Robot cleaner and method for controlling a robot cleaner
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United States of America Patent
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Mar 29, 2016
Grant Date -
Dec 19, 2013
app pub date -
Mar 14, 2013
filing date -
Jun 13, 2012
priority date (Note) -
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Abstract
A robot cleaner and a method for controlling a robot cleaner are provided. The method may include sensing a stored value of a pulse width modulation (PWM) duty ratio based on a voltage of a battery; comparing a measured value of the PWM duty ratio with the stored value to calculate a difference between the measured value and the stored value; upon determining that the difference between the measured value and the stored value is equal to or greater than a first set value, calculating a distributed value of acceleration on a substantially vertically extending axis of the robot cleaner; and, upon determining that the distributed value of acceleration deviates from a range of a second set values, increasing a force to suction foreign matter.
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