Robot cleaner and controlling method thereof

A robot cleaner comprising:

• a main body comprising an opening;
• a driving device moving the main body;
• a suction fan motor which is provided on the main body, wherein the suction fan motor is configured to suction foreign substances through the opening;
• and
• an obstacle clearing device provided in an upper part of the main body, wherein the obstacle clearing device is configured to take away an obstacle present on a driving route.

A controlling method of a robot cleaner, the controlling method comprising:

• while driving in a cleaning area included in a map, identifying an obstacle type of an obstacle on a driving route of the cleaning area based on information acquired through a sensor;
• and
• controlling an obstacle clearing device to move the obstacle to a location off the driving route according to the obstacle type,
• wherein the identifying the obstacle type comprises:
• comparing an acquired image with obstacles included in an obstacle category stored in a memory, and
• determining the obstacle type.

A non-transitory computer readable medium storing a computer program to be executed by a computer, the computer program causing the computer to perform a method including:

• while driving in a cleaning area included in a map, identifying an obstacle type of an obstacle on a driving route of the cleaning area based on information acquired through a sensor;
• and
• controlling an obstacle clearing device to move the obstacle to a location off the driving route according to the obstacle type,
• wherein the identifying the obstacle type comprises:
• comparing an acquired image with obstacles included in an obstacle category stored in a memory, and
• determining the obstacle type.