Moving robot and control method thereof

Patent metadata

Field	Value
Publication number	US-10300596-B2
Application number	US-201715436189-A
Country	US
Kind code	B2
Filing date	Feb 17, 2017
Priority date	Feb 22, 2016
Publication date	May 28, 2019
Grant date	May 28, 2019

Abstract

A moving robot includes a main body, a drive assembly moving the main body, and a cleaner head performing cleaning on a cleaning area in which the main body is positioned, wherein the drive assembly includes a plurality of pulleys, a motor connected to any one of the plurality of pulleys and generating a driving force, a belt rotated in contact with the plurality of pulleys, and a support shaft connected to some of the plurality of pulleys and changing a position of the pulley such that an area in which the belt is in contact with a ground or an obstacle is maintained to be equal to or greater than a reference area.

First claim

What is claimed is:

1. A moving robot performing automatic traveling, the moving robot comprising:
a main body; a drive assembly moving the main body;
a sensor provided in the main body and configured to sense information related to a ground or an obstacle;
a controller that controls the drive assembly on the basis of the information sensed by the sensor; and
a cleaner head to clean a surface area,
wherein the drive assembly includes:
a plurality of pulleys;
a motor connected to any one of the plurality of pulleys and generating a driving force;
a belt in contact with and configured to rotate along the plurality of pulleys; and
a support shaft connected to at least two of the plurality of pulleys and configured to change a position of the at least two of the plurality of pulleys such that an area in which the belt is in contact with the ground or the obstacle is equal to or greater than a reference area, and when the area in which the belt is in contact with the ground or the obstacle is equal to or greater than the reference area, the main body passes along the ground or over the obstacle to prevent slippage between the belt and the ground or the obstacle.

2. The moving robot of claim 1 , wherein the drive assembly further includes a spring connected to each of a portion of the support shaft and the main body.

3. The moving robot of claim 1 , wherein the support shaft is connected to each of pulleys facing each other among the plurality of pulleys.

4. The moving robot of claim 1 , wherein the drive assembly includes a plurality of support shafts.

5. A moving robot performing automatic traveling, the moving robot comprising:
a main body;
a drive assembly moving the main body;
a sensor provided in the main body and configured to sense information related to a ground or an obstacle;
a controller that controls the drive assembly on the basis of the information sensed by the sensor; and
a cleaner head to clean a surface area, wherein the drive assembly includes:
a plurality of pulleys;
a motor connected to any one of the plurality of pulleys and generating a driving force;
a belt in contact with and configured to rotate along the plurality of pulleys; and
a support shaft connected to at least two of the plurality of pulleys and adjusting a shape of a polygon formed by the belt and plurality of pulleys such that an area in which the belt is in contact with the ground or the obstacle is maintained to be equal to or greater than a reference area, wherein when the area in which the belt is in contact with the ground or the obstacle is equal to or greater than the reference area, the main body passes along the ground or over the obstacle without causing slippage between the belt and the ground or the obstacle.

Assignees

• Lg Electronics Inc

Inventors

• Kim Hwang
• Park Sungil
• Kim Soohyun
• Yoon Byungho
• Han Sanghoon
• Jeon Youngjun

Classifications

• A47L11/4061

  Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated · CPC title

• B25J5/005 Primary

  mounted on endless tracks or belts · CPC title

• B25J11/0085

  Cleaning · CPC title

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title

• B62D55/075

  Tracked vehicles for ascending or descending stairs, {steep slopes or vertical surfaces}(magnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00) · CPC title