Robot cleaner and method of controlling the same

Abstract

A robot cleaner for generating accurate travelling records regardless of floor material is provided. The robot cleaner includes a main body, a drive wheel installed on the main body, a drive motor configured to rotate the drive wheel, a travelling sensor configured to detect rotation of the drive wheel, a first optical sensor configured to detect an obstacle located in a moving direction of the main body, a cleaning tool configured to clean a floor, a second optical sensor configured to acquire an image of the floor, and a processor electrically connected to the drive motor, the travelling sensor, the first optical sensor, and the second optical sensor. The processor is configured to control a memory to store a movement record of the main body based on an output of the travelling sensor and an output of the second optical sensor, calculate a distance moved by the main body based on an output of the second optical sensor in response to detection of an obstacle, and control a cleaning tool to clean a floor in the vicinity of the obstacle in response to the distance travelled by the main body that is calculated as being greater than a threshold distance.

Description

technical field [0001] The present disclosure relates to a robot cleaner and a control method thereof. More particularly, the present disclosure relates to a robot cleaner including an optical flow sensor and a control method thereof. Background technique [0002] A robot cleaner is a home appliance that cleans a space to be cleaned while automatically moving over the space to be cleaned without manipulation by a user. [0003] In order to travel autonomously on the cleaning area, the robot cleaner detects obstacles hindering the movement of the robot cleaner, and stores travel records (position information, direction information, etc.) during travel. For example, a robotic cleaner may generate a travel log based on the output of an encoder that detects wheel rotation, a gyro sensor that detects rotation, and an acceleration sensor that detects acceleration. [0004] However, when slippage occurs between the wheel and the floor, the recording of the travel by the encoder m...

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Problems solved by technology

[0004] However, when slippage occurs between the wheels and the floor, the recording of the travel through the encoder may be inaccurate

In addition, the linear motion of the robot cleaner was not detected by the gyro sensor, and the uniform motion of the robot cleaner was not detected by the acceleration sensor

[0005] Therefore, travel recording based on encoders, gyro sensors, etc. may have lower accuracy depending on the material of the floor or the travel conditions

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