KR20140011216A - Robot cleaner and controlling method of the same - Google Patents

Abstract

A robot cleaner and a controlling method thereof are disclosed. Embodiments of the present invention are able to automatically sense whether a material is similar to a carpet or a papered floor by using a floor image. The embodiments of the present invention are able to increase accuracy of a perception by obtaining the floor image according to light sources. The embodiments of the present invention are able to change the height of a rotary brush or the control of intake power and improve cleaning performance by sensing the type of a floor. The embodiments of the present invention are also able to reduce energy consumption because the present invention reduces unnecessary power consumption by automatically controlling suction force according to floor materials. [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S10) Turn on a first light source; (S20) Obtain first floor image information; (S30) Turn on a second light source; (S40) Obtain second floor image information; (S50) Comparison value >= reference value?; (S60) Material including a carpet; (S70) Material including a papered floor; (S80) Change a current which is applied in an intake motor or the height of a rotary brush

Description

ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME}

The present invention relates to a robot cleaner capable of sensing a floor, and more particularly, to a robot cleaner for sensing a floor material using a sensor.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A representative example of the domestic robot is a robot cleaner, which is a kind of electronic equipment that sucks dust and foreign matter around while driving a certain area by itself. Such a robot cleaner is generally equipped with a rechargeable battery and has an obstacle sensor capable of avoiding obstacles during traveling, so that it can run and clean by itself.

As a method for controlling the robot cleaner, there are a method using a remote controller which is a user interface, a method using a button provided in the robot cleaner main body, and the like.

In recent years, application techniques using the robot cleaner have been developed. For example, development of a robot cleaner having a networking function has been implemented, and a function of enabling a cleaning command from a remote place or monitoring a house situation has been implemented. In addition, robot cleaners having a self-position recognition and mapping function using cameras and various sensors are being developed.

The robot cleaner according to the prior art does not have a technology for automatically detecting whether the floor material is a carpet. For example, if the suction force is fixed based on the carpet, and then the cleaning robot is operated, there may be unnecessary power consumption outside the carpet.

However, the cleaning robot according to the prior art, as described in the following prior patent document 1, there is a method for determining the carpet by analyzing the movement of the carpet detection unit according to the movement of the cleaning robot. However, the cleaning robot according to the prior art can detect whether it is a carpet by running. In addition, in the cleaning robot according to the related art, malfunction due to wheel slip or slip of the carpet detector is inevitable.

Prior Patent Document 1: Republic of Korea Patent Application No. 10-2006-0045281

Embodiments of the present invention have an object to provide a robot cleaner and a control method thereof that can automatically determine the floor material.

Embodiments of the present invention provide a robot cleaner and a control method thereof for determining whether a floor material is a material similar to a carpet or the like using a floor image.

Another object of the present invention is to provide a robot cleaner and a control method thereof for driving a suction motor or a rotary brush according to the determination result of the floor material.

According to an embodiment of the present invention, a robot cleaner includes: a floor detecting unit photographing a floor and outputting floor image information, a control unit determining a floor material based on the floor image information, and generating a cleaning command according to the floor material; And a cleaning unit for sucking dust or foreign matter on the floor according to the cleaning instruction.

The floor sensing unit includes a lower camera sensor, which is composed of two or more light sources that irradiate light on the floor, and one or more image sensors that obtain the floor image information.

The control unit turns on a first light source to obtain first floor image information, turns on a second light source to obtain second floor image information, and is based on a comparison result of the first floor image information and the second floor image information. Determine the floor material with.

The control unit may adjust the amount of current applied to the suction motor according to the floor material, or change the height of the rotary brush according to the floor material.

According to an embodiment of the present disclosure, a method of controlling a robot cleaner includes irradiating light to a lower side of a main body using a first light source, obtaining first floor image information by photographing a floor, and using a second light source. The floor material is determined based on the step of irradiating light downwardly from the main body, photographing the floor to obtain second floor image information, and comparing the first floor image information with the second floor image information. It is configured to include.

