KR20180085154A - Robot cleaner - Google Patents

Abstract

A robot cleaner according to an embodiment of the present invention includes a cleaner main body and a sensor unit provided with a pan tilt device. The cleaner main body includes a traveling driving unit for traveling of the cleaner main body and a processor for sensor unit rotation movement control. The sensor unit is mounted on one upper side of the cleaner main body and detects an obstacle within a predetermined range. The processor fixes the sensor unit on a straight traveling path. In a case where an obstacle is detected by the sensor unit, the sensor unit is moved up and down for control in which the size of the obstacle and the distance to the obstacle can be calculated.

Description

Robot Cleaner {ROBOT CLEANER}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cleaner, and more particularly, to a robot cleaner that searches for various obstacles located at upper, lower, left, and right sides by using a single sensor having a tilt device.

Generally, a vacuum cleaner sucks dust-containing air using a suction force generated by a suction motor mounted inside the main body, and then filters dust inside the main body.

The robot cleaner senses a cleaning area and obstacles by using a sensor in response to a command from a control unit, runs the cleaning area and automatically cleans the area, and when the power of a battery installed in the apparatus is exhausted The battery pack is moved to the charging position which is separately provided at a predetermined position to charge the battery, and after the charging is completed, the battery pack is returned to the original position where the battery was cleaned and then cleaned.

The robot cleaner can automatically clean the robot cleaner by suctioning foreign substances such as dust from the floor while driving itself in the area to be cleaned without user's operation.

Generally, such a robot cleaner senses distances to obstacles such as furniture, office supplies, and walls installed in the cleaning area, maps cleaning areas accordingly, or controls the driving of the left and right wheels to perform an obstacle avoidance operation. Conventionally, the distance traveled by the robot cleaner is measured through a sensor for observing the ceiling or floor, and the distance to the obstacle is calculated based on the distance. However, the distance to the obstacle can be indirectly estimated based on the moving distance of the robot cleaner The distance to the obstacle can not be measured accurately even if the moving distance of the robot cleaner can not be accurately measured due to the bending of the floor or the like. Particularly, the distance measuring method mainly used in such a robot cleaner uses infrared rays or ultrasonic waves, and there is a problem that a considerable error occurs in distance measurement because light or sound is scattered by an obstacle.

In addition, the robot cleaner has a problem that the robot cleaner performs the straight running and the curved running in a certain area. When the obstacle is detected by the obstacle detecting sensor after the traveling route is changed, the robot cleaner collides with the obstacle without changing the traveling route in advance.

An object of the present invention is to provide a robot cleaner that detects an obstacle in all directions through a simple module structure.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot cleaner that drastically extends the life of a motor.

An object of the present invention is to provide a robot cleaner which senses beforehand whether an obstacle exists on a predicted traveling route when a traveling route is changed.

The robot cleaner according to the embodiment of the present invention may include a pan tilt device on one side of the upper surface of the main body for rotating the sensor.

The robot cleaner according to the embodiment of the present invention can control the rotation of the sensor only by a necessary angle by using the pan tilt sensor.

The robot cleaner according to the embodiment of the present invention may include a pan tilt sensor device control algorithm that rotates the sensor unit in the anticipated path direction before changing the traveling path.

According to the embodiment of the present invention, since a pan tilt device is provided on one side of the upper surface of the main body, an obstacle in various regions of up, down, left, and right can be detected by one sensor.

According to the embodiment of the present invention, it is possible to control the rotation of the sensor by only a necessary angle by using the pan tilt sensor, which has an advantage of extending the service life of the rotation motor.

According to the embodiment of the present invention, the sensor unit is rotated in the anticipated path direction in advance before the travel route is changed, so that it is possible to grasp the presence of the obstacle on the predicted travel route in advance to prevent collision in advance.

