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US 11,385,655 B2Granted
Robot cleaner and method for controlling the same
AssigneeLG Electronics Inc.
InventorsWoochan Jun, Sungbeom Cho
Life of this patent
Estimating the term…
Abstract
A robot cleaner may determine a climbable low height obstacle such as a threshold, a carpet, or the like in a cleaning area when the robot cleaner travels the cleaning area. The robot cleaner may be able to climb the obstacle after completing a travel of a region except for the corresponding obstacle.
Claims17
A method for controlling a robot, the method comprising:
- determining whether the robot is able to travel over an obstacle in a cleaning area, wherein an obstacle boundary forms a step in the cleaning area;
- storing position information of the obstacle boundary when the robot is determined to be able to travel over the obstacle;
- after storing the position information, traveling, by the robot, from the obstacle boundary to the cleaning area;
- and
- defining, in the cleaning area, a region of the obstacle based on the obstacle boundary,
- wherein the cleaning area includes:
- a second region defined by the obstacle boundary;
- and
- a first region defined as a region other than the second region,
- wherein the defining of the region includes defining, in the cleaning area, the first region and the second region,
- wherein after competing cleaning of the first region, the robot is to enter into the second region.
8 more elements
A robot comprising:
- a body to travel within a cleaning area;
- a cliff sensor disposed on the body to determine a height of an object;
- a position sensor to determine a position of the body;
- a controller configured to:
- determine whether the body is able to travel over an obstacle based on information from the cliff sensor,
- obtain an obstacle boundary using the position sensor when the body is determined to be able to travel over the obstacle, and
- define, in a cleaning area, an obstacle region of the obstacle based on the obstacle boundary, wherein the obstacle boundary forms a step in the cleaning area,
- wherein the cleaning area includes the obstacle region and a non-obstacle region other than the obstacle region, wherein after the robot has cleaned the non-obstacle region, the robot enters the obstacle region and cleans the obstacle region.
5 more elements
A method of a robot, the method comprising:
- travelling within a cleaning area;
- sensing a height of an obstacle in the cleaning area;
- determining whether the robot can travel over the obstacle based on the sensed height;
- storing position information of an obstacle boundary of the obstacle when the robot is determined to be able to travel over the obstacle;
- after storing the position information, travelling from the obstacle boundary within the cleaning area;
- and
- determining an obstacle region in the cleaning area based on the obstacle boundary.
4 more elements
Dependencies are inferred from the claim text.