The determining of the floor material may include comparing the first floor image information and the second floor image information. If the comparison value is greater than a predetermined reference value, the floor material may be determined as a floor of a carpet or a similar material.

Embodiments of the present invention can automatically detect whether the material is similar to the carpet or flooring using a floor image. In addition, embodiments of the present invention can increase the accuracy of the detection by acquiring the bottom image according to the light source.

Embodiments of the present invention can vary the height of the suction brush or the rotation brush by sensing the type of the floor, it is possible to improve the cleaning performance. In addition, embodiments of the present invention has the effect of reducing energy by reducing unnecessary power consumption by automatically adjusting the suction force, etc. according to the floor material.

The technology for automatically detecting the floor material according to the present invention may be applied to an autonomous mobile cleaner, for example, a canister cleaner, an upright cleaner, and the like.

1 is a perspective view showing the appearance of a robot cleaner according to an embodiment;
2 and 3 are block diagrams showing the configuration of a robot cleaner according to embodiments of the present invention;
4 is a rear view showing a lower portion of the robot cleaner according to one embodiment;
5 is a sectional view showing the inside of the robot cleaner according to one embodiment;
6 is a view illustrating in detail a lower camera sensor of the robot cleaner according to one embodiment;
7 is a front view showing the front of the robot cleaner according to an embodiment;
8 is a view illustrating in detail the cliff sensor of the robot cleaner according to an embodiment; And
9 is a flowchart schematically illustrating a method of controlling a robot cleaner according to an embodiment.

1 and 2, the robot cleaner according to an embodiment includes a floor sensing unit 100, a control unit 200, and a cleaning unit 300. The floor detecting unit 100 photographs the floor and outputs floor image information. The control unit 200 determines a floor material based on the floor image information, and generates a cleaning command according to the floor material. The cleaning unit 300 sucks in dust or foreign matter on the floor according to a cleaning instruction.

Referring to FIG. 2, the bottom sensing unit 100 includes a lower camera sensor, which is composed of two or more light sources 111 for irradiating light to the floor and one or more image sensors 112 for obtaining floor image information. 110).

As shown in FIG. 4, the lower camera sensor 110 is provided on the rear surface of the robot cleaner, and photographs the lower side, that is, the bottom surface during movement. The lower camera sensor is, in other words, called an optical flow sensor. The lower camera sensor converts a floor image input from the image sensor 112 included in the sensor to generate floor image information of a predetermined format. The generated floor image information may be stored in the storage unit. The lower camera sensor may further include a lens 113 and a lens adjusting unit (not shown) for adjusting the lens. As the lens, a short focal length and a deep depth of focus lens may be used. The lens adjusting unit includes a predetermined motor and moving means for moving back and forth to adjust the lens. 6 or 7, two or more light sources 111a and 111b may be installed adjacent to the image sensor. The light sources irradiate light onto an area of the bottom surface photographed by the image sensor. As shown, the light sources may be inclined at a predetermined angle to illuminate a predetermined area of the floor. That is, when the robot cleaner moves or stops the cleaning area along the floor, if the floor is flat, a constant distance is maintained between the image sensor and the floor. On the other hand, when the robot cleaner moves the bottom surface of the non-uniform surface, the robot cleaner moves away by a certain distance due to the irregularities and obstacles on the bottom surface. In this case, the one or more light sources may be formed to adjust the amount of light to be irradiated. The light source is formed of a light emitting device capable of controlling light quantity, for example, a light emitting diode (LED) or a laser.

The control unit 200 acquires first floor image information by turning on the first light source 111a. In addition, the control unit 200 turns on the second light source 111b to obtain second floor image information. Then, the control unit 200 determines the floor material based on a comparison result of the first floor image information and the second floor image information.

For example, the control unit 200 may compare the first floor image information and the second floor image information, and if the comparison value is larger than a predetermined reference value, the control unit 200 may determine that the floor is a carpet or a similar material. Also, if the comparison value is within the reference value, the control unit 200 may determine that the floor is made of a floor covering or similar material.

