Robot cleaner and controlling method thereof

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

• receiving, at an input unit, a user input for capturing image information;
• capturing first image information when an operation instructing command is received;
• analyzing the captured first image information;
• determining whether the first image information can be analyzed or not;
• selecting a first cleaning algorithm or a second cleaning algorithm from a plurality of cleaning algorithms, wherein one cleaning algorithm is selected as the first cleaning algorithm based on the first image information from among the plurality of cleaning algorithms when the first image information is determined as being able to be analyzed, and wherein one cleaning algorithm is selected as the first cleaning algorithm based on criteria other than a predetermined information being different from the first image information from among a plurality of pre-stored cleaning algorithms when the determining determines that the first image information can not be analyzed;
• and
• controlling a cleaning operation based on the selected first cleaning algorithm;
• capturing second image information at a preset time interval during the cleaning operation;
• analyzing the captured second image information;
• determining whether the second image information can be analyzed or not;
• selecting a second cleaning algorithm from the plurality of cleaning algorithms, wherein one cleaning algorithm is selected as the second cleaning algorithm based on the second image information from among the plurality of cleaning algorithms, when the determining determines that the second image information can be analyzed, and
• wherein one cleaning algorithm is selected as the second cleaning algorithm based on a predetermined information being different from the second image information from among a plurality of pre-stored cleaning algorithms, when the determining determines that the second image information can not be analyzed;
• controlling a cleaning operation based on the selected second cleaning algorithm;
• and
• generating guidance information indicating the change of the cleaning operation to output the guidance information on an output unit,
• wherein the controlling of the cleaning operation based on the second cleaning algorithm comprises:
• checking whether the first cleaning algorithm firstly selected is equal to the second cleaning algorithm secondly selected;
• when the first cleaning algorithm firstly selected is equal to the second cleaning algorithm secondly selected as a check result, controlling a cleaning operation based on the first or second cleaning algorithms;
• and
• when the first cleaning algorithm firstly selected is different from the second cleaning algorithm secondly selected as a check result, controlling a cleaning operation based on the second cleaning algorithm.