Robot cleaner and controlling method thereof
First Claim
1. A robot cleaner comprising:
- a first detector configured to generate a wall detection signal;
a second detector configured to generate a first contact signal through contact with a wall;
a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned; and
a controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled,wherein the controller controls the driver so that the robot cleaner moving to one direction moves along the wall based on the wall detection signal, the robot cleaner rotates and moves in a first direction towards the wall to be in contact with the wall in response to the first contact signal not being generated within a preset time, and the robot cleaner rotates and moves in a second direction away from the wall to be spaced apart from the wall in response to the first contact signal being generated by the second detector.
1 Assignment
0 Petitions
Accused Products
Abstract
A robot cleaner based on wall following and a controlling method thereof are provided. The robot cleaner includes a first detector configured to generate a wall detection signal by detecting a wall, a second detector configured to generate a first contact signal through contact with the wall, a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned, and a controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled. The controller controls the driver so that the robot cleaner moving to one direction moves along the wall by the wall detection signal, the robot cleaner rotates to a first direction to be in contact with the wall in response to the first contact signal not being generated within a preset time, and the robot cleaner rotates to a second direction opposite to the first direction to be spaced from the wall in response to the generated first contact signal.
14 Citations
19 Claims
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1. A robot cleaner comprising:
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a first detector configured to generate a wall detection signal; a second detector configured to generate a first contact signal through contact with a wall; a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned; and a controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled, wherein the controller controls the driver so that the robot cleaner moving to one direction moves along the wall based on the wall detection signal, the robot cleaner rotates and moves in a first direction towards the wall to be in contact with the wall in response to the first contact signal not being generated within a preset time, and the robot cleaner rotates and moves in a second direction away from the wall to be spaced apart from the wall in response to the first contact signal being generated by the second detector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of controlling a robot cleaner, the method comprising:
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detecting a wall through the robot cleaner moving to one direction; moving the robot cleaner along the wall; turning on a first sensor provided in the robot cleaner by rotating and moving the robot cleaner in a first direction towards the wall to be in contact with the wall in response to the first sensor not being turned on within a preset time; turning off the first sensor by rotating and moving the robot cleaner in a second direction away from the wall with a first angular velocity while the robot cleaner moves; and turning on the first sensor by rotating and moving the robot cleaner in the first direction to be in contact with the wall in response to the first sensor not being turned on within the preset time after the first sensor is turned off.
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14. A method of controlling a robot cleaner, the method comprising:
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detecting a wall through the robot cleaner moving to one direction; moving the robot cleaner along the wall; turning on a first sensor provided in the robot cleaner by rotating and moving the robot cleaner in a first direction towards the wall to be in contact with the wall in response to the first sensor not being turned on within a preset time; in response to a second sensor provided in the robot cleaner being turned on in a state where the first sensor is not turned off by rotating and moving the robot cleaner in a second direction away from the wall with a first angular velocity while the robot cleaner moves, sequentially turning off the second sensor and the first sensor by rotating the robot cleaner with a second angular velocity greater than the first angular velocity in the second direction; and turning on the first sensor by rotating and moving the robot cleaner in the first direction to be in contact with the wall in response to the first sensor not being turned on within the preset time after the first sensor is turned off. - View Dependent Claims (15, 16, 17)
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18. A method of controlling a robot cleaner, the method comprising:
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detecting a wall through the robot cleaner moving to one direction; moving the robot cleaner along the wall; turning on a first sensor provided in the robot cleaner by rotating and moving the robot cleaner in a first direction towards the wall to be in contact with the wall in response to the first sensor not being turned on within a preset time; turning off the first sensor by rotating and moving the robot cleaner in a second direction away from the wall with a first angular velocity while the robot cleaner moves; and turning on the first sensor by rotating and moving the robot cleaner in the first direction to be in contact with the wall in response to the first sensor not being turned on within the preset time after the first sensor is turned off, the method further comprising rotating the robot cleaner to the one direction after a backward driving of the robot cleaner in response to a third sensor or a fourth sensor disposed in one side of the robot cleaner which is not in contact with the wall and configured to detect contact with an obstacle being turned on between the moving of the robot cleaner and the turning off of the first sensor. - View Dependent Claims (19)
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Specification