# US 11,439,287 B2 · Controlling method of robot cleaner > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,439,287 B2 - Document ID: US11439287B2 - Status: Granted - Kind: B2 - Application number: 16/256,435 - Filed: 2019-01-24 - Published: 2019-07-25 - Granted: 2022-09-13 - Earliest claimed: 2018-01-25 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Sungho Yoon; Jaewon Jang; Jeongseop Park - Web page: https://patentgrep.com/patent/US11439287B2 ## CPC - A47L 11/206: for rotary disc brushes - A47L 11/292: having rotary tools (A47L11/30 takes precedence) - A47L 11/293: the tools being disc brushes - A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor} - A47L 11/4038: {Disk shaped surface treating tools} - A47L 11/4061: {Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated} - A47L 11/4066: {Propulsion of the whole machine} - B25J 11/0085: {Cleaning} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method of claim 1, wherein first travel control of the robot cleaner includes rotating the spin mop to reach the control command speed during the first travel control of the robot cleaner when there is no slip between the spin mop and a surface contacting the spin mop. ### Claim 3 (depends on 1) The method of claim 1, wherein the slip ratio (Sr2) of the robot cleaner when the robot cleaner moves straight is calculated as: Sr2=(Vf−Vr)/Vf*100, in which Vf is an ideal speed of the robot cleaner according to a first rotation of the spin mop, and Vr is an actual speed of the robot cleaner as measured by the obstacle sensor. ### Claim 4 (depends on 3) The method of claim 3, wherein a compensated control speed (Vm) associated with the robot cleaner travelling straight at a control command speed associated with the control command is calculated as: Vm=Vf*100/(100−Sr2). ### Claim 5 (depends on 1) The method of claim 1, wherein: the slip ratio is a first slip ratio, and performing the first travel control of the robot cleaner includes: detecting an attribute of a surface contacted by the spin mop; determining a second slip ratio based on the attribute of the surface contacted by the spin mop; and determining the first rotation travel control of the robot cleaner based on the second slip ratio. ### Claim 6 (depends on 1) The method of claim 1, wherein the slip ratio is further determined based on an attribute of a surface contacted by the spin mop. ### Claim 7 (depends on 1) The method of claim 1, wherein the first travel control corresponds to the second travel control when the actual movement attribute and the desired movement attribute differ by less than a threshold amount. ### Claim 8 (depends on 7) The method of claim 7, wherein performing the second travel control includes modifying at least one of a rotational speed, a rotational direction, or an axial angle of the spin mop. ### Claim 9 (depends on 1) The method of claim 1, wherein the spin mop is included in a plurality of spin mops, and each of the first travel control and the second travel control includes respective rotations by the plurality of spin mops. ### Claim 10 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. ### Claim 11 (depends on 10) The method of claim 10, wherein performing the first travel control of the robot cleaner includes controlling the robot cleaner to perform a reference motion at a speed that is compensated for in consideration of another slip ratio that is determined based on the floor material information. ### Claim 12 (depends on 10) The method of claim 10, wherein detecting the actual movement attribute of the robot cleaner during the first travel control includes detecting at least one of a turning angle or a movement speed of the robot cleaner when turning. ### Claim 13 (depends on 10) The method of claim 10, wherein: the control command identifies a desired movement attribute, performing the second travel control includes determining the second travel control based a comparison of the actual movement attribute of the motion of the robot cleaner during the first travel control and the desired movement attribute, and the second travel control corresponds to the first travel control when the actual movement attribute of the motion of the robot cleaner during the first travel control and the desired movement attribute differs by less than a threshold amount. ### Claim 14 (depends on 13) The method of claim 13, wherein determining the second travel control includes: calculating the slip ratio based on the comparison of the actual movement attribute of the motion of the robot cleaner during the first travel control and the desired movement attribute; and modifying the rotation of the spin mop during the first travel control based on the slip ratio.