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Robot cleaner and control method thereof

  • US 9,844,876 B2
  • Filed: 04/21/2015
  • Issued: 12/19/2017
  • Est. Priority Date: 06/12/2009
  • Status: Active Grant
First Claim
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1. A control method for cleaning an area using a robot cleaner, the robot cleaner including a controller to perform the cleaning of the area, the control method comprising:

  • moving the robot cleaner in a first travel pattern, the first travel pattern includes;

    a first travel path enabling the robot cleaner to proceed from one point in the area toward a designated wall;

    a second travel path parallel to the first travel path enabling the robot cleaner to move a predetermined distance from the designated wall;

    a third travel path enabling the robot cleaner to change a direction after one or more of the first travel path and the second travel path and then to travel until the robot cleaner is separated from the one or more of the first travel path and the second travel path by designated intervals,wherein a route of the first travel path and a route of the second travel path respectively maintain the designated intervals;

    a fourth travel path enabling the robot cleaner to change the direction after the first travel path and then to move alongside the designated wall;

    in response to determining that the robot cleaner encountered an obstacle while moving the robot cleaner in one of the first travel path and the second travel path, moving the robot cleaner alongside of the obstacle in an obstacle contour following path;

    obtaining a separation distance of the robot cleaner in the obstacle contour following path in a perpendicular direction from a projection of one of the first travel path and the second travel path;

    in response to the separation distance reaching the designated intervals, moving the robot cleaner in the other of the first travel path and the second travel path; and

    in response to the separation distance reaching zero, moving the robot cleaner in the one of the first travel path and the second travel path; and

    in response to determining that a forward direction of the robot cleaner is within a designated angle range based on a direction of one of the first travel path and the second travel path while moving the robot cleaner alongside of the obstacle, moving the robot cleaner in the one of the first travel path and the second travel path.

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