Moving robot and controlling method thereof

Patent metadata

Field	Value
Publication number	US-9785148-B2
Application number	US-201614990618-A
Country	US
Kind code	B2
Filing date	Jan 7, 2016
Priority date	Apr 29, 2015
Publication date	Oct 10, 2017
Grant date	Oct 10, 2017

Abstract

A robot cleaner having a main body, a driving unit for moving the main body, a sensing unit for sensing information related to an obstacle, and a controller for controlling the driving unit to prevent collision of the main body with the obstacle. The controller controls the driving unit to reverse the main body with respect to the obstacle so as to prevent the main body from contacting the obstacle based on a distance between the main body and the obstacle.

First claim

What is claimed is:

1. A robot cleaner comprising:
a main body;
a driving unit to move the main body;
a sensing unit to sense information related to an obstacle; and
a controller to control the driving unit to prevent the main body from contacting the obstacle,
wherein the controller is configured to operate a stopping process based on a distance between the main body and the obstacle after the information related to the obstacle is sensed, and
wherein, after the stopping process is completed, the controller is configured to control the driving unit to directionally reverse the main body with respect to the obstacle when the distance from a rotational center of the main body to the obstacle is less than or equal to a first reference distance so that a front surface of the main body is spaced apart from the obstacle at a predetermined distance.

2. The robot cleaner of claim 1 , wherein the first reference distance corresponds to a radius of rotation of the main body.

3. The robot cleaner of claim 2 , wherein the predetermined distance between the front surface of the main body and the obstacle corresponds to the radius of rotation of the main body.

4. The robot cleaner of claim 1 , wherein, when the main body is directionally reversed, the controller calculates a time for which the reverse of the main body is maintained, and
wherein, if the calculated time exceeds a predetermined limited time, the controller controls the driving unit to stop the main body from moving.

5. The robot cleaner of claim 1 , wherein, if the distance between the main body and the obstacle is decreased to less than or equal to a third reference distance, the controller controls the driving unit to decrease a moving speed of the robot cleaner.

6. The robot cleaner of claim 5 , wherein the controller detects information related to a size of the obstacle by using the sensed information, and sets information related to the third reference distance based on the detected information.

7. The robot cleaner of claim 6 , wherein the sensing unit includes a signal transmitter for emitting a predetermined wave to the obstacle and a signal receiver for receiving the wave reflected by the obstacle, and
wherein the controller detects the information related to the size of the obstacle by comparing the emitted wave with the received wave.

8. The robot cleaner of claim 1 , wherein, if the distance between the main body and the obstacle is decreased to less than or equal to a second reference distance, the controller controls the driving unit to stop the main body.

9. The robot cleaner of claim 8 , wherein, when the main body is reversed after being stopped, the controller controls the driving unit to reverse the main body up to a location at which the stop of the main body has been started.

10. The robot cleaner of claim 8 , wherein the controller sets information related to the second reference distance by using information related to at least one of a radius of rotation of the main body and a braking distance of the main body.

11. The robot cleaner of claim 1 , wherein the controller controls the driving unit to perform an operation for preventing the main body from contacting the obstacle by rotating the main body by a predetermined angle after the reverse of the main body is completed.

12. A method for controlling a robot cleaner, the method comprising:
moving, using a driving unit, a main body of the robot cleaner;
sensing, using a sensing unit, information related to an obstacle located in a moving direction of the main body;
calculating, using a controller, a distance between the main body and the obstacle by using the sensed information;
stopping, using a controller, the main body based on the distance between the main body and the obstacle;
determining, using the controller, whether the calculated distance is less than or equal to a first reference distance after the main body is stopped;
reversing, using the driving unit, the main body with respect to the obstacle when the calculated distance is less than or equal to the first reference distance; and
performing, using the controller, an operation for preventing the main body from contacting the obstacle,
wherein, during the reversing of the main body, the driving unit is controlled so that a front surface of the main body is spaced apart from the obstacle at a distance that is less than or equal to the radius of rotation of the robot cleaner.

13. The method of claim 12 , wherein the performing of the operation for preventing the main body from contacting the obstacle includes reversing the main body when a distance from a rotational center of the main body to the obstacle is less than or equal to a first reference distance,
wherein the first reference distance corresponds to a radius of rotation of the robot cleaner.

14. The method of claim 12 , further comprising, stopping the main body if the distance between the main body and the obstacle is less than or equal to a second reference distance.

15. The method of claim 12 , further comprising:
when the main body is reversed, calculating, using the controller, a time for which the reverse of the main body is maintained; and
stopping the main body if the calculated time is greater than a predetermined limited time.

16. The method of claim 12 , further comprising, decreasing a moving speed of the robot cleaner if the distance between the main body and the obstacle is less than or equal to a third reference distance.

17. The method of claim 16 , further comprising:
detecting information related to a size of the obstacle by using the information related to the obstacle; and
setting information related to the third reference distance based on the detected information.

Assignees

• Lg Electronics Inc

Inventors

• Yun Hyungtae

Classifications

• G05D1/0242

  using non-visible light signals, e.g. IR or UV signals · CPC title

• G05D1/027

  comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165) · CPC title

• G05D2201/0203

  Physics · mapped topic

• G05D1/0238 Primary

  using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93) · CPC title

• G05D2201/0215

  Physics · mapped topic