ROBOT CLEANER AND CONTROL METHOD THEREOF

摘要

Disclosed herein are a robot cleaner having an improved travel pattern and a control method thereof. The robot cleaner performs cleaning using zigzag travel as a basic cleaning traveling manner, and then performs cleaning using random travel as a finishing cleaning traveling manner so as to clean areas skipped during the zigzag travel. The robot cleaner performs the zigzag travel while maintaining a designated interval with a travel route proceeding to a wall regardless of a direction proceeding to the wall, and employs an improved zigzag travel method to maintain a zigzag travel pattern, if the robot cleaner senses an obstacle during the zigzag travel.

主权项

1. A control method for cleaning an area using a robot cleaner 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 distance from the designated wall;a third travel path enabling the robot cleaner to change a direction after the first travel path or the second travel path and then to travel until the robot cleaner is separated from the first travel path or 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; moving the robot cleaner alongside of an obstacle in an obstacle contour following path, if the robot cleaner encounters the obstacle while moving the robot cleaner in one of the first travel path and the second travel 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; moving the robot cleaner in the other of the first travel path and the second travel path, if the separation distance reaches the designated intervals; and moving the robot cleaner in the one of the first travel path and the second travel path, if the separation distance reaches zero.