Robot cleaner and method of controlling robot cleaner
The present disclosure relates to a method of controlling a robot cleaner including a pair of rotary plates having lower sides to which mops facing a floor surface are coupled, the robot cleaner being configured to move by rotating the pair of rotary plates, the method including: a first forward movement step of moving the robot cleaner forward from a starting point toward a predetermined target point; a first rotation step of rotating the robot cleaner; a second forward movement step of moving the robot cleaner forward after the first rotation step; and a second rotation step of rotating the robot cleaner after the second forward movement step, such that the floor surface may be repeatedly cleaned only by the forward movement and the rotation.
1 . A robot cleaner configured to move based on a centerline, which is an imaginary line connecting from a starting point and to a predetermined target point on a floor surface, the robot cleaner comprising:
a main body having a bumper provided on a front surface thereof and having a space for accommodating a battery, a water container, and a motor therein; and
a pair of rotary plates rotatably disposed on a bottom surface of the main body and having lower sides to which mops facing the floor surface are coupled,
wherein the main body moves forward toward the target point, rotates by a predetermined first rotation angle, moves forward again, rotates by a predetermined second rotation angle, moves forward, rotates by a predetermined third rotation angle, and then moves forward,
wherein the first rotation angle and the second rotation angle are equal in magnitude to each other and opposite in rotation direction to each other,
wherein the first rotation angle and the third rotation angle are equal in magnitude to each other and opposite in rotation direction to each other,
wherein the second rotation angle and the third rotation angle are equal in magnitude and rotation direction to each other,
wherein a forward movement and rotation cause the main body to temporarily deviate from the centerline connecting the starting point and the target point, and
wherein the main body subsequently progresses toward the target point while maintaining an overall alignment with the centerline without executing backward movement.
2 . The robot cleaner of claim 1 , wherein the main body moves forward toward the target point by a predetermined first forward movement distance, rotates, and then moves forward again by a predetermined second forward movement distance, and
wherein the first forward movement distance is longer than the second forward movement distance.
3 . The robot cleaner of claim 1 , wherein the main body moves forward toward the target point while forming a curved trajectory having a predetermined curvature on the floor surface.
4 . The robot cleaner of claim 1 , wherein the main body stops moving for a predetermined stop time while moving forward toward the target point.
5 . The robot cleaner of claim 1 , wherein the main body moves forward toward the target point and then rotates toward the starting point.
6 . The robot cleaner of claim 1 , wherein the main body rotates by an angle of more than 90 degrees and 180 degrees or less based on a direction in which the main body moves forward.
7 . The robot cleaner of claim 1 , wherein the main body moves from the starting point to the target point while repeatedly moving forward and rotating, and regions in which the main body moves on the floor surface at least partially overlap.