A robot cleaner, comprising:
- a light receiving sensor configured to measure a brightness of a floor surface;
- an illumination part configured to irradiate the floor surface with light;
- a rotation device connected to the illumination part and configured to adjust a rotational angle of the illumination part;
- a capturing part configured to capture an image of the floor surface;
- a memory part that stores the image of the floor surface captured by the capturing part;
- a driving part including an electric motor and wheels;
- a vacuum suction part configured to perform a vacuum suction by being supplied with power from the electric motor;
- and
- a control part,
- wherein the control part determines an operation in a capturing mode when a value input from the light receiving sensor is determined to be equal to or lower than a predetermined value,
- in the capturing mode, the control part is configured to:
- control the driving part to move the robot cleaner to a first position;
- control the illumination part, the rotation device, and the capturing part to capture the images of the floor surface multiple times while changing the rotational angle of the illumination part to which electric power is applied;
- combine a plurality of images captured at the changed rotational angles and store the combined image in the memory part as a first image relating to the first position;
- subsequently, in the same manner as that performed at the first position, control the driving part to move the robot cleaner to a second position, control the capturing part, the rotation device, and the capturing part to capture the image of the floor surface the multiple number of times, combine a plurality of images obtained by capturing the image of the floor surface the multiple number of times, and store the combined image in the memory part as a second image relating to the second position;
- and
- after the capturing at a final position is completed, combine all images from the first image relating to the first position to a final image obtained by the capturing at the final position, and produce the combined image as a full image of the floor surface, and when the control part controls the illumination part, the rotation device, and the capturing part to capture the image of the floor surface the multiple number of times while changing the rotational angle of the illumination part to which the electric power is applied, the control part controls the capturing part to capture a light reflection pattern of lights reflected from an object having a plurality of reflective surfaces when the illumination part irradiates the object with the light at the changed rotational angles, and controls the memory part to store a combined image obtained by combining a plurality of images captured at the changed rotational angles.