Robot cleaner and control method thereof
First Claim
1. A control method of a robot cleaner which is provided with a plurality of driving wheel assemblies each of which includes a driving wheel and a gear assembly to transmit driving force to the driving wheel and which rotates due to displacement of the driving wheel, the control method comprising:
- for the driving wheel included in each respective driving wheel assembly,detecting a displacement of the driving wheel with respect to a reference position by sensing a distance betweena sensor provided on the respective driving wheel assembly anda sensed body provided on the gear assembly included in the respective driving wheel assembly so that the sensed body thereby rotates with the rotation of the gear assembly included in the respective driving wheel assembly;
judging, by a controller, whether or not the detected displacement is within a predetermined reference range; and
changing a travelling path of the robot cleaner, upon judging by said judging that the detected displacement is not within the predetermined reference range.
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Accused Products
Abstract
A robot cleaner having an improved structure which executes a cleaning operation without stoppage of travelling of the robot cleaner due to obstacles present in a space to be cleaned, and a control method thereof. The control method of the robot cleaner which is provided with a main body, driving wheels driving the main body, and driving wheel assemblies, each of which includes each driving wheel, includes detecting displacement of each driving wheel with respect to a reference position by sensing a sensed body provided on each driving wheel assembly, judging whether or not the displacement is within a predetermined reference range, and changing a travelling path of the main body, upon judging that the displacement deviates from the reference range.
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Citations
27 Claims
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1. A control method of a robot cleaner which is provided with a plurality of driving wheel assemblies each of which includes a driving wheel and a gear assembly to transmit driving force to the driving wheel and which rotates due to displacement of the driving wheel, the control method comprising:
for the driving wheel included in each respective driving wheel assembly, detecting a displacement of the driving wheel with respect to a reference position by sensing a distance between a sensor provided on the respective driving wheel assembly and a sensed body provided on the gear assembly included in the respective driving wheel assembly so that the sensed body thereby rotates with the rotation of the gear assembly included in the respective driving wheel assembly; judging, by a controller, whether or not the detected displacement is within a predetermined reference range; and changing a travelling path of the robot cleaner, upon judging by said judging that the detected displacement is not within the predetermined reference range. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A control method of a robot cleaner which is provided with a main body, and a plurality of driving wheel assemblies each of which includes a driving wheel to drive the main body, the control method comprising:
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for the driving wheel included in each respective driving wheel assembly, detecting a displacement of the driving wheel with respect to a reference position by sensing a position of a sensed body on the respective driving wheel assembly by a sensor included in the respective driving wheel assembly; judging, by a controller, whether or not the detected displacement is within a predetermined reference range; and changing a travelling path of the main body, upon judging by said judging that the detected displacement is not within the predetermined reference range, wherein each respective driving wheel assembly further includes a driving motor to drive the driving wheel included in the respective driving wheel assembly, and the sensor included in each respective driving wheel assembly senses a rotating angle of the sensed body on the respective driving wheel assembly about a rotation shaft of the driving motor included in the respective driving wheel assembly, to thereby detect the displacement of the driving wheel included in the respective driving wheel assembly.
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8. A robot cleaner comprising:
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plurality of driving wheel assemblies, each respective driving wheel assembly of the plurality of driving wheel assemblies including; a driving wheel, a gear assembly to transmit driving force to the driving wheel included in the respective driving wheel assembly to thereby drive the robot cleaner, and which rotates due to displacement of the driving wheel included in the respective driving wheel assembly, a sensed body provided on the gear assembly included in the respective driving, wheel assembly so that the sensed body rotates with the rotation of the gear assembly included in the respective driving wheel assembly, and a sensor to detect a displacement of the driving wheel included in the respective driving wheel assembly with respect to a reference position by sensing a distance between the sensor and the sensed body provided on the gear assembly included in the respective driving wheel assembly; and at least one controller to judge whether or not the displacement detected by a respective sensor included in a respective driving wheel assembly is within a predetermined reference range, and to change a travelling path of the robot cleaner, upon judging by the at least one controller that the detected displacement is not within the predetermined reference range. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A robot cleaner which is provided with a main body, and a plurality of driving wheel assemblies, each of which includes a driving wheel to drive the main body, the robot cleaner comprising:
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for the driving wheel included in each respective driving wheel assembly of the plurality of driving wheel assemblies, a sensor to detect a displacement of the driving wheel with respect to a reference position by sensing a sensed body provided on the respective driving wheel assembly; and a controller to judge whether or not the detected displacement is within a predetermined reference range, and to change a travelling path of the main body, upon judging by the controller that the detected displacement is not within the predetermined reference range, wherein each respective driving wheel assembly of the plurality of driving wheel assemblies comprises; a housing; and a driving motor connected to one side of the housing; and the sensor senses a rotating angle of the sensed body provided on the respective driving wheel assembly about a rotation shaft of the driving motor included in the respective driving wheel assembly, to thereby detect the displacement of the driving wheel included in the respective driving wheel assembly.
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19. A robot cleaner comprising:
a plurality of driving wheel assemblies, each of which comprises; a driving wheel, a driving motor to generate a driving force, a gear assembly to transmit the driving force generated by the driving motor included in the respective driving wheel assembly to the driving wheel included in the respective driving wheel assembly, and which rotates due to displacement of the driving wheel included in the respective driving wheel assembly, a sensed body provided on the gear assembly included in the respective driving wheel assembly so that the rotation of the gear assembly included in the respective driving wheel assembly causes rotation of the sensed body, and a sensor which detects displacement of the driving wheel included in the respective driving wheel assembly with respect to a reference position by sensing a distance between the sensed body provided on the gear assembly included in the respective driving wheel assembly and the sensor included in the respective driving wheel assembly. - View Dependent Claims (20, 21)
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22. A robot cleaner comprising:
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a driving wheel; a driving motor which generates rotary force to rotate the driving wheel; a gear assembly which transmits the rotary force generated by the driving motor to the driving wheel, and which is rotated by displacement of the driving wheel; a sensed body provided on the gear assembly so that the sensed body rotates with the rotation of the gear assembly; and a sensor to detect displacement of the driving wheel with respect to a reference position by sensing a distance between the sensor and the sensed body. - View Dependent Claims (23)
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24. A robot cleaner comprising:
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a driving wheel; a motor which generates rotary force to rotate the driving wheel; a gear assembly which transmits the rotary force generated by the driving motor to the driving wheel, and which is rotated by displacement of the driving wheel; a sensor to detect a displacement of the driving wheel by detecting a rotation angle of the gear assembly or a rotation angle of the driving wheel. - View Dependent Claims (25, 26, 27)
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Specification