Sensing climb of obstacle of a robotic cleaning device

  • US 10,149,589 B2
  • Filed: 12/19/2013
  • Issued: 12/11/2018
  • Est. Priority Date: 12/19/2013
  • Status: Active Grant
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First Claim
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1. A method of controlling operation of a robotic cleaning device, comprising the steps of:

  • detecting an obstacle to be traversed;

    measuring a first tilt angle of the robotic cleaning device before the obstacle is traversed;

    measuring a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle;

    comparing the second tilt angle with the first tilt angle;

    controlling the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle;

    positioning the robotic cleaning device with respect to the obstacle to be traversed; and

    controlling movement of the robotic cleaning device on the basis of the positioning,wherein the step of controlling the operation based on a difference between the second tilt angle and the first tilt angle comprises;

    deactivating the positioning of the robotic cleaning device before the obstacle is traversed; and

    re-activating the positioning of the robotic cleaning device when the second tilt angle is substantially equal to the first tilt angle.

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