Patent ID: 9737188
Date: 2017-08-22
CPC Classifications: A47L,B08B

Claim:
1. A method of controlling an automatic cleaner, comprising: moving the automatic cleaner with a side brush assembly in a first operation type; determining a corner during a movement of the automatic cleaner based on a signal from an obstacle sensor; changing the first operation type of the side brush assembly to a second operation type to clean the corner when the corner is determined; determining whether the corner is cleaned; and returning the second operation type of the side brush assembly to the first operation type when the corner is cleaned, wherein the side brush assembly comprises: a movable member movably provided in the automatic cleaner, the moveable member being connected to a casing of the automatic cleaner; a side brush rotatably provided on the movable member by a rotation shaft; a first drive part to move the moveable member; and a second drive part to rotatably drive the side brush, wherein the first operation type of the side brush assembly comprises maintaining the movable member fixed in a first position and rotating the side brush such that the moveable member is not moved by the first drive part and the side brush is rotatably driven by the second drive part, the second operation type of the side brush assembly comprises moving, by the first drive part, the movable member from the first position to a second position, and rotating, by the second drive part, the side brush, the movable member is protruded from the casing of the automatic cleaner while the movable member is moved by the first drive part from the first position to the second position, wherein during the cleaning of the corner, a moving device to move the automatic cleaner is maintained in a stop state and the side brush is rotatably driven by the second drive part, and wherein the automatic cleaner determines whether the corner is cleaned in a state in which the moving device is maintained in the stop state.