Auto clean machine and auto clean machine control method

An auto clean machine control method, applied to an auto clean machine comprising a height computing device and an obstacle determining device, comprising:

• determining whether an obstacle exists in a predetermined region of the auto clean machine;
• turning on the height computing device to compute a height or an overhang height of an obstacle when the obstacle determining device determines the obstacle exists in the predetermined region;
• not computing the height and the overhang height by the height computing device when the obstacle determining device does not determine the obstacle exists in the predetermined region;
• wherein the height computing device comprises:
• a first light source, configured to emit first light;
• an optical sensor, configured to sense first optical data generated according to the first light;
• and
• a processing circuit, configured to compute a height of the obstacle based on the first optical data;
• wherein the auto clean machine control method further comprises:
• turning on the first light source when the obstacle determining device determines the obstacle exists in the predetermined region;
• turning off the first light source when the obstacle determining device does not determine the obstacle exists in the predetermined region;
• wherein the obstacle determining device comprises the optical sensor and the processing circuit and further comprises:
• a second light source, configured to emit second light;
• wherein the optical sensor senses second optical data generated according to the second light;
• wherein the auto clean machine control method further comprises:
• determining whether the obstacle exists in the predetermined region or not based on the second optical data.

A robot cleaner, comprising:

• a horizontal line light source, configured to emit horizontal line light to a forward direction of the robot cleaner;
• a vertical line light source, configured to emit vertical line light to the forward direction;
• an optical sensor, configured to sense first optical data generated by the vertical line light and to sense optical data generated by the horizontal line light;
• and
• a processing circuit, configured to compute a height of an obstacle in front of it based on the first optical data and to determine whether the obstacle exists in the forward direction or not based on the second optical data;
• wherein the vertical line light source is turned on when the obstacle determining device determines the obstacle exists in the predetermined region;
• wherein the vertical line light source is turned off when the obstacle determining device does not determine the obstacle exists in the predetermined region.