| 摘要 |
PURPOSE: A robot cleaner and self-diagnosis method are provided to diagnosis the state of an object sensing unit by a sensing signal of an one-or-more object sensing unit equipped in a main body at an initial start or by a user if necessary. CONSTITUTION: A robot cleaner comprises a one-or-more object sensing unit, an input unit, a control unit, an output unit, and a storing unit. The one-or-more object sensing unit is installed in the main body, senses adjacent objects, and puts out the sensed information. The input unit is input with an executive command of a self-diagnosis mode. The control unit initiates the self-diagnosis mode according to an executive command, and diagnoses the state of the one-or-more object sensing unit. The output unit outputs an executed result or an error message of the self-diagnosis mode. The storing unit is provided with the predetermination of a diagnosis algorithm according to the self-diagnosis mode. The control unit executes the self-diagnosis mode according to the predetermined diagnosis algorithm. The one-or-more object sensing unit includes an outside signal sensor receiving a guide signal transmitted by a charging stand. The control unit diagnoses the state of the outside signal sensor as normal when the number of times of sensing by the outside signal sensor is more than a fixed number of times during the execution of the self-diagnosis mode. [Reference numerals] (AA) Start; (BB,DD,HH) No; (CC,EE,FF,GG) Yes; (II) End; (S100) Inputting an executive command; (S110) Charging mode?; (S200) Executive condition?; (S300) Driving an object sensing unit; (S400) Diagnosing the object sensing unit; (S410) Error has occurred?; (S500) Outputting an executed result; (S510) Outputting an error message; (S600) Outputting an executive condition error message |
