Patent ID: 7860608

Claim:
A method of generating a cleaning trajectory of a home cleaning robot that includes at least one sound wave receptor by using a docking station that includes at least one sound wave transmitter, the method comprising: controlling the home cleaning robot, using at least one processing device, to travel in a straight direction, substantially perpendicular to a barrier to which the docking station is attached, as much as a set distance from the docking station and then to rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of a leftmost barrier and a rightmost barrier with respect to the straight direction; controlling the home cleaning robot , using at least one processing device, to travel as much as the set distance along the leftmost barrier or the rightmost barrier if the home cleaning robot reaches the leftmost barrier or the rightmost barrier and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until the home cleaning robot reaches the one of the leftmost barrier and the rightmost barrier; repeatedly controlling the home cleaning robot , using at least one processing device, to travel as much as the set distance along the one of the leftmost barrier or the rightmost barrier if the home cleaning robot reaches the one of the leftmost barrier or the rightmost barrier and resumes rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until the home cleaning robot reaches the other one of the leftmost barrier and the rightmost barrier, until the home cleaning robot arrives at a point where the home cleaning robot cannot travel in a direction in which a distance between the docking station and the home cleaning robot increases.