1 and 2 are views for explaining a robot cleaner according to an embodiment of the present invention.
3 and 4 are views for explaining the structure of a depth sensor and the principle of acquiring image information according to an embodiment of the present invention.
5 is a view for explaining an example in which a robot cleaner according to an embodiment of the present invention includes a pan tilt sensor on one side of a top surface thereof.
FIG. 6 is a view for explaining an example in which a robot cleaner according to an embodiment of the present invention travels with a pan tilt sensor fixed.
7 and 8 are views for explaining an example in which the robot cleaner according to the embodiment of the present invention rotates the pan tilt sensor when the travel path is changed.
9 and 10 are views for explaining conditions under which the robot cleaner according to the embodiment of the present invention rotates the pan tilt sensor to detect an obstacle.
11 to 13 are views for explaining a process of rotating the pan tilt sensor for detecting an obstacle by the robot cleaner according to an embodiment of the present invention.
FIGS. 14 to 16 are views for explaining an example of controlling the pan tilt sensor when an obstacle is detected on both sides of the traveling path by the robot cleaner according to the embodiment of the present invention.
FIG. 17 is a flowchart of a robot cleaner for controlling a pan / tilt sensor according to an embodiment of the present invention. Referring to FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

1 and 2 are views for explaining a robot cleaner according to an embodiment of the present invention.

1 and 2, the robot cleaner 100 may include a cleaner main body 50, a left wheel 61a, a right wheel 61b, and a suction unit 70. [

Particularly, the image information obtaining unit 110 including the depth sensor 111 may be provided on the front upper surface of the robot type vacuum cleaner 100-2. Of course, an RGB sensor 113 may also be provided.

The left wheel 61a and the right wheel 61b can make the cleaner main body 50 run. As the left wheel 61a and the right wheel 61b are rotated by the travel driving unit 170, foreign substances such as dust and trash can be sucked through the suction unit 70. [

The suction unit 70 is provided in the cleaner main body 50 to suck dust on the floor surface.

The suction unit 70 may further include a filter (not shown) for collecting foreign substances in the sucked air stream and a foreign matter receiver (not shown) in which foreign substances collected by the filter are accumulated.

3 and 4 are views for explaining the structure of a depth sensor and the principle of acquiring image information according to an embodiment of the present invention.

The depth sensor 111 of the TOF type can measure the reflected time by irradiating light and measure the distance to the object.

The depth sensor 111 of the TOF type can measure the distance to an object using the amount of reflected light.

The depth sensor 111 of the TOF type can output image information including the depth image 93 to the real object 91, as shown in Fig. 3, using the TOF method.

Fig. 4 shows an example of a TOF-type depth sensor.

As shown in FIG. 4, the TOF-type depth sensor 111 may include a plurality of cells 95 for sensing light emitted from a light emitting unit (not shown) and light emitted from the light emitting unit.

The light emitting portion can irradiate light to the outside at a predetermined time interval. The predetermined time may indicate the blinking interval of the light emitting portion.

Each of the plurality of cells 95 may include a first receiver 95a and a second receiver 95b.

The first receiver 95a can be activated while irradiating light in the light emitting portion, and can receive reflected light returning from the activated state.

The second receiver 95b can be activated while not emitting light in the light emitting portion, and can receive the reflected and returning light in the activated state.

When the first receiver 95a and the second receiver 95b are activated with a time difference from each other, a difference occurs in the amount of light accumulated in each receiver depending on the distance from the object.

By comparing the difference in the amount of light, the distance to the object can be measured.

The depth sensor 111 of the TOF type can convert the actual object 91 into the depth image 93 shown in Fig. 3 according to the measured distance and output it.

Can be used to extract a human candidate region using the converted depth image (93).

5 is a view for explaining an example in which a robot cleaner according to an embodiment of the present invention includes a pan tilt sensor on one side of a top surface thereof.

As shown in FIG. 5, the robot cleaner 500 according to an embodiment of the present invention may include pan tilt sensors 510 and 515 on one side of the upper surface.

The robot cleaner 500 may include the pan tilt sensors 510 and 515 on an upper surface area that matches the straight running.

The pan and tilt sensors 510 and 515 of the robot cleaner 500 may include a sensor unit 510 including a depth sensor or a 3D camera and a pan tilt unit 515 for rotating the sensor unit 510 vertically and horizontally .

Accordingly, during traveling, the robot cleaner 500 rotates the sensor unit 510 left or right or up and down to detect obstacles to various areas.

FIG. 6 is a view for explaining an example in which a robot cleaner according to an embodiment of the present invention travels with a pan tilt sensor fixed.

As shown in FIG. 6, the robot cleaner 600 according to an embodiment of the present invention may include a pan tilt sensor 610 on one side of the upper surface.

The robot cleaner 600 can set the traveling direction so that the pan tilt sensor 610 is positioned at a position perpendicular to the traveling direction.

