SENSING METHOD OF ROBOT CLEANER, RECORDING MEDIUM AND ROBOT CLEANER

摘要

A method for sensing the external force of a robot cleaner, and a recording medium and a robot cleaner are provided to reduce errors generated in execution of dead reckoning by sensing slip vertically generated in the advancing direction of a robot. A sensing device for sensing the external force comprises an optical flow sensor(101), a gyro sensor(102), and a control part(103). The optical flow sensor outputs data of advancing distance orienting X axis and advancing distance orienting Y axis according to the movement of a robot. The gyro sensor outputs data for the rotary angular velocity with respect to Z axis according to the movement of the robot. The control part calculates the vertical slip advancing distance and the rotary angle for the moving direction of the robot by using the advancing distance orienting X axis output from the optical flow sensor, the advancing distance orienting Y axis data, and the data for the rotary angular velocity with respect to the Z axis output from the gyro sensor.