaner has an enhanced structure capable of conducting an efficient cleaning task according to the material quality or the condition of the floor surface of a cleaning space.
The autonomous cleaner includes a body, a driving wheel to drive the body, a driving wheel assembly having the driving wheel, and a control unit. The control unit detects a displacement of the driving wheel corresponding to a reference position by sensing a sensor target, determines material quality or condition of a floor surface according to the displacement of the driving wheel, and controls the driving of the autonomous cleaner according to the determined material quality or the condition of the floor surface.
-
Citations
29 Claims
-
1. A method of controlling an autonomous cleaner comprising a body, and at least one driving wheel assembly to drive the body, the at least one driving wheel assembly having a driving wheel, a driving motor to drive the driving wheel and a housing accommodating the driving wheel and the driving motor, the method comprising:
-
detecting, by a sensor, a displacement of the driving wheel corresponding to a reference position by sensing a sensor target, the sensor target provided to be movable with the driving wheel inside the housing; determining, by one or more processors, material quality or condition of a floor surface according to the displacement of the driving wheel, and controlling a driving of the autonomous cleaner according to the determined material quality or the condition of the floor surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. An autonomous cleaner comprising:
-
a body; at least one driving wheel assembly to drive the body; the at least one driving wheel assembly having a driving wheel, a driving motor to drive the driving wheel and a housing accommodating the driving wheel and the driving motor; a sensor target provided to be movable with the driving wheel inside the housing; a sensor configured to sense a displacement of the driving wheel corresponding to a reference position by sensing the sensor target; and at least one processor which provides a control unit configured to determine material quality or condition of a floor surface according to the displacement of the driving wheel, and to control a driving of the autonomous cleaner according to the determined material quality or the condition of the floor surface. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
-
-
24. An autonomous cleaner comprising:
-
a body; a driving wheel to drive the body; a driving wheel assembly having the driving wheel; a sensor target provided at the driving wheel assembly; a sensor configured to sense a displacement of the driving wheel corresponding to a reference position by sensing the sensor target; and at least one processor which provides a control unit configured to determine material quality or condition of a floor surface according to a displacement pattern of the driving wheel, and to provide a map which encodes the determined material quality or the condition of the floor surface. - View Dependent Claims (25, 26, 27)
-
-
28. A method of controlling an autonomous cleaner comprising a body, and at least one driving wheel assembly to drive the body the at least one driving wheel assembly having a driving wheel, a driving motor to drive the driving wheel and a housing accommodating the driving wheel and the driving motor, the method comprising:
-
detecting, by a sensor, a displacement of the driving wheel corresponding to a reference position by sensing a gap distance between the sensor and a sensor target, the sensor target provided to be movable with the driving wheel inside the housing, determining, by one or more processors, material quality or condition of a floor surface according to the displacement of the driving wheel; controlling a driving of the autonomous cleaner according to the determined material quality or the condition of the floor surface; determining whether the displacement of the driving wheel is within a predetermined reference range; and changing the driving course of the autonomous cleaner such that the displacement of the driving wheel is within the reference range when the determined displacement of the driving wheel is out of the reference range. - View Dependent Claims (29)
-
Specification