Cleaning robot and method for controlling the same

A cleaning robot comprising:

• a main body;
• a moving assembly mounted on a bottom surface of the main body to move the main body;
• a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor;
• a detector to detect whether the main body is in a stuck state of being stuck in an internal space formed in an obstacle;
• and
• a controller to control the moving assembly such that the main body travels in a direction opposite to a direction when entering into the internal space formed in the obstacle upon determining that the main body is in the stuck state based on a detection signal of the detector.

A method for controlling a cleaning robot including a main body comprising:

• determining whether an obstacle is present in front of the main body in a traveling direction while performing traveling and cleaning;
• determining whether the main body is in a stuck state of being stuck in an internal space formed in an obstacle upon determining that the obstacle is present;
• and
• moving the main body backward in a direction opposite to the traveling direction of the main body to perform an attempt to escape from the internal space formed in the obstacle upon determining that the main body is in the stuck state.

An autonomous robot comprising:

• a main body;
• a moving assembly mounted on a bottom surface of the main body to move the main body;
• a detector to detect whether the main body is in a stuck state of being stuck in an internal space formed in an obstacle;
• and
• a controller to control the moving assembly such that the main body travels in a direction opposite to a direction when entering into the internal space formed in the obstacle upon determining that the main body is in the stuck state based on a detection signal of the detector.