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Autonomous cleaner and method of controlling the same

  • US 9,259,129 B2
  • Filed: 07/25/2012
  • Issued: 02/16/2016
  • Est. Priority Date: 08/22/2011
  • Status: Active Grant
First Claim
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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.

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