Abstract: Disclosed is a method for controlling a robot cleaner including acquiring, by a camera, an image, irradiating, by a light source, light toward a location the same as a location where the acquired image is captured, receiving, by a sensor, the light irradiated from the light source and reflected on an object, processing an image received from the sensor to contain a distance value of an individual location, and supplementing the image received from the sensor with the image captured by the camera when a singularity is found, wherein distance values calculated in adjacent portions are discontinuous at the singularity.

Abstract: Disclosed is a robot cleaner including a light source for irradiating light, a sensor for sensing that the light irradiated from the light source is reflected, and a controller that processes an image using the light sensed by the sensor to calculate a distance value of an individual location of the corresponding image, wherein it is determined that there is an obstacle when there is a dead zone in the image processed by the controller.

Abstract: The present disclosure analyzes the image around the main body, detects the depth of the floor surface and the height of the floor surface beyond the obstacle, and determines whether to climb the obstacle.

Abstract: Disclosed is a mobile robot including a driver configured to move a main body, an image obtainer configured to obtain an image of the surroundings and far and near distances between the main body and an obstacle, and a controller configured to analyze the image and the far and near distances obtained by the image obtainer and to determine whether an obstacle is present near the main body. The controller determines whether the obstacle is a mat-type obstacle. Upon determining that the obstacle is a mat-type obstacle, the controller calculates the planar area of the mat-type obstacle, and determines a climbing operation or an avoidance operation of the main body based on the planar area of the mat-type obstacle.

Abstract: A mobile robot and a controlling method thereof of the present disclosure includes: a main body which travels in an area; a tool mounted at the main body to assist n cleaning; a holder onto which the tool is held; and a charging stand which supplies operating power to move the main body, wherein when the tool becomes separated from the holder, upon receiving a tool separation signal from the charging stand, the main body moves to a position of the tool so that the tool may be mounted at the main body. Accordingly, when the tool becomes separated, the mobile robot may detect a position of a user based on a map, and may move upon recognizing a user having the tool, without requiring the user to move, thereby enabling the user to mount the tool and designate an operation in a convenient manner.