Method for compensating rotational position error of robot cleaner
First Claim
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1. A method for compensating a rotational position error of a robot cleaner comprising:
- detecting an offset value of a sensor for detecting a rotational speed of a robot cleaner;
compensating the detected offset value; and
correcting a rotational position of the robot cleaner on the basis of the compensated offset value.
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Abstract
A method for compensating a rotational position error of a robot cleaner is disclosed to reduce a rotational position error of a robot cleaner by compensating an offset value of a gyro sensor of the robot cleaner. The method includes: detecting an offset value of a sensor for detecting a rotational speed of a robot cleaner; compensating the detected offset value; and correcting a rotational position of the robot cleaner on the basis of the compensated offset value.
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21 Claims
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1. A method for compensating a rotational position error of a robot cleaner comprising:
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detecting an offset value of a sensor for detecting a rotational speed of a robot cleaner;
compensating the detected offset value; and
correcting a rotational position of the robot cleaner on the basis of the compensated offset value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for compensating a rotational position error of a robot cleaner comprising:
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detecting an offset value of a gyro sensor after stopping a robot cleaner for a predetermined time when the robot cleaner is in an offset compensation mode;
obtaining an average value of the detected offset values and a standard deviation;
averaging the noise-removed offset value on the basis of the average value and the standard deviation;
determining the averaged offset value as a new gyro offset value; and
compensating a rotational position error of the robot cleaner on the basis of the new gyro offset value. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification