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Moving robot and controlling method thereof

  • US 9,785,148 B2
  • Filed: 01/07/2016
  • Issued: 10/10/2017
  • Est. Priority Date: 04/29/2015
  • Status: Active Grant
First Claim
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1. A robot cleaner comprising:

  • a main body;

    a driving unit to move the main body;

    a sensing unit to sense information related to an obstacle; and

    a controller to control the driving unit to prevent the main body from contacting the obstacle,wherein the controller is configured to operate a stopping process based on a distance between the main body and the obstacle after the information related to the obstacle is sensed, andwherein, after the stopping process is completed, the controller is configured to control the driving unit to directionally reverse the main body with respect to the obstacle when the distance from a rotational center of the main body to the obstacle is less than or equal to a first reference distance so that a front surface of the main body is spaced apart from the obstacle at a predetermined distance.

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