Cleaning robot and control method thereof

摘要

A cleaning robot may have a body, a moving unit provided on the body to move the body in a cleaning space, a cleaning unit provided on the body to clean a floor of the cleaning space, a floor image obtaining unit configured to obtain a floor image of the cleaning space, and a control unit configured to determine if foreign substance is present on the floor of the cleaning space based on the floor image, and control the moving unit to move the body to a position of the foreign substance, in which the cleaning robot, by obtaining an image of a floor to be cleaned, detects the foreign substance that is not positioned on a moving track of the cleaning robot, and when the foreign substance is detected, moves to the position of the foreign substance to perform a cleaning.

主权项

1. A cleaning robot, comprising:
a body, a moving unit which moves the body in a cleaning space, a cleaning unit which cleans the cleaning space, an image obtaining unit which obtains an image of the cleaning space, and a control unit:
which is coupled to the moving unit, the cleaning unit and the image obtaining unit,which generates a moving track based on a width of a field of view of the image obtaining unit and moves the body along the moving track,which moves the body from a diverging position on the moving track to a position of a foreign substance when the foreign substance on a floor area of the cleaning space outside the moving track is detected based on the obtained image while moving the body,which cleans the foreign substance when the body arrives at the position of the foreign substance, andwhich moves the body back to the diverging position on the moving track and moves along the moving track.