US 11,653,808 B2
Robot cleaner and controlling method thereof
Minwoo Ryu, Suwon-si (KR); Changho Ha, Suwon-si (KR); Jinhee Kim, Suwon-si (KR); Shin Kim, Suwon-si (KR); and Donghun Lee, Suwon-si (KR)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Apr. 2, 2021, as Appl. No. 17/221,432.
Claims priority of application No. 10-2020-0048745 (KR), filed on Apr. 22, 2020.
Prior Publication US 2021/0330164 A1, Oct. 28, 2021
Int. Cl. G05D 1/02 (2020.01); A47L 11/40 (2006.01); G06V 20/10 (2022.01); G06V 20/64 (2022.01)
CPC A47L 11/4011 (2013.01) [G05D 1/027 (2013.01); G05D 1/0214 (2013.01); G05D 1/0246 (2013.01); G06V 20/10 (2022.01); G06V 20/64 (2022.01); A47L 2201/04 (2013.01); G05D 2201/0215 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot cleaner comprising:
a three-dimensional image sensor;
an optical sensor;
a gyro sensor; and
at least one processor configured to:
control a driving state of the robot cleaner based on image data acquired by the three-dimensional image sensor, optical data acquired by the optical sensor, and angular velocity data acquired by the gyro sensor,
acquire spatial information based on the image data acquired from the three-dimensional image sensor,
change the acquired spatial information based on the angular velocity data acquired from the gyro sensor, and
control the driving state of the robot cleaner based on the changed spatial information,
wherein the three-dimensional image sensor is arranged to be tilted by a first predetermined tilting angle and the optical sensor is arranged to be tilted by a second predetermined tilting angle, and
wherein the first predetermined tilting angle of the three-dimensional image sensor is smaller than the second predetermined tilting angle of the optical sensor.