| 摘要 |
A robot cleaner is provided to perform position recognition using low power consumption by detecting the position based on intensity information of signals collected through Zigbee wireless communication without additional position marks. A robot cleaner(100) travels around Zigbee based wireless communication equipment, and includes a Zigbee communication unit(190) collecting signal intensity information by Zigbee wireless communication with the Zigbee based equipment, and a control unit(150) measuring distance from multiple reference points based on signal intensity information and calculating position coordinates. The control unit calculates two dimensional position is calculated by measuring the distance from three points not to be arranged in a line, and three dimensional position is calculated by measuring the distance from four points not to be arranged in a line.
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