Cleaning robot ap-902

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Cleaning robot ap-902

All rights reserved. Login Sign up. Search Expert Search Quick Search. Robot cleaner and control method and medium of the same. Disclosed herein are a robot cleaner that is capable of reflecting an obstacle sensed by obstacle sensors on a local map and a control method and medium of the same. The robot cleaner includes an obstacle sensor to sense an obstacle, a memory to store a local map, and a control unit to calculate an obstacle position using the obstacle sensor and to reflect the obstacle position around the robot cleaner on the local map. Click for automatic bibliography generation. Suwon-si, KR. Download PDF What is claimed is: 1. A robot cleaner comprising: an obstacle sensor to sense an obstacle; a memory to store a local map including a plurality of cells; and a control unit to calculate an obstacle position by the obstacle sensor and reflect the calculated obstacle position on the local map. The robot cleaner according to claim 1, wherein the local map is a predetermined zone around the robot cleaner.

The control method according to claim 16, further comprising: controlling the robot cleaner to evade the obstacle cleaning robot ap-902 the cell on which the obstacle zone is reflected exists on a line extending from the center of the robot cleaner in an advancing direction of the robot cleaner, cleaning robot ap-902. Therefore, the infrared sensor has low reliability in sensing an obstacle.

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Cleaning robot ap-902

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Subsequently, the control unit determines whether any cell CE on which the obstacle zone OZ is reflected exists on the obstacle evasion line EAL Therefore, the infrared sensor has low reliability in sensing an obstacle. View Mobile No. When any cell CE on which the obstacle zone OZ is reflected does not exist on the advance line AL, the control unit determines whether an operation end condition is satisfied When any cell CE on which the obstacle zone OZ is reflected does not exist on the obstacle evasion line EAL, the control unit controls the robot cleaner 1 to complete the advance along the obstacle evasion line EAL , and return to the advance path according to the wall tracing mode or another different advance mode and advance along the advance path according to the wall tracing mode or another different advance mode , and controls Step and subsequent steps to be carried out. In accordance with one aspect of the present invention, there is provided a control method of a robot cleaner including calculating an obstacle distance by an obstacle sensor; calculating an obstacle position based on the obstacle distance and an installation position of the obstacle sensor; and reflecting the obstacle position on a local map including a plurality of cells, the cell on which the obstacle position is reflected being a cell corresponding to the calculated obstacle position. In other words, the control unit determines whether adjacent distances ID between the cells CE on which the obstacle zones OZ are reflected are greater than the diameter of the robot cleaner 1. Hereinafter, a control method of the robot cleaner according to the present invention will be described with reference to the accompanying drawings. The control method according to claim 16, further comprising: controlling the robot cleaner to evade the obstacle when the cell on which the obstacle zone is reflected exists on a line extending from the center of the robot cleaner in an advancing direction of the robot cleaner. When the robot cleaner 1 has completely escaped by collision, the control unit controls Step and subsequent steps to be carried out.

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In other words, the control unit determines whether adjacent distances ID between the cells CE on which the obstacle zones OZ are reflected are greater than the diameter of the robot cleaner 1. Subsequently, the control unit calculates obstacle distances D- 1 to D- 7 , i. In other words, the control unit of the robot cleaner 1 according to the second exemplary embodiment of the present invention senses the obstacle position OP using the obstacle sensors S 1 , S 2 , S 3 , S 4 , S 5 , S 6 , and S 7 and calculates the obstacle zone OZ having the sensed obstacle position as the center thereof. The robot cleaner according to claim 9, wherein the control unit determines whether the obstacle zone is reflected on a cell corresponding to a line extending in an advancing direction of the robot cleaner to evade the obstacle. When the operation end condition is not satisfied, the procedure returns to Step , and subsequent steps are carried out. The length L and the height H of the local map LM are set to be 1M in consideration of the minimum distance between the robot cleaner 1 and the obstacle O required for the robot cleaner 1 to evade the obstacle. Login Sign up. Subsequently, the control unit initializes the local map LM stored in the memory Here, the obstacle zone OZ is a circle having a radius R 1 greater than the radius R of the robot cleaner 1 such that the size of the obstacle zone OZ corresponds to the size of the cleaner body 10 of the robot cleaner 1. Hereinafter, a control method of the robot cleaner according to the present invention will be described with reference to the accompanying drawings. Vehicle diagnosis system and method. Here, whether the robot cleaner 1 has completely escaped by collision may be determined by the determination as to whether the robot cleaner 1 has completed the advance along the obstacle lock escape path ECAP. It is another aspect of the present invention to provide a robot cleaner that is capable of reducing the numbers of operations in using a local map on which an obstacle is reflected to perform obstacle evasion, obstacle lock determination and obstacle lock escape and control method and medium of the same. Methods of holding station and mooring and elevating support vessel. In other words, the control unit determines whether adjacent distances ID between the cells CE on which the obstacle positions OP are reflected are greater than the diameter of the robot cleaner 1.