The robot cleaner 600 can detect whether an obstacle exists within a predetermined range of the traveling direction in which the robot cleaner 600 travels using the pan tilt sensor 610. [

When the traveling path 620 of the robot cleaner 600 is in the straight forward direction, the robot cleaner 600 can travel with the pan tilt sensor 610 fixed to face the front.

In this case, the robot cleaner 600 can fix the pan tilt sensor 610 to prevent the pan tilt sensor 610 from being rotated or generated.

Accordingly, the robot cleaner 600 can accurately determine the position and existence of obstacles existing in the traveling direction in the straight traveling having a speed faster than the rotational movement.

7 and 8 are views for explaining an example in which the robot cleaner according to the embodiment of the present invention rotates the pan tilt sensor when the travel path is changed.

The robot cleaner 700 according to an embodiment of the present invention includes a sensor unit having at least one driving unit among a forward driving unit capable of moving up and down and left and right, a driving unit capable of moving up and down, a driving unit capable of moving left and right, and a driving unit having two degrees of freedom .

The driving unit may include a pan-tilt device to facilitate up-and-down movement or left-right movement.

In the following description, it is assumed that the sensor unit includes a pan / tilt device for up-and-down movement or left-right movement. However, it is apparent that the same invention can be implemented by applying various driving units.

When changing the path, the obstacle can be detected by rotating the pan tilt sensor 710 in advance.

The robot cleaner 700 according to an embodiment of the present invention can detect an obstacle by rotating the pan tilt sensor 710 in advance when it is desired to change the travel path.

For example, as shown in FIG. 7, the robot cleaner 700 can proceed to the straight traveling path 722. [

The robot cleaner 700 can travel while maintaining the pan tilt portion of the pan tilt sensor 710 while proceeding to the straight traveling path 722 as described with reference to FIG.

Then, the robot cleaner 700 can change the path from the straight traveling path 722 to the rightward traveling path 724 during traveling.

At this time, the robot cleaner 700 can rotate the pan tilt sensor 710 to the right before changing to the right rotation traveling path 724.

The robot cleaner 700 can detect whether an obstacle exists in the direction of the right turn travel path 724 by rotating the pan tilt sensor 710 to the right before searching for a right turn before traveling.

The robot cleaner 700 can avoid obstacles by calculating a new path without rushing to the right when an obstacle exists in the direction of the right turn traveling path 724. [

For example, as shown in FIG. 8, the robot cleaner 800 may proceed to the straight traveling path 822. [

The robot cleaner 800 can travel while maintaining the pan tilt portion of the pan tilt sensor 810 while proceeding to the straight traveling path 822 as described with reference to FIG.

The robot cleaner 800 can change the route from the straight travel route 822 to the leftward travel route 824 during travel.

At this time, the robot cleaner 800 may rotate the pan tilt sensor 810 to the right before changing to the left-turn traveling path 824.

The robot cleaner 800 may detect the presence of an obstacle in the direction of the left turn traveling path 824 by rotating the pan tilt sensor 810 to the left before searching for a left turn before traveling.

The robot cleaner 800 can avoid an obstacle by calculating a new route without traveling left when an obstacle exists in the direction of the left turn traveling route 824. [

9 and 10 are views for explaining conditions under which the robot cleaner according to the embodiment of the present invention rotates the pan tilt sensor to detect an obstacle.

As shown in FIG. 9, the robot cleaner 900 according to the embodiment of the present invention can set the straight running route and run straight.

The robot cleaner 900 can set a traveling route at the time of traveling and draw a virtual traveling line 920 corresponding to the traveling route.

The robot cleaner 900 may mix a virtual driving line 920 with an image photographed by the pan tilt sensor 910. [

Accordingly, the user can also check the virtual running line 920 drawn by the robot cleaner 900 from the image photographed by the pan / tilt sensor 910 of the robot cleaner 900.

In addition, the robot cleaner 900 can detect whether there is an obstacle on one side of the image 930 taken by the pan / tilt sensor 910.

The robot cleaner 900 can accurately detect the obstacle by rotating the pan tilt sensor 910 when an obstacle exists in one of upper, lower, left, and right areas of the image 930. [

However, in order for the robot cleaner 900 to rotate the pan tilt sensor 910 in order to precisely detect the obstacle, a condition for the relationship between the obstacle in the one area and the virtual traveling line 920 may be required.

