US 11,871,891 B2
Cleaning robot and controlling method thereof
Hyun Soo Jung, Seongnam-si (KR); Chin Woo Kang, Seoul (KR); Kyong Su Kim, Hwaseong-si (KR); Kyu Ha Lee, Gwangju (KR); Jong Gap Lee, Gwangju (KR); and Jeong Gon Song, Gwangju (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Aug. 30, 2018, as Appl. No. 16/117,492.
Application 16/117,492 is a continuation of application No. 15/323,349, granted, now 10,750,918, previously published as PCT/KR2015/005574, filed on Jun. 3, 2015.
Claims priority of application No. 10-2014-0081749 (KR), filed on Jul. 1, 2014; and application No. 10-2014-0081798 (KR), filed on Jul. 1, 2014.
Prior Publication US 2019/0133395 A1, May 9, 2019
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); A47L 9/16 (2006.01); A47L 9/28 (2006.01)
CPC A47L 9/2805 (2013.01) [A47L 9/16 (2013.01); A47L 9/2852 (2013.01); G05D 1/0219 (2013.01); G05D 1/0223 (2013.01); G05D 1/0227 (2013.01); G05D 1/0238 (2013.01); A47L 2201/04 (2013.01); G05D 2201/0203 (2013.01); G05D 2201/0215 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A cleaning robot comprising:
a body having a front;
a driver configured to move the body;
a sensor configured to sense an obstacle;
a suction fan;
a suction motor configured to rotate the suction fan; and
a controller configured to:
in response to the obstacle being sensed, control the driver to perform a first alignment whereby the front of the body is aligned to the obstacle for both a left and a right of the front of the body to face the obstacle and control the driver to decelerate the body while moving the body to perform the first alignment,
based on the first alignment being complete, control the driver to move the body backward so that both the left and the right of the front of the body are spaced from the obstacle by a distance by moving both the left and the right of the front of the body along a straight line relative to the obstacle,
after moving the body backward, stop the cleaning robot at a location point and rotate the cleaning robot in place at the location point by an angle smaller than 90 degree, and
after rotating the cleaning robot by the angle, control the driver to move the body along a curve to perform a second alignment whereby the front of the body is aligned to the obstacle at a second location along the obstacle adjacent to a first location of the first alignment, and
wherein, the controller is configured to:
control the suction motor to rotate the suction fan at a first speed while controlling the driver to move the body, and
control the suction motor to rotate the suction fan at a second speed greater than the first speed to increase a suction force of the cleaning robot while controlling the driver to maintain the first alignment whereby the front of the body is aligned to the obstacle for both the left and the right of the front of the body to face the obstacle.