公开(公告)号：US20240377835A1

公开(公告)日：2024-11-14

申请号：US18580049

申请日：2022-07-12

Applicant: LG ELECTRONICS INC.

Inventor： Sangyol YOON ,  Miyoung SIM ,  Jongbeom JEON

IPC: G05D1/242 ,  G05D1/246 ,  G05D105/10 ,  G05D111/10

Abstract: In order to achieve the purpose, a robotic cleaner according to an aspect of the present disclosure includes: a traveling unit for moving a body in a traveling region; a distance measuring sensor for acquiring distance sensing information about a distance to an object outside the body; and a control unit which generates a grid map about the traveling region from the distance sensing information, performs, when dividing the traveling region into a plurality of sub-areas, ray casting on a plurality of traveling nodes on a path of the grid map with respect to each sub-area to search for an open space, and sets an open node for the open space to calculate a topology graph between the traveling nodes and the open node. Therefore, efficiency can be improved by minimizing unnecessary traveling when traveling for searching for a space in which additional traveling is required. Furthermore, avoidance traveling can be reduced by setting the cleaner to travel along the center of a passage during additional search traveling.