Travel method of intelligent robot cleaner

A travel method of an intelligent robot cleaner, comprising:

• extracting, by a processor, a cleaning space using an image photographed while traveling inside a building;
• generating, by the processor, a 3D image in the cleaning space;
• extracting, by the processor, spatial data from the 3D image, converting the extracted spatial data into plane data, and generating a 2D image using the converted plane data;
• extracting, by the processor, a first region that allows cleaning and a second region that does not require cleaning from the 2D image, and simplifying the 2D image by removing the second region;
• generating, by the processor, a plurality of ends each representing a distal end of the first region and a plurality of intersections each representing a point of intersection of cleaning subregions of the first region based on the simplified 2D image;
• measuring, by the processor, distances of respective straight lines each of which comprises as end points two selected among the plurality of ends, distances of respective straight lines each of which comprises as end points two selected among the plurality of intersections, and distances of respective straight lines each of which comprises as one end point one selected among the plurality of ends and as the other end point one selected among the plurality of intersections, and setting a point value for each of the straight lines to be proportional to a corresponding measured stance;
• forming, by the processor, a plurality of cleaning travel paths each of which comprises at least a part of the straight lines;
• accumulating a total point value for each of the plurality of cleaning travel paths by totaling the corresponding set point values for each of the straight lines of the cleaning travel path, wherein a negative weight value is applied to a set point value for each instance that a straight line is traveled more than once;
• and
• determining, by the processor, a final cleaning travel path among the plurality of cleaning travel paths based on the calculated total point value.