The lower camera sensor 110 may detect the position of the robot cleaner regardless of the sliding of the robot cleaner. The control unit 200 calculates a moving distance and a moving direction by comparing and analyzing the floor image information photographed by the lower camera sensor with time, thereby calculating the position of the robot cleaner. By observing the underside of the robot cleaner using the lower camera sensor, the control unit can perform correction that is robust against slippage with respect to the position calculated by other means.

Referring to FIG. 5, the cleaning unit 300 includes a dust bin 310 in which foreign matter or dust is stored, a suction fan 320 rotating to suck foreign matter or dust into the dust bin 310, and a suction fan 320. It is configured to include a suction motor 330 to rotate. The suction fan 320 has a plurality of blades for flowing air and a ring shape at an upstream side of the plurality of blades to connect the plurality of blades, and the air introduced in the direction of the central axis of the suction fan is perpendicular to the central axis. And a member for guiding flow in the direction.

The robot cleaner may adjust the amount of current applied to the suction motor 330 according to the floor material. For example, if the first floor image information and the second floor image information are different from each other, the control unit 200 determines that the floor is a carpet or a similar material, and increases the amount of current applied to the suction motor 330. Can be. On the contrary, if the first floor image information and the second floor image information are similar to each other, the control unit 200 determines that the floor is made of a floorboard or a similar material, and reduces the amount of current applied to the suction motor 330.

Referring to FIG. 4, the cleaning unit 300 may further include a rotary brush 340 rotatably mounted to a lower portion of the robot cleaner body. In addition, the cleaning unit 300 may further include a side brush 850 for cleaning the corners, corners, etc. of the cleaning area such as the wall surface while rotating about the rotation axis in the vertical direction of the main body. Rotating brush (Agitator, 340) while floating around the axis in the left and right direction of the robot cleaner body to float dust, such as floor or carpet in the air. The outer peripheral surface of the rotary brush 340 is provided with a plurality of blades in the spiral direction. Brushes may be provided between the spiral blades. Since the rotary brush 840 and the side brush 850 have different axes of rotation, the robot cleaner should generally include a motor for driving the rotary brush and the side brush. As another example, as shown in Figure 5, the robot cleaner, the side brush is disposed on both sides of the rotary brush, and provided with a transmission means 370 for transmitting the rotational force of the rotary brush to the side brush between the rotary brush and the side brush. By using a single brush motor 390 it can also drive both the rotary brush and the side brush. In the latter case, as the transmission means, a worm and a worm gear may be used, or a belt may be used.

The robot cleaner may change the height of the rotary brush according to the floor material. For example, if the first floor image information and the second floor image information are different from each other, the control unit 200 may determine that the floor is a carpet or a similar material, and increase the height of the rotary brush. On the contrary, if the first floor image information and the second floor image information are similar to each other, the control unit 200 may determine that the floor is made of a floorboard or a similar material, and the height of the rotating brush may be lowered.

Referring to FIG. 4, the robot cleaner may further include a cliff sensor 120a to 120c installed on a bottom surface (bottom surface) of the main body and detecting an obstacle on the bottom surface, for example, a cliff. The cliff sensor, also called a Cliff sensor, is a staircase or a cliff based on whether the signal is transmitted to the floor and whether there is a reflected signal to the signal, or the time at which the transmitted signal is received and the received time of the reflected signal. Detect it. The cliff sensor mainly uses various types of optical sensors. In the present embodiment, an infrared sensor will be described as an example. In this case, as illustrated in FIG. 8, the cliff sensor 120 may have a form of an infrared sensor module including a light emitter 121 and a light receiver 122. The cliff sensor 120 may have a reference distance and a detection range as shown in FIG. 8. The cliff sensor 120 can obtain stable measured values regardless of reflectance and color difference of the bottom surface, and uses a triangulation method. As illustrated in FIG. 4, the cliff sensor 120 may be provided in a groove having a predetermined depth existing on a lower surface of the robot cleaner. The cliff sensor may be installed at different positions according to the type of the robot cleaner.

