Cleaning robot and control method thereof
First Claim
Patent Images
1. A cleaning robot comprising:
- a main body to travel on a floor;
an obstacle detector to detect an obstacle around the main body;
a plurality of sub-cleaning tools mounted on the main body configured to be protruded from or retracted at least partially into an inside of the main body, wherein the plurality of sub-cleaning tools includes a first sub-cleaning tool located at a left side of the main body and a second sub-cleaning tool located at a right side of the main body; and
a controller to determinate whether or not rotation of the main body is required while the main body moves forward based on an obstacle detection signal of the obstacle detector,wherein in response to determining that rotation of the main body is not required while the main body moves forward, the controller controls the plurality of sub-cleaning tools to protrude from the main body,wherein in response to determining that rotation of the main body is required while the main body moves forward, the controller determines a rotation direction of the main body based on the obstacle detection signal, and identifies a sub-cleaning tool of the plurality of sub-cleaning tools that is on a side of the robot cleaner corresponding to the determined rotation direction,wherein the controller determines a distance to the obstacle based on the obstacle detection signal of the obstacle corresponding to the determined rotation direction,wherein in response to the determination that the rotation of the main body is required while the main body moves forward and a determination that the determined distance to the obstacle exceeds a designated distance, the controller controls retraction of the identified sub-cleaning tool at least partially into the main body, while decreasing a rotational speed of the main body, andwherein when the determined distance does not exceed the designated distance the controller controls the main body to stop rotation of the main body, insert the identified sub-cleaning tool into the main body, and when insertion of the identified sub-cleaning tool is completed the controller controls the rotation of the main body to continue.
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Abstract
A cleaning robot and a control method thereof include a main body traveling on a floor, and a first sub-cleaning tool and a second sub-cleaning tool mounted at left and right sides of the main body so as to be protruded from the inside to the outside of the main body and selectively performing cleaning Insertion of at least one of the first sub-cleaning tool and the second sub-cleaning tool is controlled when the main body is rotated under the condition that an obstacle is detected. Side brushes of the sub-cleaning tools are inserted into the main body according to the rotation direction of the main body when the main body is rotated during traveling, thus preventing collision with the obstacle.
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Citations
15 Claims
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1. A cleaning robot comprising:
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a main body to travel on a floor; an obstacle detector to detect an obstacle around the main body; a plurality of sub-cleaning tools mounted on the main body configured to be protruded from or retracted at least partially into an inside of the main body, wherein the plurality of sub-cleaning tools includes a first sub-cleaning tool located at a left side of the main body and a second sub-cleaning tool located at a right side of the main body; and a controller to determinate whether or not rotation of the main body is required while the main body moves forward based on an obstacle detection signal of the obstacle detector, wherein in response to determining that rotation of the main body is not required while the main body moves forward, the controller controls the plurality of sub-cleaning tools to protrude from the main body, wherein in response to determining that rotation of the main body is required while the main body moves forward, the controller determines a rotation direction of the main body based on the obstacle detection signal, and identifies a sub-cleaning tool of the plurality of sub-cleaning tools that is on a side of the robot cleaner corresponding to the determined rotation direction, wherein the controller determines a distance to the obstacle based on the obstacle detection signal of the obstacle corresponding to the determined rotation direction, wherein in response to the determination that the rotation of the main body is required while the main body moves forward and a determination that the determined distance to the obstacle exceeds a designated distance, the controller controls retraction of the identified sub-cleaning tool at least partially into the main body, while decreasing a rotational speed of the main body, and wherein when the determined distance does not exceed the designated distance the controller controls the main body to stop rotation of the main body, insert the identified sub-cleaning tool into the main body, and when insertion of the identified sub-cleaning tool is completed the controller controls the rotation of the main body to continue. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification