| CPC A47L 11/4011 (2013.01) [G05D 1/0225 (2013.01); G05D 1/0238 (2013.01); G05D 1/0242 (2013.01); A47L 2201/02 (2013.01); A47L 2201/022 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01)] | 17 Claims |
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1. A control method of a robot cleaner, the method comprising:
a first operation in which the robot cleaner including a plurality of obstacle detection sensors approaches a robot cleaner charging device according to an IR signal transmitted from the robot cleaner charging device including a charging terminal for charging the robot cleaner;
a second operation of checking whether a shortest distance between the robot cleaner and the robot cleaner charging device is equal to or less than a first distance through the plurality of obstacle detection sensors;
a third operation of checking whether center lines of the robot cleaner and the robot cleaner charging device are aligned through the plurality of obstacle detection sensors and aligning the center lines of the robot cleaner and the robot cleaner charging device;
a fourth operation in which the robot cleaner moves straight toward the robot cleaner charging device when the center lines of the robot cleaner and the robot cleaner charging device are aligned;
a fifth operation of checking whether the shortest distance between the robot cleaner and the robot cleaner charging device is equal to or less than a second distance smaller than the first distance in a state in which the center lines of the robot cleaner and the robot cleaner charging device are aligned;
a sixth operation of checking whether a difference in direction angle occurs between the robot cleaner and the robot cleaner charging device through the plurality of obstacle detection sensors and correcting the difference in the direction angle between the robot cleaner and the robot cleaner charging device; and
a seventh operation in which the robot cleaner and the charging terminal come into contact when direction angles of the robot cleaner and the robot cleaner charging device are corrected.
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