For example, as shown in FIG. 9, the robot cleaner 900 can detect a part of the obstacle 940 at the lower right portion of the image 930 taken by the pan / tilt sensor 910.

At this time, a part of the obstacle 940 may be located outside the virtual traveling line 920 drawn by the robot cleaner 900.

In this way, when the obstacle 940 is located outside the virtual traveling line 920, the robot cleaner 900 may not precisely detect the obstacle 940.

In addition, the robot cleaner 900 may calculate the size of the obstacle 940 using a pan tilt sensor 910 including a depth sensor or the like.

Based on the calculation result, the robot cleaner 900 may not rotate the pan tilt sensor 910 when the size of the obstacle 940 calculated through the pan tilt sensor 910 is smaller than a predetermined size.

10, the robot cleaner 1000 can detect a part of the obstacle 1040 on the right side of the image 1030 photographed by the pan / tilt sensor 1010. As shown in FIG.

At this time, a part of the obstacle 1040 may be located in an area where the obstacle 1040 is overlaid with the virtual traveling line 1020 drawn by the robot cleaner 1000.

The robot cleaner 1000 can rotate the pan tilt sensor 1010 to the right in order to precisely detect the obstacle 1040. In this case, have.

In addition, the robot cleaner 1000 can calculate the size of the obstacle 1040 by using a pan tilt sensor 1010 including a depth sensor or the like.

Based on the calculation result, the robot cleaner 1000 can rotate the pan tilt sensor 1010 when the size of the obstacle 1040 calculated through the pan tilt sensor 1010 is equal to or larger than a predetermined size.

That is, when an obstacle overlaid on the imaginary running line or an obstacle of a predetermined size or more is detected, the robot cleaner can accurately detect the obstacle by rotating the pan tilt sensor toward the obstacle.

Therefore, the robot cleaner can determine whether or not to avoid an obstacle through the precise detection.

11 to 13 are views for explaining a process of rotating the pan tilt sensor for detecting an obstacle by the robot cleaner according to an embodiment of the present invention.

The robot cleaner 1100 according to the embodiment of the present invention can photograph the forward image 1130 using the pan tilt sensor 1110 while driving.

The obstacle 1140 may be displayed in the front image 1130 taken by the robot cleaner 1100 within a certain range in front of the imaginary running line.

The robot cleaner 1100 rotates the pan tilt sensor 1110 such that the entire area of the obstacle 1140 is detected when a part of the obstacle 1140 is detected in the image 1130 photographed through the pan tilt sensor 1110. [ .

For example, as shown in FIG. 11, the robot cleaner 1100 can travel while fixing the pan tilt sensor 1110 at a vertical angle in the forward direction during straight running.

At this time, the robot cleaner 1100 can detect a part of the obstacle 1140 in the right region from the image 1130 photographed by the pan / tilt sensor 1110.

12, the robot cleaner 1100 may detect the obstacle 1140 located on the right side of the photographed image 1130 of the pan tilt sensor 1110 by a predetermined first rotation angle, (1110).

When the robot cleaner 1100 rotates the pan tilt sensor 1110 by the first-step rotation angle, a portion where the obstacle 1140 is more likely to be displayed in the image 1130 may be displayed.

The robot cleaner 1100 can sense the right side of the obstacle 1140 displayed on the image 1130 after rotating the pan tilt sensor 1110 by the first step rotation angle.

12, if the entire area of the obstacle 1140 is not displayed in the image 1130, the robot cleaner 1100 may rotate the pan tilt sensor 1110 additionally.

As shown in FIG. 13, the robot cleaner 1100 may rotate the pan tilt sensor 1110 by a second-stage rotation angle to detect the entire area of the obstacle 1140.

When the robot cleaner 1100 rotates the pan tilt sensor 1110 by the second-stage rotation angle, a portion where the obstacle 1140 is more likely to be displayed in the image 1130 may be displayed.

The robot cleaner 1100 can sense the right side of the obstacle 1140 displayed on the image 1130 after rotating the pan tilt sensor 1110 by the second-stage rotation angle.

If it is determined that the entire area of the obstacle 1140 is displayed in the image 1130 as shown in FIG. 13, the robot cleaner 1100 can fix the pan tilt sensor 1110.

The robot cleaner 1100 may detect an entire obstacle 1140 displayed on the image 1130 and proceed with an additional process such as avoidance travel or user notification.

