Mobile robot and controlling method thereof
First Claim
1. A mobile robot, comprising:
- a case; and
a sensor having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and consecutively alternately, wherein the two or more receiving portions comprise;
at least one first receiving portion disposed at a front center portion of the case;
at least one second receiving portion disposed at a left side of the at least one first receiving portion with a spacing distance therebetween; and
at least one third receiving portion disposed at a right side of the at least one first receiving portion with a spacing distance therebetween, wherein each of the two or more sending portions is configured to emit signals simultaneously maintaining an emitting angle not influencing signals emitted from other immediate adjacent sending portions.
1 Assignment
0 Petitions
Accused Products
Abstract
Disclosed are a mobile robot and a controlling method thereof. The mobile robot comprises: a case; and a sensor unit having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and alternately. The plurality of sending portions and receiving portions are arranged in an alternating manner, thereby having a directivity. Also, since signals received through the receiving portions are judged based on a reference value, an area unallowable to be detected for an obstacle sensing is minimized, which allows an obstacle to be detected more accurately. When the obstacle corresponds to a side wall on the basis of a moving path of the mobile robot, a distance between the side wall and the mobile robot is calculated based on signals received by the receiving portion closest to the side wall. Accordingly, the mobile robot can move with maintaining a constant distance from the side wall.
38 Citations
19 Claims
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1. A mobile robot, comprising:
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a case; and a sensor having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and consecutively alternately, wherein the two or more receiving portions comprise; at least one first receiving portion disposed at a front center portion of the case; at least one second receiving portion disposed at a left side of the at least one first receiving portion with a spacing distance therebetween; and at least one third receiving portion disposed at a right side of the at least one first receiving portion with a spacing distance therebetween, wherein each of the two or more sending portions is configured to emit signals simultaneously maintaining an emitting angle not influencing signals emitted from other immediate adjacent sending portions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 14, 15, 16, 17, 18, 19)
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8. A mobile robot, comprising:
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a case; a sensor having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and consecutively alternately; and a controller that detects a position of an obstacle based on two or more signals received by the sensor, wherein when the obstacle corresponds to a side wall on the basis of a moving path of the mobile robot, the controller calculates a distance between the side wall and the mobile robot based on signals received by the receiving portion closest to the side wall, wherein the two or more sending portions and the two or more receiving portions of the sensor comprise; one or more sending portions that send signals to detect the obstacle; and a plurality of receiving portions having a number larger than a number of the one or more sending portions by at least one, and forming a region to receive signals sent from the one or more sending portions and reflected by the obstacle. - View Dependent Claims (9, 10)
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11. A method for controlling a mobile robot to detect an obstacle, the method comprising:
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detecting a wall surface around the mobile robot using a sensor having two or more sending portions and two or more receiving portions arranged separately and consecutively alternately; and moving the mobile robot by constantly maintaining a distance between the wall surface and the mobile robot according to values detected by the sensor, wherein moving the mobile robot comprises calculating a distance between the wall surface and the mobile robot based on values detected by the sensor, and the calculating a distance between the wall surface and the mobile robot is performed based on values detected by one pair of portions comprising one of the two or more receiving portions and one of the two or more sending portions, simultaneously emitting signals from the sending portions to maintain an angle not influencing signals emitted from other immediate adjacent sending portions. - View Dependent Claims (12, 13)
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Specification