Detecting apparatus of robot cleaner and controlling method of robot cleaner

A method for controlling a robot cleaner including a detector that detects a position of the robot cleaner in a space to be cleaned, a driver that moves the robot cleaner, and a controller that controls operation of the robot cleaner, the method comprising:

• operating the detector and detecting a target cleaning space, setting a cleaning region within the detected target cleaning space, and cleaning the set cleaning region;
• operating the driver and moving the robot cleaner to a not-yet-cleaned region adjacent to a cleaning completion spot of the set cleaning region when the set cleaning region is completely cleaned;
• and
• setting, by the controller, the detected not-yet-cleaned region as a new cleaning region and performing a cleaning operation in the newly set cleaning region,
• wherein detecting a target cleaning space comprises operating the detector and detecting at least one of a surface of a wall or a corner when the robot cleaner travels through the target cleaning space, wherein the controller recognizes a corresponding travel region as the target cleaning space based on at least one of a number of non-detections of the surface of the wall or a number of detections of the corner.

A method for controlling a robot cleaner including a detector, a driver, a controller and a storage device, the method comprising:

• operating the detector and detecting a target cleaning space, setting a cleaning region within the detected target cleaning space, and cleaning the set cleaning region, wherein detecting the target cleaning space comprises:
• detecting at least one of at least one wall surface forming the target cleaning space or at least one corner in the target cleaning space;
• and
• recognizing a corresponding region as the target cleaning space when at least one of a first condition or a second condition is met, the first condition being a condition in which the robot cleaner does not detect the wall surface while traveling is accumulated twice, and the second condition being a condition in which the robot cleaner detects the corner is accumulated twice;
• operating the driver and moving the robot cleaner to a not-yet-cleaned region adjacent to a completion point of the set cleaning region;
• setting, by the controller, the not-yet cleaned region as a new cleaning region and performing a cleaning operation in the newly set cleaning region;
• and
• correcting a location of the robot cleaner when an accumulated movement distance of the robot cleaner within the target cleaning space is greater than or equal to a pre-set reference distance.