FIGS. 14 to 16 are views for explaining an example of controlling the pan tilt sensor when an obstacle is detected on both sides of the travel route by the robot cleaner according to the embodiment of the present invention.

As shown in FIG. 14, the robot cleaner 1400 according to the embodiment of the present invention can set the straight traveling route and travel straight.

The robot cleaner 1400 can set a traveling route at the time of traveling and draw a virtual traveling line 1420 corresponding to the traveling route.

The robot cleaner 1400 may mix a virtual running line 1420 with an image photographed by the pan tilt sensor 1410. [

Accordingly, the user can also confirm the virtual traveling line 1420 drawn by the robot cleaner 1400 from the image photographed by the pan / tilt sensor 1410 of the robot cleaner 1400. [

In addition, the robot cleaner 1400 can detect whether there is an obstacle on one side of the image 1430 photographed by the pan / tilt sensor 1410.

The robot cleaner 1400 can determine in which direction the pan tilt sensor 1410 should be rotated when an obstacle exists on both sides of the image 1430. [

As shown in FIG. 14, the robot cleaner 1400 can simultaneously detect the left obstacle 1441 and the right obstacle 1442 during traveling.

In this case, the robot cleaner 1400 can calculate the size of both the left obstacle 1441 and the right obstacle 1442.

Based on the calculation result, the robot cleaner 1400 can rotate the pan tilt sensor 1410 toward the larger obstacle among the left obstacle 1441 and the right obstacle 1442.

Alternatively, the robot cleaner 1400 may rotate the pan tilt sensor 1410 toward the obstacle located closer to the imaginary running line 1420 from the left obstacle 1441 and the right obstacle 1442.

Conversely, as shown in FIG. 15, the robot cleaner 1400 can rotate the pan tilt sensor 1410 toward the obstacle of a smaller size, the left obstacle 1441 and the right obstacle 1442, for avoidance driving.

Or the robot cleaner 1400 may rotate the pan tilt sensor 1410 toward the obstacle located farther from the virtual traveling line 1420 than the left obstacle 1441 and the right obstacle 1442. [

16, the robot cleaner 1400 can calculate the distance between the left obstacle 1441 and the right obstacle 1442 using the image 1430 of the pan tilt sensor 1410. [

If the distance between the left obstacle 1441 and the right obstacle 1442 is equal to or greater than the predetermined distance as a result of the calculation, the robot cleaner 1400 does not rotate the pan tilt sensor 1410 and moves along the virtual traveling line 1420 You can drive.

That is, the robot cleaner 1400 can pass between the left obstacle 1441 and the right obstacle 1442 as it is.

On the other hand, if the distance between the left obstacle 1441 and the right obstacle 1442 is less than the predetermined distance as a result of the calculation, the robot cleaner 1400 can calculate a new travel route.

In order to calculate a new travel route, the robot cleaner 1400 may stop traveling.

FIG. 17 is a flowchart of a robot cleaner for controlling a pan / tilt sensor according to an embodiment of the present invention. Referring to FIG.

As shown in FIG. 17, the robot cleaner starts running (S1701) and can determine whether the current traveling route is a straight traveling route (S1702).

As a result of the determination (S1702), if the travel route is a straight travel route, the robot cleaner can fix the pan tilt sensor to face the front (S1703).

The robot cleaner can detect objects in an image taken through a pan tilt sensor during straight running.

The robot cleaner can sense that an object is detected at the lower end of the image (S1704).

In this case, the robot cleaner can rotate the pan tilt sensor so as to face downward (S1705).

Then, the robot cleaner can determine whether an object located in the lower front is an obstacle obstructing the running (S1706).

As a result of the determination (S1706), if the object is not an obstacle, the robot cleaner can fix the pan tilt sensor to its original position and continue straight traveling.

On the other hand, if it is determined in step S1706 that the object is an obstacle, the robot cleaner may select either a left-turn path or a right-turn path.

The robot cleaner can select the left-turn path (S1707).

The robot cleaner selecting the left-turn path can rotate the pan tilt sensor in the left direction (S1708).

The robot cleaner can calculate the detour path that can be directed to the destination by avoiding the left turn of the obstacle by using the pan tilt sensor rotated in the left direction.

Then, the robot cleaner avoiding the obstacle through the calculated detour path can determine whether the detour route travel has been completed (S1709).