Referring to FIG. 4, one cliff sensor is installed at the front of the robot cleaner, and two sensors are installed at the rear of the robot cleaner. The form of FIG. 4 can be used, for example, as follows. For convenience, the cliff sensor installed at the foremost front is referred to as the first sensor 120a, and the sensor installed at the rear side is referred to as the second sensor 120b and 120c. The first sensor and the second sensor are generally composed of the same type of sensor, for example, an infrared sensor, but may be composed of different types of sensors. The control unit 200 may detect the cliff using the reception time of the reflected signal received by the first sensor emits infrared rays toward the ground, and may analyze the depth. In addition, the control unit 200 may know the ground state of the cliff detected by the first sensor using the second sensor. For example, the control unit 200 determines whether the cliff exists and the depth of the cliff through the first sensor, and then passes the cliff only when the reflected signal is detected through the second sensor. As another example, the control unit 200 may determine the lifting phenomenon of the robot cleaner based on a combination of detection results of the first sensor and the second sensor.

In addition to an embodiment, the robot cleaner according to another embodiment may include an output unit 400, a storage unit 500, a power supply unit 600, a drive unit 700, an object detection unit 800, The input unit 900 may be configured to include some of these components.

The output unit 400 is provided in the upper part of the robot cleaner as shown in FIG. Of course, the installation location and installation type may vary. For example, the output unit 400 displays reservation information, battery status, intensive cleaning, space expansion, a cleaning method such as zigzag driving, or a driving method on the screen. In addition, the output unit 400 may further display floor image information, a floor material, a floor state, and the like on the screen. The output unit 400 may display obstacle information, location information, a cleaning area, a cleaning map, and the like on the screen. The output unit 400 may be any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED). It can be formed as an element of.

The storage unit 500 stores a control program for controlling (driving) the robot cleaner and data accordingly. The storage unit 500 may further store a cleaning pattern according to the floor image, the floor material (type), and the floor material. The storage unit 500 may further store upper image information, obstacle information, location information, a cleaning area, a cleaning map, and the like. In addition, the storage unit 500 may store a cleaning method and a traveling method. The storage unit 500 mainly uses nonvolatile memory. Here, the non-volatile memory (NVM, NVRAM) is a storage device that keeps stored information even when power is not supplied. Non-volatile memory includes ROM, flash memory, magnetic computer storage devices (e.g., hard disk, diskette drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, and the like.

The robot cleaner further includes a power unit 600. The power supply unit 600 includes a rechargeable battery 610 to supply power to the robot cleaner. The power supply unit 600 supplies driving power to each of the units, and operating power as the robot cleaner moves or performs cleaning. When the remaining power is insufficient, the power supply unit 600 is charged to receive a charging current. The battery is connected to the battery detection unit, and the battery remaining amount and the charge state are transmitted to the control unit. The output unit 400 may display the remaining battery level on the screen by the control unit. The battery may be located at the bottom of the center of the robot cleaner, or as shown in FIG. 4, may be located at either the left or the right side so that the dust container is located at the bottom of the main body. In the latter case, the robot cleaner may further include a counterweight to eliminate the weight bias of the battery.

The robot cleaner may further include a driving unit 700. The driving unit 700 is connected to the left and right main wheels. The drive unit includes a predetermined wheel motor for rotating the wheels, and moves the robot cleaner by driving the wheel motor. The wheel motors are respectively connected to the main wheels so that the main wheels rotate, and the wheel motors operate independently of each other and can rotate in both directions. In addition, the robot cleaner has at least one auxiliary wheel on its back side to support the robot cleaner, minimize the friction between the robot cleaner and the bottom surface (the surface to be cleaned), and smoothly move the robot cleaner.

