Cleaning robot and control method thereof

摘要

A cleaning robot having improved traveling performance and a method of controlling the same. The cleaning robot detects a stuck state such as a ‘jammed state’, ‘lifted state’, or ‘object-caught state’ by using a motion instruction or sensor information and quickly escapes from the stuck state caused in various traveling conditions by using a wheel structure capable of changing a total height of the cleaning robot. In addition, a degree of risk and type of the stuck state is predicted before the cleaning robot is in the stuck state so that the cleaning robot may deal with the stuck state in advance. The cleaning robot may escape from the stuck state via rapidly deceleration or quick stopping in accordance with the predicted degree of risk of the stuck state, and the cleaning robot may efficiently deal with the stuck state by using information to select an escaping method suitable for the type of the stuck state.

主权项

1. A cleaning robot comprising a main body and a drive unit to move the main body, wherein the drive unit comprises a wheel assembly comprising a main wheel and a sub wheel and a driving frame rotatable to change a position of the wheel assembly, further comprising:
an input unit to input a motion instruction for the cleaning robot; an encoder to measure movement of the drive unit moving in accordance with the input motion instruction; a position sensor to measure movement of the cleaning robot; and a controller to determine a traveling state of the cleaning robot by using a position value acquired in accordance with the input motion instruction, a position value of the cleaning robot calculated based on measurements of the encoder, and a position value of the cleaning robot calculated based on sensor information of the position sensor, wherein the drive unit further comprises a first motor and a second motor to transmit driving force, the main wheel and the sub wheel are connected to the first motor and rotate by driving force received from the first motor, and the driving frame rotates by driving force received from the second motor to change a position of the wheel assembly.