{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9851720","patent":{"patent_number":"US-9851720","title":"Method of controlling a cleaner","assignee":null,"inventors":[],"filing_date":"2015-05-14T00:00:00.000Z","publication_date":"2017-12-26T00:00:00.000Z","cpc_codes":["G05D","G05D","G05D","G05D"],"num_claims":15,"abstract":"Disclosed herein is a method of controlling a cleaner including a movable body for suctioning and a following body for collecting the dust suctioned by the movable body, the method including: (a) acquiring an image for a view around the following body; (b) acquiring position information of the movable body in an real space, based on the image; (c) acquiring position information of an obstacle in the real space, based on the image; (d) setting a travel direction such that the following body avoids the obstacle to follow the movable body, based on the position information of the movable body and the position information of the obstacle; and (e) controlling the following body to travel in the set travel direction."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Method of controlling a cleaner","description":"Disclosed herein is a method of controlling a cleaner including a movable body for suctioning and a following body for collecting the dust suctioned by the movable body, the method including: (a) acqu","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9851720","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9851720","citation_suggestion":"Patentable. \"Method of controlling a cleaner\" (US-9851720). https://patentable.app/patents/US-9851720","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9851720","json":"https://patentable.app/api/llm-context/US-9851720","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T11:15:12.428Z"}