Moving robot and controlling method thereof
First Claim
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1. A robot cleaner comprising:
- a main body;
a driving unit to move the main body;
a sensing unit to sense information related to an obstacle; and
a controller to control the driving unit to prevent the main body from contacting the obstacle,wherein the controller is configured to operate a stopping process based on a distance between the main body and the obstacle after the information related to the obstacle is sensed, andwherein, after the stopping process is completed, the controller is configured to control the driving unit to directionally reverse the main body with respect to the obstacle when the distance from a rotational center of the main body to the obstacle is less than or equal to a first reference distance so that a front surface of the main body is spaced apart from the obstacle at a predetermined distance.
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Abstract
A robot cleaner having a main body, a driving unit for moving the main body, a sensing unit for sensing information related to an obstacle, and a controller for controlling the driving unit to prevent collision of the main body with the obstacle. The controller controls the driving unit to reverse the main body with respect to the obstacle so as to prevent the main body from contacting the obstacle based on a distance between the main body and the obstacle.
18 Citations
17 Claims
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1. A robot cleaner comprising:
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a main body; a driving unit to move the main body; a sensing unit to sense information related to an obstacle; and a controller to control the driving unit to prevent the main body from contacting the obstacle, wherein the controller is configured to operate a stopping process based on a distance between the main body and the obstacle after the information related to the obstacle is sensed, and wherein, after the stopping process is completed, the controller is configured to control the driving unit to directionally reverse the main body with respect to the obstacle when the distance from a rotational center of the main body to the obstacle is less than or equal to a first reference distance so that a front surface of the main body is spaced apart from the obstacle at a predetermined distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for controlling a robot cleaner, the method comprising:
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moving, using a driving unit, a main body of the robot cleaner; sensing, using a sensing unit, information related to an obstacle located in a moving direction of the main body; calculating, using a controller, a distance between the main body and the obstacle by using the sensed information; stopping, using a controller, the main body based on the distance between the main body and the obstacle; determining, using the controller, whether the calculated distance is less than or equal to a first reference distance after the main body is stopped; reversing, using the driving unit, the main body with respect to the obstacle when the calculated distance is less than or equal to the first reference distance; and performing, using the controller, an operation for preventing the main body from contacting the obstacle, wherein, during the reversing of the main body, the driving unit is controlled so that a front surface of the main body is spaced apart from the obstacle at a distance that is less than or equal to the radius of rotation of the robot cleaner. - View Dependent Claims (13, 14, 15, 16, 17)
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Specification