The object detecting unit 800 is installed in the main body, and detects an object in the vicinity to output sensing information. The object detection unit 800 may be composed of one or more sensors. For example, the object detection unit 800 includes an external signal sensor, a first obstacle sensor (front sensor), a second obstacle sensor, an upper camera sensor, and the like.

The robot cleaner includes an external signal sensor that detects an external signal. The external signal sensor may be an infrared ray sensor, an ultrasonic sensor, an RF sensor, or the like. The robot cleaner checks the position and direction of the charging station by receiving a guide signal generated by the charging station using an external signal sensor. The charging station transmits a guide signal indicating a direction and a distance so that the robot cleaner can return. The robot cleaner receives a signal transmitted from the charging station, determines the current position, sets a moving direction, and returns to the charging station. In addition, the robot cleaner detects a signal generated by a remote control device such as a remote controller or a terminal using an external signal sensor. The external signal sensor is provided on one side of the inside or outside of the robot cleaner. The external signal sensor may be installed inside the robot cleaner, for example, around the lower or upper camera sensor of the output unit 400 shown in FIG. 1.

The first obstacle sensor (front sensor) is provided in front of the robot cleaner, for example, on the outer circumferential surface at regular intervals. The front sensor detects an object in the moving direction of the robot cleaner, particularly an obstacle, and transmits detection information to the control unit. That is, the front sensor detects protrusions on the moving path of the robot cleaner, household appliances, furniture, walls, wall edges, and the like, and transmits the information to the control unit. The front sensor may be an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, or the like. The robot cleaner can use one type of sensor as the front sensor or two or more types of sensors together as needed. In the embodiments of the present invention, the front sensor will be described using an ultrasonic sensor as an example.

Ultrasonic sensors are commonly used to detect long distance obstacles. The ultrasonic sensor has a transmitter and a receiver. The control unit 200 determines the existence of the obstacle by whether the ultrasonic wave radiated through the transmitter is reflected by the obstacle or the like and is received by the receiver, and calculates the distance to the obstacle using the reception time. Referring to FIG. 5, five ultrasonic sensors 810 are installed along the front outer circumferential surface of the robot cleaner. Referring to FIG. 5, the robot cleaner alternately includes a transmitter 811 and a receiver 812 of the ultrasonic sensor. That is, the transmitting ultrasonic sensor and the receiving ultrasonic sensor are alternately installed in the front of the robot cleaner. The transmitting unit 811 is disposed to be spaced apart from the front center of the main body to the left and the right. One or more transmitters 811 are disposed between the receivers 812 to form a reception area of a signal reflected from an obstacle or the like. This arrangement allows the receiving area to be extended while reducing the number of sensors. The outgoing angle of the ultrasonic waves maintains an angle in a range that does not affect the different signals to prevent crosstalk. The reception sensitivity of the receivers 812 may be set differently. In addition, the ultrasonic sensor may be installed upward by a predetermined angle so that the ultrasonic wave transmitted from the ultrasonic sensor is output upward. Also, the ultrasonic sensor may further include a blocking member to prevent the ultrasonic wave from being radiated downward.

As shown in FIG. 5, the second obstacle sensor 820 is installed on the outer circumferential surface of the robot cleaner together with the front sensor. In addition, the second obstacle sensor may not be installed along the outer circumferential surface, but may have a surface protruding to the outside of the robot cleaner body. The second obstacle sensor may be an infrared sensor, an ultrasonic sensor, an RF sensor, a position sensitive device (PSD) sensor, or the like, and detects an obstacle present in front or side and transmits obstacle information to the control unit. That is, the second obstacle sensor detects protrusions on the moving path of the robot cleaner, household appliances, furniture, walls, wall edges, and the like, and transmits the information to the control unit. In addition, by using the front sensor or the second obstacle sensor, the robot cleaner can move while maintaining a constant distance from the wall surface.

