Patent ID: 9675229
Date: 2017-06-13
CPC Classifications: A47L,G05D,Y10S

Claim:
1. A robot cleaner comprising: a main body; a wheel-driving motor and a traveling wheel to move the main body; an obstacle sensor to sense an obstacle; a light receptor to receive a position of a light spot of modulated light formed according to a control command of a user; and a controller configured to control the wheel-driving motor and traveling wheel to have the main body trace the light spot, wherein, when the obstacle is sensed, the controller further is configured to control the wheel-driving motor and traveling wheel such that the main body traces an outline of the obstacle according to the position of the light spot and a position of the obstacle to travel to the light spot position along a minimum path, wherein the controller performs any one of a right tracing traveling in which a right side of the main body travels toward the obstacle and a left tracing traveling in which a left side of the main body travels toward the obstacle according to the minimum path to the light spot position, and when the obstacle is located on a traveling direction of the main body, the controller is configured to control the wheel-driving motor and traveling wheel so that the main body rotates toward the light spot and traces the obstacle outline.