MOVING OBJECT, CLEANING ROBOT, FLOOR CONDITION DETERMINING DEVICE, METHOD OF CONTROLLING THE MOVING OBJECT, AND METHOD OF CONTROLLING THE CLEANING ROBOT
First Claim
Patent Images
1. A cleaning robot comprising:
- a light source configured to irradiate a first light to a floor surface;
a first sensor configured to sense a light specularly reflected from the floor surface;
a second sensor configured to sense light diffusely reflected from the floor surface, at a position different from a position of the first sensor; and
a controller configured to determine a condition of the floor surface based on a result sensed by the first sensor and the second sensor.
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Abstract
Provided are a moving object, a cleaning robot, a floor condition determining device, a method of controlling the moving object, and a method of controlling the cleaning robot. The moving object includes a light source configured to irradiate a first light to a floor surface, a plurality of sensors for receiving light reflected from the floor surface at different positions from each other, and a controller configured to determine a condition of the floor surface on the basis of a result sensed by the plurality of sensors.
19 Citations
20 Claims
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1. A cleaning robot comprising:
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a light source configured to irradiate a first light to a floor surface; a first sensor configured to sense a light specularly reflected from the floor surface; a second sensor configured to sense light diffusely reflected from the floor surface, at a position different from a position of the first sensor; and a controller configured to determine a condition of the floor surface based on a result sensed by the first sensor and the second sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of controlling a cleaning robot, the method comprising:
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irradiating a first light toward a floor surface; sensing a light reflected from the floor surface by each of a first sensor and a second sensor disposed at different positions, wherein the first sensor receives a light specularly reflected from the floor surface, and the second sensor receives light diffusely reflected from the floor surface; and determining a condition of the floor surface based on results of sensing by the first sensor and the second sensor. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification