Patent ID: 7885738
Filing Date: 2011-02-08
Classification: G05D

Abstract:
1. A self-propelled mobile unit, comprising: a carrying unit to move the mobile unit; a sensor unit to detect an obstacle in front of the mobile unit and a wall to a side of the mobile unit, both with respect to a direction of motion of the carrying unit; and a controller to control the carrying unit movement of the mobile unit by generating a path along which the carrying unit is controlled to move, according to a detection result of the sensor unit, wherein the controller directs the carrying unit to move the mobile unit while controlling a distance between the mobile unit and the wall, and wherein the controller directs the carrying unit to move the mobile unit in a direction free of obstacles if the sensor unit detects an obstacle, wherein the sensor unit comprises an obstacle sensor unit to detect the obstacle in front of the mobile unit, a wall sensor unit to detect the wall, an upward sensor unit to detect the obstacle, existing upward with respect to the direction of motion of the carrying unit and a sensor signal processor to process signals from the obstacle sensor unit, the wall sensor unit, and the upward sensor unit, the signals including information about the detected obstacle, wherein, when the obstacle sensor unit does not detect the obstacle in front of the mobile unit while the upward sensor unit detects the obstacle in front of the mobile unit, the controller directs the carrying unit to move in a direction different from the direction of motion of the carrying unit corresponding to the detected obstacle if a height of the obstacle detected by the upward sensor unit is determined to be less than a height of the mobile unit.