Obstacle detection apparatus, method and medium

An obstacle detection method for controlling an obstacle detection apparatus, the method comprising:

• determining a changed posture of a main body of the obstacle detection apparatus with respect to a surface of the ground
• determining whether an amount of movement of the main body is outside a predefined threshold range, and varying an offset of the predefined threshold range according to results of the determination performed by the posture determination module;
• and
• determining a state of an obstacle based on results of determining whether the amount of movement of the main body is outside the predefined threshold range and determining the changed posture of the main body.

A computer readable medium implementing a method of detecting an obstacle using an obstacle detection apparatus performed by a computer, the method comprising:

• determining a changed posture of a main body of the obstacle detection apparatus with respect to a surface of the ground;
• determining whether an amount of movement of the main body is outside a predefined threshold range, and which varies an offset of the predefined threshold range according to results of the determination performed by the posture determination module;
• and
• determining a state of an obstacle based on results of determining whether the amount of movement of the main body is outside the predefined threshold range and determining the changed posture of the main body.

A cleaning robot having an obstacle detection function, the cleaning robot comprising:

• a main body moving along a group surface;
• a movement amount determination module determining whether an amount of movement of the main body is outside a predefined threshold range;
• a posture determination module determining a changed posture of the main body with respect to the ground surface according to the amount of movement of the main body;
• a state determination module determining a state of an obstacle according to the results of the determination performed by the movement amount determination module and according to the results of the determination performed by the posture determination module;
• and
• a control signal output module variably adjusting a cleaning intensity of the cleaning robot according to the determination made by the state determination module.