Patent ID: 7920941

Claim:
A dust detection apparatus of a cleaning robot, comprising: an image acquisition unit which acquires a floor image as a current floor image at a current location of the cleaning robot in the predetermined place; and a control unit which calculates a difference image between the current floor image and a background image selected from among the plurality of floor images of a feature map, detects a dusty area based on the calculated difference image, and adjusts the cleaning power of the cleaning robot based on the detected dusty area, wherein, when the plurality of floor images of the feature map have no patterns, the control unit selects one of the plurality of floor images as the background image, and when the plurality of floor images of the feature map have patterns, the control unit performs template matching on the current floor image and each of the plurality of floor images of the feature map, measures a similarity between the current floor image and each of the floor images, comparing a maximum among similarities obtained as template matching results with a predetermined reference value, and selects one of the plurality of floor images of the feature map corresponding to the maximum similarity as the background image when the maximum similarity is larger than the predetermined reference value and sets the cleaning power of the cleaning robot to a maximum level when the maximum similarity is not larger than the predetermined reference value.