US 12,089,793 B2
Autonomously traveling mobile robot and traveling control method therefor
Seong Ju Park, Gunpo (KR); Gi Yeon Park, Incheon (KR); Ki San Hwang, Gunpo (KR); and Seung Ho Jang, Incheon (KR)
Assigned to YUJIN ROBOT CO., LTD., Incheon (KR)
Appl. No. 17/311,358
Filed by YUJIN ROBOT CO., LTD., Incheon (KR)
PCT Filed Dec. 6, 2019, PCT No. PCT/KR2019/017186
§ 371(c)(1), (2) Date Jun. 7, 2021,
PCT Pub. No. WO2020/116986, PCT Pub. Date Jun. 11, 2020.
Claims priority of application No. 10-2018-0156943 (KR), filed on Dec. 7, 2018; application No. 10-2019-0086265 (KR), filed on Jul. 17, 2019; and application No. 10-2019-0120981 (KR), filed on Sep. 30, 2019.
Prior Publication US 2022/0022715 A1, Jan. 27, 2022
Int. Cl. A47L 11/40 (2006.01); G05D 1/00 (2006.01)
CPC A47L 11/4011 (2013.01) [G05D 1/0223 (2013.01); G05D 1/0238 (2013.01); G05D 1/0272 (2013.01); A47L 2201/04 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A traveling control method of an autonomously traveling mobile robot, comprising:
controlling, by a traveling control apparatus, traveling of the mobile robot according to one traveling mode among a first traveling mode, second traveling mode, and a third traveling mode, so that the mobile robot travels according to a spiral cleaning pattern;
generating, by the traveling control apparatus, candidate spots to which the mobile robot can move in an area located in a direction perpendicular to a movement trajectory of the mobile robot while the mobile robot travels according to the first traveling mode or the second traveling mode;
wherein the first traveling mode is a traveling mode in which the mobile robot travels while maintaining a predetermined distance between an obstacle and a side of the mobile robot,
the second traveling mode is a traveling mode in which the mobile robot travels in consideration of a positional relation with an existing traveling trajectory through which the mobile robot has already traveled while maintaining a predetermined distance from a previous traveling trajectory,
the third traveling mode is a traveling mode in which the mobile robot moves to a target point determined based on the candidate point,
the traveling control apparatus changes a current traveling mode of the mobile robot to the first traveling mode when an obstacle located around the mobile robot is detected while the mobile robot is traveling according to the second traveling mode or the third traveling mode, changes the current traveling mode of the mobile robot to the third traveling mode when the mobile robot revisits a previously visited position while the mobile robot is traveling according to the first traveling mode or the second traveling mode, and changes the current traveling mode of the mobile robot to the second traveling mode when the mobile robot arrives at the target point while the mobile robot is traveling according to the third traveling mode.