# US 10,372,140 B2 · Moving robot and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,140 B2 - Document ID: US10372140B2 - Status: Granted - Kind: B2 - Application number: 15/493,365 - Filed: 2017-04-21 - Published: 2017-11-02 - Granted: 2019-08-06 - Earliest claimed: 2016-04-29 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Changhwa Sun; Kyuchun Choi - Web page: https://patentgrep.com/patent/US10372140B2 ## CPC - G05D 1/0268: {using internal positioning means} - A01D 34/008: {for automated or remotely controlled operation} - G05D 1/0265: {using buried wires} - G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)} - Y10S 901/01: Mobile robot - Y10S 901/46: Sensing device - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01D: HARVESTING; MOWING - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A moving robot is provided. The moving robot includes a body, first and second driving wheels configured to move the body, first and second caster wheels installed movably, first and second sensors configured to respectively detect a rotation angle of the first caster wheel and a rotation angle of the second caster wheel with respect to a predetermined direction axis, and a controller configured to control driving of a driving wheel according to the rotation angles. The controller calculates an average rotation angle by using the rotation angles detected by the first and second sensors and controls driving of the driving wheel by using the calculated average rotation angle. ## Claims ### Claim 1 A lawn mowing robot comprising: a body; first and second driving wheels configured to move the body; first and second caster wheels that are movably installed at the body; a first sensor configured to detect a rotation angle of the first caster wheel with respect to a predetermined direction axis, and a second sensor configured to detect a rotation angle of the second caster wheel with respect to a predetermined direction axis; and a controller configured to control driving of a driving wheel based on the rotation angles of the first and second caster wheels, wherein the controller to determine an average rotation angle based on the rotation angles detected by the first and second sensors, and the controller to control driving of the driving wheel based on the determined average rotation angle. ### Claim 2 (depends on 1) The lawn mowing robot of claim 1, wherein the controller to determine the average rotation angle based on an average value of a first rotation angle detected by the first sensor and a second rotation angle detected by the second sensor. ### Claim 3 (depends on 1) The lawn mowing robot of claim 1, wherein the controller to determine the average rotation angle based on a first rotation angle detected by the first sensor, a first weight value corresponding to the first sensor, a second rotation angle detected by the second sensor, and a second weight value corresponding to the second sensor. ### Claim 4 (depends on 3) The lawn mowing robot of claim 3, wherein the controller to determine the average rotation angle based on an average value of a first correction rotation angle obtained by multiplying the first rotation angle and the first weight value and a second correction rotation angle obtained by multiplying the second rotation angle and the second weight value. ### Claim 5 (depends on 3) The lawn mowing robot of claim 3, wherein the controller to compare a size of the first rotation angle and a size of the second rotation angle, and the controller to change the first and second weight values, based on a result of the comparing of the size of the first rotation angle and the size of the second rotation angle. ### Claim 6 (depends on 5) The lawn mowing robot of claim 5, wherein: when the first rotation angle is greater than the second rotation angle, the controller to increase the first weight value and to determine the average rotation angle, and when the second rotation angle is greater than the first rotation angle, the controller to increase the second weight value and to determine the average rotation angle. ### Claim 7 (depends on 6) The lawn mowing robot of claim 6, wherein in response to an increase in a difference between a size of the first rotation angle and a size of the second rotation angle, the controller to increase a degree to which the first and second weight values increase. ### Claim 8 (depends on 3) The lawn mowing robot of claim 3, wherein the controller to compare a variation rate of the first rotation angle and a variation rate of the second rotation angle, and the controller to change the first and second weight values, based on a result of the comparison of the variation rate of the first rotation angle and the variation rate of the second rotation angle. ### Claim 9 (depends on 7) The lawn mowing robot of claim 7, wherein in response to the variation rate of the first rotation angle being greater than the variation rate of the second rotation angle, the controller to increase the first weight value and to determine the average rotation angle, and in response to the variation rate of the second rotation angle being greater than the variation rate of the first rotation angle, the controller on increase the second weight value and to determine the average rotation angle. ### Claim 10 (depends on 9) The lawn mowing robot of claim 9, wherein in response to an increase in a difference between the variation rate of the first rotation angle and the variation rate of the second rotation angle, the controller to increase a degree to which the first and second weight values increase. ### Claim 11 (depends on 3) The lawn mowing robot of claim 3, further comprising: a gyro sensor configured to detect information associated with the body, wherein the controller to detect an inclined direction of the body, based on the information associated with the body, and the controller to change at least one of the first and second weight values, based on the detected direction. ### Claim 12 (depends on 1) The lawn mowing robot of claim 1, wherein the controller to move the body based on a predetermined route. ### Claim 13 (depends on 12) The lawn mowing robot of claim 12, wherein: the controller to detect information associated with a traveling direction of the body based on the average rotation angle, and the controller to compare a current position of the body, the detected traveling direction, and the predetermined route in order to determine whether the body of the lawn mowing robot deviates from the predetermined route. ### Claim 14 (depends on 13) The lawn mowing robot of claim 13, wherein when the body of the lawn mowing robot is determined to deviate from the predetermined route, the controller to return the body to the predetermined route. ### Claim 15 (depends on 14) The lawn mowing robot of claim 14, wherein the controller to control the driving wheel such that a traveling direction of the body is changed by the calculated average rotation angle to a direction opposite to a direction in which the first and second caster wheels rotate with respect to the predetermined direction axis. ### Claim 16 (depends on 14) The lawn mowing robot of claim 14, wherein the controller to control the driving wheel such that a traveling direction of the body is changed by an angle greater than the determined average rotation angle to a direction opposite to a direction in which the first and second caster wheels rotate with respect to the predetermined direction axis. ### Claim 17 (depends on 16) The lawn mowing robot of claim 16, wherein when the body of the lawn mowing robot deviates from the predetermined route and subsequently again reaches the predetermined route, the controller to control the body of the lawn mowing robot such that a traveling direction of the body corresponds to the predetermined route. ### Claim 18 A robot comprising: a body; first and second driving wheels at the body; first and second caster wheels, at the body, to be movable according to a moving direction of the body; a first sensor configured to determine a first rotation angle at the first caster wheel and based on a predetermined direction; a second sensor configured to determine a second rotation angle at the second caster wheel and based on the predetermined direction; and a controller configured to control driving of the body based on the first and second rotation angles, wherein the controller to determine an average rotation angle based on the determined first and second rotation angles and to control at least one of a driving wheel and the first and second caster wheels based on the determined average rotation angle. ### Claim 19 (depends on 18) The robot of claim 18, wherein the controller to determine the average rotation angle based on an average value of the first rotation angle determined by the first sensor and the second rotation angle determined by the second sensor. ### Claim 20 (depends on 18) The robot of claim 18, wherein the controller to determine the average rotation angle based on the first rotation angle determined by the first sensor, a first weight value corresponding to the first sensor, the second rotation angle determined by the second sensor, and a second weight value corresponding to the second sensor.