The robot cleaner further includes an upper camera sensor 830 installed upward or forward to photograph the surroundings of the robot cleaner. When the robot cleaner includes a plurality of upper camera sensors, the camera sensors may be formed on the top or side surfaces of the robot cleaner at a predetermined distance or at an angle. The upper camera sensor may further include a lens connected to the camera to focus the subject, an adjusting unit adjusting the camera, and a lens adjusting unit adjusting the lens. The lens uses a lens having a wide angle of view so that all the surrounding areas, for example, all areas of the ceiling, can be photographed even at a predetermined position. For example, the angle of view includes a lens having a certain angle, for example 160 degrees or more. The control unit 200 may diagnose a state by receiving a signal or data from the upper camera sensor. That is, the control unit 200 may diagnose the state of the upper camera sensor by using whether the upper camera sensor is photographed or the image data captured by the upper camera sensor.

The control unit 200 may extract a feature point from the image data captured by the upper camera sensor, recognize the position of the robot cleaner using the feature point, and create a cleaning map for the cleaning area. The control unit 200 may precisely recognize the position by using the detection information of the lower camera sensor and the image data of the upper camera sensor. Although not described, the robot cleaner may further include an acceleration sensor, a gyro sensor, a wheel sensor, and the like, and the control unit 200 may recognize the position more precisely using them. In addition, the control unit 200 may precisely generate the cleaning map using the obstacle information detected by the front sensor, the second obstacle sensor, or the like and the position recognized by the upper camera sensor.

The user or the like inputs a control command directly to the robot cleaner through the input unit 900. Further, the user or the like may input a command through the input unit to output one or more pieces of information stored in the storage unit. The input unit 900 may be formed of one or more buttons. For example, the input unit 900 may include a confirmation button and a setting button. The confirmation button inputs a command for confirming the detection information, the obstacle information, the location information, the cleaning area or the cleaning map. The setting button inputs a command for setting the above information. The input unit may include a reset button, a delete button, a cleaning start button, a stop button, and the like for inputting a command for resetting the information. As another example, the input unit 900 may include a button for setting or deleting reservation information. In addition, the input unit 900 may further include a button for setting or changing the cleaning mode. In addition, the input unit 900 may further include a button for receiving a command to return to the charging station. As illustrated in FIG. 1, the input unit 900 may be installed on an upper portion of the robot cleaner using a hard key, a soft key, a touch pad, or the like. In addition, the input unit 900 may have a form of a touch screen together with an output unit.

Referring to FIG. 9, in a method of controlling a robot cleaner according to an embodiment, irradiating light to a lower side of a main body using a first light source (S10), and photographing a floor to obtain first floor image information Step S20, irradiating light downwardly of the main body using a second light source (S30), photographing the floor to obtain second floor image information (S40), and the first floor And determining a floor material based on the comparison result of the image information and the second floor image information (S50 or less). Hereinafter, the configuration of the apparatus will be described with reference to FIGS. 1 to 8.

For example, the robot cleaner may compare the first floor image information and the second floor image information (S50), and if the comparison value is larger than a predetermined reference value, the robot cleaner may determine that the floor is a carpet or a similar material (S60). ). In addition, if the comparison value is within the reference value, the robot cleaner may determine that it is a floor of flooring or similar material (S70).

The robot cleaner may adjust the amount of current applied to the suction motor according to the floor material (S80). For example, if the first floor image information and the second floor image information are different from each other, the robot cleaner may determine that the floor is a carpet or a similar material, and increase the amount of current applied to the suction motor. On the contrary, if the first floor image information and the second floor image information are similar to each other, the robot cleaner may determine that it is a floorboard or a floor of a similar material, and reduce the amount of current applied to the suction motor.

In addition, the robot cleaner can change the height of the rotary brush according to the floor material (S80). For example, when the first floor image information and the second floor image information are different from each other, the robot cleaner may determine that the floor is made of a carpet or a similar material and increase the height of the rotating brush. On the contrary, if the first floor image information and the second floor image information are similar to each other, the robot cleaner may determine that the floor is made of a floorboard or a similar material, and the height of the rotating brush may be lowered.

