US 12,064,082 B2
Cleaning robot and controlling method thereof
Jaeyoon Jeong, Suwon-si (KR); Minwoo Ryu, Suwon-si (KR); Donghun Lee, Suwon-si (KR); Shin Kim, Suwon-si (KR); Jeayun So, Suwon-si (KR); Jooseok Jeong, Suwon-si (KR); and Changho Ha, Suwon-si (KR)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Sep. 23, 2021, as Appl. No. 17/482,984.
Application 17/482,984 is a continuation of application No. PCT/KR2021/010472, filed on Aug. 9, 2021.
Claims priority of application No. 10-2020-0102244 (KR), filed on Aug. 14, 2020.
Prior Publication US 2022/0047139 A1, Feb. 17, 2022
Int. Cl. A47L 9/28 (2006.01); A47L 11/24 (2006.01); G05D 1/00 (2024.01)
CPC A47L 9/2894 (2013.01) [A47L 9/2805 (2013.01); A47L 9/2873 (2013.01); A47L 11/24 (2013.01); G05D 1/0225 (2013.01); G05D 1/0242 (2013.01); A47L 2201/022 (2013.01); A47L 2201/04 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A cleaning robot comprising:
a main body;
a drive unit configured to move the main body;
a Lidar sensor comprising:
a Lidar optical transmitter,
a Lidar optical receiver, and
a printed circuit board (PCB) to which the Lidar optical transmitter and the Lidar optical receiver are fixed and provided to be rotatable;
a docking optical receiver fixed to the PCB and configured to receive light emitted from a docking optical transmitter of a docking station; and
at least one processor configured to control the drive unit to be docked on the docking station based on light received by the docking optical receiver.