| 摘要 |
PURPOSE: A cleaning method of a cleaning robot is provided to efficiently perform cleaning work by sensing and removing a particular foreign matter without traveling the whole cleaning area. CONSTITUTION: A cleaning method of a cleaning robot comprises following steps. The cleaning robot senses the particular foreign matters located ahead filming the forward of the cleaning robot with camera installed (S100). The cleaning robot calculates a rake angle of the foreign material location from a straight line direction with the center of cleaning robot by comparing the center direction of the cleaning robot and the foreign material location sensed with the camera (S200). The cleaning robot calculates a declined angle of the foreign material location from the central direction of the robot by comparing a central straight direction of the robot with the foreign matters (S200). The cleaning robot travels and removes the foreign matter according to the declined angle calculated with the angle calculation step (S400). [Reference numerals] (AA) Cleaning robot rotates or moves; (BB,DD) No; (CC,EE) Yes; (S110) Photograph the front of the cleaning robot; (S120) Image color information = set color information?; (S200) Calculate a rake angle of the foreign material location from the cleaning robot; (S310) Cleaning robot rotates; (S315) Perform from S100 to S200 steps again; (S320) Re-calculated rake angle = 0°?; (S400) Perform cleaning while moving towards the foreign material |
