| CPC A47L 9/2805 (2013.01) [A47L 9/009 (2013.01); A47L 9/2852 (2013.01); G01S 7/4811 (2013.01); G01S 7/497 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01)] | 18 Claims |
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1. A cleaning robot comprising:
a main body;
a driving device configured to move the main body;
a cleaning device configured to perform cleaning by vacuuming foreign substances on a floor;
a Light Detection and Ranging (LiDAR) sensor disposed on an upper portion of the main body and configured to be raisable and lowerable between a first position and a second position, the first position and the second position having different heights;
a bumper sensor configured to detect a collision between the LiDAR sensor and an obstacle;
a sensor driver configured to generate power for raising and lowering the LiDAR sensor;
an obstacle sensor configured to obtain information on an obstacle;
memory storing one or more computer programs; and
one or more processors communicatively coupled to the driving device, the cleaning device, the LiDAR sensor, the bumper sensor, the sensor driver, the obstacle sensor and the memory,
wherein the one or more computer programs include computer-executable instructions that, when executed by the one or more processors, cause the cleaning robot to:
generate a cleaning map based on point cloud information obtained by the LiDAR sensor and information of an obstacle obtained by the obstacle sensor, and
control the sensor driver to adjust a height of the LiDAR sensor based on at least one of the cleaning map, an output of the bumper sensor or the information of the obstacle obtained by the obstacle sensor.
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