Cleaner and controlling method thereof

#Pursuant to 35 U.S.C. § 119(a), this application claims the benefit of earlier filing date and right of priority to Korean Application No. 10-2016-0139363, filed on Oct. 25, 2016 the contents of which is incorporated by reference herein in its entirety.

#The present disclosure relates to a cleaner and a controlling method thereof, and more particularly, to a cleaner capable of recognizing an obstacle and performing an autonomous driving, and a method for controlling the same.

#Generally, a robot has been developed for an industrial use, and has managed some parts of factory automation. As the robot is applied to various fields recently, not only medical robots and space robots, but also home robots are being developed.

#The embodiments will be described in detail with reference to the following drawings in which like reference numerals refer to like elements wherein:

#FIG. 1 is a perspective view showing an example of a robot cleaner according to the present disclosure;

#FIG. 2 is a planar view of the robot cleaner shown in FIG. 1;

#Description will now be given in detail of a cleaner and a controlling method thereof, with reference to the accompanying drawings. FIG. 1 is a perspective view showing an example of a robot cleaner 100 according to the present disclosure. FIG. 2 is a planar view of the robot cleaner 100 shown in FIG. 1. And FIG. 3 is a lateral view of the robot cleaner 100 shown in FIG. 1. In the specification, a moving robot, a robot cleaner, and a cleaner which performs an autonomous driving may have the same meaning.

#Referring to FIGS. 1 to 3, the robot cleaner 100 performs a function to clean a floor by sucking dust (including foreign materials) on the floor or by mopping the floor, while autonomously moving on a predetermined region. The robot cleaner 100 includes a cleaner body 110, a suction unit 120, a sensing unit 130, and a dust container 140.

#The cleaner body 110 is provided with a controller (not shown) for controlling the robot cleaner 100, and a wheel unit 11 for driving the robot cleaner 100. The robot cleaner 100 may be moved or rotated by the wheel unit 111, back and forth and right and left. The wheel unit 111 includes main wheels 111a and a sub wheel 111b.