04-07-2019 дата публикации
Номер: US20190204847A1
A moving apparatus for cleaning includes: a cleaner configured to perform cleaning; a traveler configured to move the moving apparatus; a sensor including a transmitter configured to transmit a radio frequency (RF) signal toward a front floor, and a receiver configured to receive a reflection signal of the RF signal; and a processor configured to control the traveler to make the moving apparatus travel corresponding to a result of determining that an obstacle is present in the front floor based on a signal pattern detected from the received reflection signal. Thus, the cleaning robot is provided with a radar sensing function using the RF signal, and thus improved in accuracy of detecting an obstacle without being affected by surrounding color, light disturbance and the like environment. 1. A moving apparatus for cleaning , comprising:a cleaner configured to perform a cleaning operation;a traveler configured to move the moving apparatus;a sensor comprising a transmitter configured to transmit a radio frequency (RF) signal toward a surface, and a receiver configured to receive a reflection signal of the transmitted RF signal; and detect a signal pattern in the received reflection signal based on a change in at least one of a frequency, a phase, and an amplitude of the received reflection signal,', 'determine whether an obstacle is present on the surface based on the detected signal pattern, and', 'control at least one of the traveler and the cleaner based on the determination., 'at least one processor configured to2. The moving apparatus according to claim 1 , wherein claim 1 , when the detected signal pattern shows the change in the at least one of the amplitude and the phase greater than or equal to a predetermined threshold value claim 1 , the at least one processor determines that the obstacle is a liquid.3. The moving apparatus according to claim 1 , wherein the at least one processor is further configured to control the traveler to move the moving apparatus ...
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