Patent ID: 11871891
Assignee: SAMSUNG ELECTRONICS CO., LTD.
Field: Control (Instruments)
Classification: CPC A  G | IPC A  G

Claim 8:
9. A control method of a cleaning robot, comprising:
rotating a suction fan at a first speed while moving the cleaning robot;
reducing a driving speed of the cleaning robot, when a distance between the cleaning robot and an obstacle is shorter than or equal to a reference distance;
in response to the obstacle being sensed, moving the cleaning robot to perform a first alignment whereby a front of the cleaning robot is aligned to the obstacle for both a left and a right of the front of a body of the cleaning robot to face the obstacle,
based on the first alignment being complete, controlling a driver to move the body backward so that both the left and the right of the front of the body are at an equal distance from the obstacle 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, stopping the cleaning robot at a location point and rotating the cleaning robot in place at the location point by an angle smaller than 90 degree;
after rotating the cleaning robot by the angle, controlling 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
rotating the suction fan at a second speed greater than the first speed to increasing a suction force of the cleaning robot in response to completion of the first alignment whereby both the left and the right of the front of the body face the obstacle.