Self-running cleaning control method

  • US 5,284,522 A
  • Filed: 01/31/1992
  • Issued: 02/08/1994
  • Est. Priority Date: 06/28/1990
  • Status: Expired due to Term
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First Claim
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1. A control method, using digital processing means, for automatically operating a self-running cleaning apparatus comprising the steps of:

  • preparing a block-map of an area to be cleaned by said self-cleaning apparatus, said block-map including a plurality of blocks, wherein said apparatus is initially located on one of said blocks and moves from block to block, cleaning each block said apparatus is on;

    storing said block-map;

    analyzing, using said digital processing means, a status of said blocks which are positioned to the west, the north, the south and the east of said apparatus;

    starting said automatic operation of said apparatus by deciding a moving direction on the basis of a predetermined priority order of directions, said directions corresponding to blocks which are west, north, south and east of said apparatus;

    determining blank of a block (n-1, m), when each block in a line and a row of said subdivided area is designated by a combination of one of sequential numbers n-1, n, n+1, and one of sequential numbers m-1, m, m+1;

    determining a presence of an obstacle on said block (n-1, m), when said block (n-1, m) is determined to be blank;

    determining blank of a block (n, m-1), when said block (n-1, m) is not blank or an obstacle is on said block (n-1, m);

    moving to the direction of a block having a first priority, when there is no obstacle on said block (n-1, m);

    determining a presence of an obstacle on said block (n, m-1), when said block (n, m-1) is determined to be blank;

    moving to the direction of a block having a second priority, when there is no obstacle on said block (n, m-1);

    determining blank of a block (n, m+1), when said block (n, m-1) is not blank or an obstacle is on said block (n, m-1);

    determining a presence of an obstacle on said block (n, m+1), when said block (n, m+1) is determined to be blank;

    moving to the direction of a block having a third priority, when there is no obstacle on said block (n, m+1);

    determining blank of a block (n+1, m) when said block (n, m+1) is not blank or an obstacle is on said block (n, m+1);

    determining a presence of an obstacle on said block (n+1, m) when said block (n+1, m) is determined to be blank;

    moving to the direction of a block having a fourth priority, when there is no obstacle on said block (n+1, m); and

    moving said apparatus along a wall of said obstacle when said apparatus cannot run through centers of said blocks due to said obstacle being located on said blocks.

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