| 摘要 |
A robot cleaner system capable of accurately docking with an external charging apparatus and a method for docking with an external charging apparatus comprising a power supply terminal connected to a supply of utility power, an external charging apparatus including a terminal stand for supporting the power supply terminal and fixing the external charging apparatus at a predetermined location, a driving unit for moving a cleaner body, an upper camera disposed on the cleaner body, for photographing a ceiling, a charging battery disposed in the cleaner body, for being charged by power supplied from the power supply terminal, a bumper disposed along an outer circumference of the cleaner body and outputting a collision signal when a collision with an obstacle is detected, and a robot cleaner disposed at the bumper to be connected with the power supply terminal and including a charging terminal connected to the charging battery, wherein, prior to starting on operation, the robot cleaner photographs an upward-looking image using the upper camera, calculates location information of the external charging apparatus, and stores the location information of the external charging apparatus, and, when returning to the external charging apparatus, the robot cleaner calculates a return path, based on the current location information calculated from an image photographed by the upper camera and the stored location information of the external charging apparatus, and returns to the external charging apparatus along the return path.
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