As described above, the robot cleaner and its control methods according to embodiments of the present invention can automatically detect whether the material is similar to a carpet or a floorboard using a floor image. In addition, embodiments of the present invention can increase the accuracy of the detection by acquiring the bottom image according to the light source. Embodiments of the present invention can vary the height of the suction brush or the rotation brush by sensing the type of the floor, it is possible to improve the cleaning performance. In addition, embodiments of the present invention has the effect of reducing energy by reducing unnecessary power consumption by automatically adjusting the suction force, etc. according to the floor material.

The technology for automatically detecting the floor material according to the present invention may be applied to an autonomous mobile cleaner, for example, a canister cleaner, an upright cleaner, and the like. In this case, the lower camera sensor is connected to an air pipe or the like and is provided with a suction unit that sucks foreign matter or dust, so that the bottom material can be sensed to increase or decrease the rotational force of the edge data despite the user's manipulation command.

100: floor detection unit 200: control unit
110: lower camera sensor 120: cliff sensor

Claims (13)

A floor sensing unit photographing the floor and outputting floor image information;
A control unit for determining a floor material based on the floor image information, and generating a cleaning command according to the floor material; And
And a cleaning unit that sucks dust or foreign matter from the floor according to the cleaning command. The method according to claim 1,
The floor detection unit,
Two or more light sources for irradiating light to the floor;
And a lower camera sensor, which is composed of one or more image sensors for acquiring the floor image information. The method of claim 2,
Wherein the control unit comprises:
Turn on a first light source to obtain first floor image information, turn on a second light source to obtain second floor image information, and determine the floor material based on a comparison result of the first floor image information and the second floor image information. Robot cleaner, characterized in that judging. The method of claim 3,
Wherein the control unit comprises:
And comparing the first floor image information with the second floor image information, and if the comparison value is greater than a predetermined reference value, determining that the floor is made of a carpet or a similar material. 5. The method of claim 4,
Wherein the control unit comprises:
And if the comparison value is within the reference value, determining that the floor is made of a floor covering or a similar material. 6. The method according to any one of claims 3 to 5,
The cleaning unit,
A dust container in which the foreign matter or the dust is stored;
A suction fan rotating to suck the foreign matter or the dust into the dust container; And
Includes; suction motor for rotating the suction fan,
Wherein the control unit comprises:
Robot cleaner, characterized in that for adjusting the amount of current applied to the suction motor according to the floor material. The method of claim 6,
The cleaning unit,
Further comprising: a rotary brush rotatably mounted to the lower portion of the body,
Wherein the control unit comprises:
Robot cleaner, characterized in that for changing the height of the rotary brush according to the floor material. The method of claim 2,
The plurality of light sources,
Robot cleaners, characterized in that arranged to be inclined at a predetermined angle to illuminate a predetermined area of the floor. The method of claim 2,
The floor detection unit,
And a cliff sensor which transmits a signal to the floor and detects a staircase or a cliff on the basis of the presence or absence of a reflected signal with respect to the signal, or the transmission time of the transmission signal and the reception time of the reflection signal. robotic vacuum. Irradiating light down the main body by using the first light source;
Photographing the floor to obtain first floor image information;
Irradiating light down the main body using a second light source;
Photographing the floor to obtain second floor image information; And
And determining a floor material based on a comparison result of the first floor image information and the second floor image information. The method of claim 10,
Determining the floor material,
And comparing the first floor image information with the second floor image information, and if the comparison value is greater than a predetermined reference value, determining that the floor is made of a carpet or a similar material. 12. The method of claim 11,
Determining the floor material,
If the comparison value is within the reference value, the control method of the robot cleaner, characterized in that it is determined to be a floor of flooring or similar material. The method according to any one of claims 10 to 12,
Changing the applied current of the suction motor or the height of the rotary brush provided to suck the dust or foreign matter on the floor according to the floor material; Control method of the robot cleaner further comprising.

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