Robot cleaner and controlling method thereof
A robot cleaner is disclosed. The robot cleaner includes a driving device, an obstacle clearing device for clearing an obstacle on a driving route, a memory storing a map of a cleaning area and an obstacle category, and a processor controlling the driving device so that the robot cleaner drives in the cleaning area, wherein the processor may, while the robot cleaner is driving in the cleaning area, control the obstacle clearing device to take a motion corresponding to the obstacle category by an obstacle detected by a sensor.
1 . A robot cleaner comprising:
a driving device configured to move the robot cleaner along a route;
a brush;
a sensor configured to detect an obstacle on the route;
a hinged arm configured to move the obstacle;
memory configured to store obstacle category data; and
at least one processor configured to:
control the driving device to move the robot cleaner along the route,
control the sensor to detect the obstacle at a first location in the route,
using the obstacle category data, determine whether the obstacle is of a first type, and
based on the obstacle being determined to be of the first type, control an operation for moving the obstacle away from the route based on the hinged arm moving the obstacle to a second location that is toward a left side of the route or toward a right side of the route,
wherein the controlling the operation for moving the obstacle away from the route completes the operation for moving the obstacle away from the route by moving the obstacle to the second location that is toward a left side of the route or toward a right side of the route or, based on a weight of the obstacle exceeding a threshold level, stops the operation for moving the obstacle away from the route.
2 . The robot cleaner of claim 1 , wherein the at least one processor is further configured to control the driving device so that the robot cleaner avoids the obstacle.
3 . The robot cleaner of claim 2 , wherein the at least one processor is further configured to control the driving device so that the robot cleaner avoids the obstacle that remains in the first location of the route.
4 . The robot cleaner of claim 1 , wherein the at least one processor is further configured to:
based on determining that the obstacle is not of the first type, control the driving device so that the robot cleaner avoids the obstacle and not move the obstacle from the route.
5 . The robot cleaner of claim 1 , wherein the sensor is a LiDAR sensor, a camera, a depth sensor, or an IR stereo sensor.
6 . The robot cleaner of claim 1 , wherein the hinged arm comprises an additional sensor configured to recognize the obstacle.
7 . The robot cleaner of claim 1 , wherein the obstacle in the first location obstructs the robot cleaner from moving along the route.
8 . The robot cleaner of claim 7 , wherein the robot cleaner travels on a surface and the first location and the second location are on the surface.
9 . The robot cleaner of claim 8 , wherein when the at least one processor completes the operation for moving the obstacle away from the route by moving the obstacle to the second location that is toward the left side of the route or toward the right side of the route, the at least one processor controls the driving device for the robot cleaner to continue along the route while the obstacle is at the second location.
10 . A method of a robot cleaner including a hinged arm for moving obstacles, the method comprising:
driving the robot cleaner along a route;
detecting by a sensor, an obstacle at a first location on the route;
determining whether the obstacle is of a first type; and
based on the obstacle being determined to be of the first type, controlling an operation for moving the obstacle away from the route based on the hinged arm moving the obstacle to a second location that is toward a left side of the route or toward a right side of the route,
wherein the controlling the operation for moving the obstacle away from the route completes the operation for moving the obstacle away from the route by moving the obstacle to the second location that is toward a left side of the route or toward a right side of the route or, based on a weight of the obstacle exceeding a threshold level, stops the operation for moving the obstacle away from the route.
11 . The method of claim 10 further comprising, based on the weight of the obstacle exceeding the threshold level, driving the robot cleaner to avoid the obstacle.
12 . The method of claim 11 further comprising, based on the weight of the obstacle exceeding the threshold level, driving the robot cleaner to avoid the obstacle that remains in the first location of the route.
13 . The method of claim 10 , based on determining that the obstacle is not of the first type, controlling the driving device so that the robot cleaner avoids the obstacle and not move the obstacle from the route.
14 . The method of claim 10 , wherein the sensing is performed by a LiDAR sensor, a camera, a depth sensor, or an IR stereo sensor.
15 . The method of claim 10 , wherein the obstacle in the first location obstructs the robot cleaner from moving along the route.
16 . The method of claim 15 , wherein the robot cleaner travels on a surface and the first location and the second location are on the surface.
17 . The method of claim 16 , wherein when the at least one processor completes the operation for moving the obstacle away from the route by moving the obstacle to the second location that is toward the left side of the route or toward the right side of the route, the at least one processor controls the driving device for the robot cleaner to continue along the route while the obstacle is at the second location.
18 . A non-transitory computer readable medium storing a computer program to be executed by a computer, the computer program causing the computer to perform a method including:
driving and the robot cleaner along a route;
determining whether the obstacle is of a first type; and
based on the obstacle being determined to be of the first type, controlling an operation for moving the obstacle away from the route based on the hinged arm moving the obstacle to a second location that is toward a left side of the route or toward a right side of the route,
wherein the controlling the operation for moving the obstacle away from the route completes the operation for moving the obstacle away from the route by moving the obstacle to the second location that is toward a left side of the route or toward a right side of the route or, based on a weight of the obstacle exceeding a threshold level, stops the operation for moving the obstacle away from the route.