Method for automatically controlling a travelling and cleaning operation of vacuum cleaners

  • US 5,353,224 A
  • Filed: 12/05/1991
  • Issued: 10/04/1994
  • Est. Priority Date: 12/07/1990
  • Status: Expired due to Fees
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First Claim
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1. A method for automatically controlling a travelling and cleaning operation of a vacuum cleaner comprising:

  • a learning travel step for calculating straight travelling distances of respective outline paths of a cleaning region and path directions of next travelling paths after a 90°

    turning right or left, then storing said straight travelling distances of the outline paths and said path directions of the next travelling paths after the 90°

    turning right or left in a storage device together with the total number of the outline paths;

    a two-dimensional coordinates calculating step for determining respective relative positions of straight division lines on the basis of 90°

    turning points by using data corresponding to the straight travelling distances and the path directions, each of said straight division lines parallels the x-axis or the y-axis, then calculating two-dimensional coordinates of cleaning blocks which are used to determine positions and areas of respective cleaning blocks which are divided by said straight division lines;

    a cleaning block discriminating step for delimiting, on the basis of said two-dimensional coordinates of the cleaning blocks, a plurality of integrated cleaning regions each comprising a plurality of sequential cleaning blocks of which each lower end coincides with an outline path of the cleaning region, and determining a cleaning start block and a cleaning end block of each of said integrated cleaning regions; and

    a practical cleaning step for controlling said cleaner to sequentially travel along said integrated cleaning regions such that the cleaner straightly travels along a straight travelling path from said cleaning start block to said cleaning end block of each of said integrated cleaning regions, turns in 180°

    turning reverse at a turning reverse position, then straightly travels from said cleaning end block to said cleaning start block simultaneously overlapping the cleaning blocks designated by a predetermined overlapping value.

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