Patent ID: 9298171
Filing Date: 2016-03-29
CPC Classification: A47L,G05B,Y10S

Claim Text:
1. A method for controlling a robot cleaner, comprising: determining a stored value of a pulse width modulation (PWM) duty ratio based on a voltage of a battery of the robot cleaner; comparing a measured value of a PWM duty ratio with the stored value of the PWM duty ratio to calculate a difference between the measured value of the PWM duty ratio and the stored value of the PWM duty ratio; upon determining that the difference between the measured value of the PWM duty ratio and the stored value of the PWM duty ratio is equal to or greater than a first set value, calculating a distributed value of acceleration on a vertical axis of the robot cleaner; and upon determining that the distributed value of acceleration deviates from a range of second set values, increasing a force to suction foreign matter.