Disinfection robot and controlling method thereof

1 . A disinfection robot comprising:

a body provided with an outlet;

a fan provided inside the body;

a fan motor configured to rotate the fan;

a wheel provided under the body;

a wheel motor configured to rotate the wheel;

a three-dimensional camera having a forward field of view of the body and configured to capture a three-dimensional image; and

a processor configured to control the fan motor to rotate the fan to discharge air through the outlet and control the wheel motor to rotate the wheel to move the body based on the three-dimensional image,

wherein the processor is configured to: identify a change in slope of a floor in front of the body based on the three-dimensional image; and control the wheel motor to travel along an outline of a zone in which the change in slope is larger than a slope change reference value based on the change in slope larger than the slope change reference value;

wherein the processor is configured to: identify a change in height of the floor in front of the body based on the three-dimensional image; and control the wheel motor to avoid a zone in which the change in height is larger than a height change reference value based on the change in height larger than the height change reference value,

wherein the processor is configured to: divide the three-dimensional image into a plurality of buckets; acquire an average distance to each of the plurality of buckets;

identify a change in height of adjacent buckets among the plurality of buckets based on a difference between average distances to the adjacent buckets; and identify the change in height of the floor in front of the body based on the change in height of the adjacent buckets.

2 . The disinfection robot of claim 1 , wherein the processor is configured to control the wheel motor to avoid a zone in which the change in height is larger than the height change reference value.

3 . The disinfection robot of claim 1 , wherein the processor is configured to: identify a slope between the adjacent buckets based on an angle formed by the change in height of the adjacent buckets; and identify a slope difference between the adjacent buckets based on the difference between the slopes between the adjacent buckets.

4 . The disinfection robot of claim 1 , wherein the processor includes geographical map data corresponding to an air purification space including a plurality of zones and air quality map data indicating air quality of the plurality of zones, and the processor is configured to control the wheel motor to move the body based on the geographical map data and the air quality map data.

5 . A method of controlling a disinfection robot including a body provided with an outlet, a fan provided inside the body, and a wheel provided under the body, the method comprising: capturing a three-dimensional image through a three-dimensional camera having a forward field of view of the body; rotating the fan to discharge air through the outlet; and rotating the wheel to move the body based on the three-dimensional image, and

wherein the rotating of the wheel to move the body based on the three-dimensional image includes:

identifying a change in slope of a floor in front of the body based on the three-dimensional image; and

controlling the wheel motor to travel along an outline of a zone in which the change in slope is larger than a slope change reference value based on the change in slope larger than the slope change reference value;

wherein the rotating of the wheel to move the body based on the three- dimensional image includes: identifying a change in height of the floor in front of the body based on the three-dimensional image; and rotating the wheel to avoid a zone in which the change in height is larger than a height change reference value based on the change in height larger than the height change reference value,

wherein the rotating of the wheel to move the body based on the three- dimensional image includes: dividing the three-dimensional image into a plurality of buckets; acquiring an average distance to each of the plurality of buckets; identifying a change in height of adjacent buckets among the plurality of buckets based on a difference between average distances to the adjacent buckets; and identifying the change in height of the floor in front of the body based on the change in height of the adjacent buckets.

6 . The method of claim 5 , wherein the rotating of the wheel to move the body based on the three-dimensional image further includes rotating the wheel to avoid a zone in which the change in height is larger than the height change reference value.

7 . The method of claim 5 , wherein the rotating of the wheel to move the body based on the three-dimensional image includes: identifying a slope between the adjacent buckets based on an angle formed by the change in height of the adjacent buckets; and identifying a slope difference between the adjacent buckets based on the difference between the slopes between the adjacent buckets.

8 . The method of claim 5 , further comprising rotating the wheel to move the body based on geographical map data corresponding to a disinfection purification space and including a plurality of zones and air quality map data indicating air quality of the plurality of zones.

9 . A disinfection robot comprising: a body provided with an outlet; a fan provided inside the body; a fan motor configured to rotate the fan; a wheel provided under the body; a wheel motor configured to rotate the wheel; a light detection and ranging (LiDAR) sensor configured to acquire LiDAR data with a forward field of sensing of the body; and a processor configured to control the fan motor to rotate the fan to discharge air through the outlet and control the wheel motor to rotate the wheel to move the body based on the LiDAR data,

wherein the processor is configured to identify a change in slope of a floor corresponding to a ramp in front of the body based on the LiDAR data; and control the wheel motor to:

travel along an outline of a zone in which the change in slope is larger than a slope change reference value based on the change in slope being larger than the slope change reference value; and

continuously travel a zone in which the detected change in slope is not larger than the slope change reference value.

10 . The disinfection robot of claim 9 , wherein the processor is configured to: identify a change in height of the floor in front of the body based on the LiDAR data; and control the wheel motor to avoid a zone in which the change in height is larger than a first reference value based on the change in height larger than the first reference value.