After the detour route operation is completed, the user can resume his / her straight travel again. In this case, the pan / tilt sensor can be reset to face the front (S1710).

Further, the robot cleaner can select a right turn path (S1711).

The robot cleaner selecting the right turn path can rotate the pan tilt sensor in the right direction (S1712).

The robot cleaner can calculate the detour path that can be directed to the destination by avoiding the right turn of the obstacle by using the pan tilt sensor rotated to the right direction.

Then, the robot cleaner avoiding the obstacle through the calculated detour path can determine whether the detour route travel has been completed (S1713).

After the detour route operation is completed, the user can resume the straight-line travel again. In this case, the pan / tilt sensor can be reset to face the front (S1714).

The robot cleaner having the pan tilt sensor fixed to the front face can be continued to continue straight-ahead operation (S1715).

By attaching the pan tilt part to the sensor in this way, the robot cleaner is advantageous in that it can sense various places vertically, horizontally and horizontally with only one sensor.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, .

The foregoing detailed description should not be construed in all aspects as limiting and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (12)

In the robot cleaner,
A cleaner main body; And
And a sensor portion having a driving portion capable of moving up and down,
The cleaner main body
A traveling driving unit for traveling the cleaner main body, and a processor for controlling rotation of the sensor unit,
The sensor unit is mounted on one side of the upper surface of the cleaner main body to detect an obstacle within a predetermined range,
The processor comprising:
The sensor unit is fixed in the straight traveling path,
And controlling the size of the obstacle and the distance between the obstacle and the robot cleaner to be calculated by moving the sensor unit up and down when an obstacle is detected through the sensor unit
robotic vacuum.
The method according to claim 1,
The sensor unit includes:
Taking a forward image in the driving direction using a 3D camera
robotic vacuum
3. The method of claim 2,
The processor comprising:
When the obstacle exceeding the predetermined size is detected from the front image photographed by the sensor unit, the sensor unit is moved up and down
robotic vacuum.
3. The method of claim 2,
The processor comprising:
A virtual driving line is applied to a forward image photographed by the sensor unit,
When the obstacle is overlaid on the imaginary running line, the sensor unit is moved up and down
robotic vacuum.
The method according to claim 1,
The processor comprising:
When an obstacle is detected on the straight traveling route,
Calculating a bypass path based on the calculated size of the obstacle and the distance to the obstacle
robotic vacuum.
The method according to claim 1,
The driving unit includes a pan tilt device
robotic vacuum.
In the robot cleaner,
A cleaner main body; And
And a sensor portion having a driving portion capable of moving left and right,
The cleaner main body
A traveling driving unit for traveling the cleaner main body, and a processor for controlling rotation of the sensor unit,
The sensor unit is mounted on one side of the upper surface of the cleaner main body to detect an obstacle within a predetermined range,
The processor comprising:
Rotating the sensor unit in a direction in which the cleaner main body rotates before entering the curved traveling path,
And controls to detect whether an obstacle exists on the curved traveling path through the sensor unit
robotic vacuum.
8. The method of claim 7,
The processor
If it is determined that no obstacle exists on the curved traveling path, the sensor unit is rotated back to its original position
robotic vacuum.
8. The method of claim 7,
The driving unit includes a pan tilt device
robotic vacuum.
In the robot cleaner,
A cleaner main body; And
And a sensor unit having a pan / tilt device,
The cleaner main body
A traveling driving unit for traveling the cleaner main body, and a processor for controlling rotation of the sensor unit,
The sensor unit is mounted on one side of the upper surface of the cleaner main body to detect an obstacle within a predetermined range,
The processor comprising:
The sensor unit is fixed at the time of running on the straight traveling route,
When an obstacle is sensed while the vehicle is traveling on the straight traveling route, the sensor unit is rotated in the direction of the obstacle while the traveling route is maintained
robotic vacuum.
11. The method of claim 10,
The processor
When an obstacle is detected in both the left and right directions based on the straight traveling route,
The sensor unit is sequentially rotated in the order of the detected obstacle size
robotic vacuum.
11. The method of claim 10,
The processor
When an obstacle is detected in both the left and right directions based on the straight traveling route,
Calculating a distance between the sensed left and right obstacles using the sensor unit,
When the calculated distance is shorter than the left-right width of the cleaner main body, the bypass path is calculated
robotic vacuum.

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