Controlling method of robot cleaner
AssigneeLG Electronics Inc.
InventorsSungho Yoon, Jaewon Jang, Jeongseop Park
Life of this patent
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Abstract
The present disclosure relates controlling a robot cleaner that moves based on a rotation of a spin mop. The controlling the robot cleaner includes determining a control command; operating the spin mop and performing a reference motion by the robot cleaner; detecting a movement of the robot cleaner which performs a reference motion by a motion detection sensor; and controlling travel of the robot cleaner to achieve the control command.
Claims14
A method of controlling a robot cleaner which moves based on a rotation of a spin mop, the method comprising:
- receiving a control command associated with a desired movement attribute;
- determining material information associated with a surface contacted by the spin mop;
- performing a first travel control of the robot cleaner based on the material information;
- detecting an actual movement attribute of the robot cleaner during the first travel control;
- determining a slip ratio of the robot cleaner based on a comparison of the detected actual movement attribute of the robot cleaner during the first travel control and the desired movement attribute;
- and
- performing a second travel control of the robot cleaner after the first travel control based on the control command and the actual movement attribute of the motion of the robot cleaner during the first travel control,
- wherein performing the second travel control of the robot cleaner includes controlling the robot cleaner to perform the second travel control at a speed that is compensated for in consideration of the slip ratio that is determined based on the first travel control, and
- wherein detecting the actual movement attribute of the robot cleaner during the first travel control includes measuring a movement speed of the robot cleaner by an obstacle sensor when the robot cleaner moves straight.
A method of controlling a robot cleaner which moves based on a rotation of a spin mop, the method comprising:
- receiving a control command associated with a desired movement attribute;
- determining material information associated with a surface contacted by the spin mop;
- performing a first travel control of the robot cleaner based on the material information;
- detecting an actual movement attribute of the robot cleaner during the first travel control;
- determining a slip ratio of the robot cleaner based on a comparison of the detected actual movement attribute of the robot cleaner during the first travel control and the desired movement attribute;
- and
- performing a second travel control of the robot cleaner after the first travel control based on the control command and the actual movement attribute of the robot cleaner during the first travel control,
- wherein performing the second travel control of the robot cleaner includes controlling the robot cleaner to perform the second travel control at a speed that is compensated for in consideration of the slip ratio that is determined based on the first travel control, and
- wherein detecting the actual movement attribute of the robot cleaner during the first travel control includes detecting a movement speed of the robot cleaner measured by a gyroscopic sensor when the robot cleaner turns.
Dependencies are inferred from the claim text.