Robot cleaner and controlling method thereof
AssigneeSamsung Electronics Co., Ltd.
InventorsBaeseok Lim, Youngdae Ko, Jaemin Yoon, Woosub Lee, Kibum Bae
Life of this patent
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Abstract
A robot cleaner is disclosed. The robot cleaner includes a driving device, an obstacle clearing device for clearing an obstacle on a driving route, a memory storing a map of a cleaning area and an obstacle category, and a processor controlling the driving device so that the robot cleaner drives in the cleaning area, wherein the processor may, while the robot cleaner is driving in the cleaning area, control the obstacle clearing device to take a motion corresponding to the obstacle category by an obstacle detected by a sensor.
Claims24
A robot cleaner comprising:
- a driving device;
- a cleaning device;
- an arm;
- a first sensor;
- a second sensor;
- a motor disposed inside the robot cleaner and configured to drive the arm;
- and
- at least one processor,
- wherein the at least one processor is configured to:
- while moving along a route, control the driving device and the cleaning device to clean,
- detect an obstacle at a first location on the route by using the first sensor,
- based on determining that the detected obstacle is a first obstacle that is movable, control the motor to project the arm out from the robot cleaner to move the first obstacle to a second location,
- control the projected arm to lift the first obstacle,
- control to move the first obstacle lifted by using the arm to the second location, and
- based on the first obstacle having been moved to the second location, control the driving device and the cleaning device to move the robot cleaner to the first location and clean, and
- wherein the at least one processor is further configured to:
- while lifting the first obstacle by the arm, based on determining that the first obstacle cannot be moved due to a weight of the first obstacle, control the driving device to avoid the obstacle, and
- based on determining that the first obstacle is movable and detecting an ambient structure or an ambient obstacle that may collide with the arm by using the second sensor, control such that the arm does not collide with the ambient structure or the ambient obstacle.
A control method of a robot cleaner including an arm, the method comprising:
- while moving along a path, controlling the robot cleaner to perform cleaning;
- detecting an obstacle at a first location on a route by using a first sensor;
- based on determining that the detected obstacle is an first obstacle that is movable, performing control to project the arm at least partially disposed inside the robot cleaner, out from the robot cleaner, and to lift the first obstacle by using the projected arm;
- performing control to move the first obstacle lifted by using the arm to a second location;
- and
- based on the first obstacle having been moved to the second location, performing control to move the robot cleaner to the first location and clean,
- wherein the control method of the robot cleaner further comprises:
- while lifting the first obstacle, based on determining that the first obstacle cannot be moved due to a weight of the first obstacle, controlling the robot cleaner to avoid the first obstacle;
- and
- based on determining that the first obstacle is movable and detecting an ambient structure or an ambient obstacle that may collide with the arm by using the second sensor, controlling the robot cleaner such that the arm does not collide with the ambient structure or the ambient obstacle.
Dependencies are inferred from the claim text.