Patent ID: 11969136
Assignee: LG ELECTRONICS INC.
Field: Control (Instruments)
Classification: CPC A  G | IPC A  G

Claim 0:
1. A vacuum cleaner performing autonomous driving, the vacuum cleaner comprising:
a main body;
a driving unit that moves the main body in a cleaning area;
a suction unit provided on a front surface of the main body;
a plurality of sensors provided on the front surface of the main body and on both side surfaces of the main body, respectively, to sense an obstacle present in each direction; and
a control unit that controls the driving unit to move the main body based on a preset driving pattern,
wherein the control unit detects whether to enter a corner area of the cleaning area using a first sensor provided on the front surface of the main body and a second sensor provided on a first side surface between the both side surfaces of the main body while driving according to the preset driving pattern, and controls the driving unit to allow the first side surface of the main body to come into contact with a first wall defining the corner area at least once or more when the main body enters the corner area,
wherein the control unit selects a wall facing the front surface of the body as the first wall when entering the corner area between two walls defining the corner area,
wherein when the first side surface comes into contact with the first wall, the control unit controls the driving unit to sequentially perform first corner driving to separate the first side surface from the first wall, and second corner driving to allow the first side surface to come into contact with the first wall again,
wherein when the front surface of the main body comes into contact with the first wall, the control unit performs posture change driving that changes the posture of the main body to allow the front surface of the main body to face a second wall defining the corner area together with the first wall, and
wherein the posture change driving comprises:
a first posture change process of moving the main body backward along a first curved path to allow the front surface of the main body to face the second wall when the front surface of the main body comes into contact with the first wall,
a second posture change process of moving the main body straight to allow the front surface of the main body to come into contact with the second wall, and
a third posture change process to allow the main body to drive along a second curved path so that the side surface of the main body comes into contact with the first wall.