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Robot cleaner and control method thereof

  • US 9,399,284 B2
  • Filed: 01/27/2014
  • Issued: 07/26/2016
  • Est. Priority Date: 01/29/2013
  • Status: Active Grant
First Claim
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1. A robot cleaner comprising:

  • a traveling unit to move the robot cleaner;

    an ultrasonic sensor to emit an oscillation wave, to receive a reflection wave reflected from an object surface, and to output vibration generated by the oscillation wave and vibration generated by the reception of the reflection wave as an electrical signal; and

    a controller to determine information about the object surface based on the electrical signal output from the ultrasonic sensor, and to control movement of the traveling unit based on the information about the object surface,wherein the electrical signal is an electrical signal of a composite wave appearing when the oscillation wave overlaps the reflection wave, or an electrical signal of a composite wave appearing when an aftershock generated by inertia of the oscillation wave overlaps the reflection wave,the controller calculates an average amplitude of the composite wave based on the electrical signal of the composite wave, and determines the information about the object surface based on the average amplitude of the composite wave, andthe controller calculates at least one of a tail length which is a signal having a value smaller than the average amplitude in the electrical signal and an average deviation of the composite wave, and determines the information about the object surface based on the at least one of the tail length and the average deviation.

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