Robot cleaner, robot cleaning system and method of controlling same

A robot cleaning system comprising:

• a robot cleaner comprising
• a drive unit for driving a plurality of wheels;
• an upper camera disposed in the body, for photographing an upper image extending perpendicular to a running direction of the robot cleaner;
• and
• a remote controller in wireless communication with the robot cleaner for recognizing a current position of the robot cleaner by using an image of a recognition mark formed on a ceiling of a working area that is photographed by the upper camera, and controlling a working course of the robot cleaner to perform a target cleaning operation based on a recognized current position of the robot cleaner.

A method of controlling a robot cleaner having an upper camera, comprising the steps of:

• storing an initial position value of a recognition mark appearing in an upper image photographed by the upper camera when a working command signal is inputted;
• calculating a running course for the robot cleaner to a target working position;
• operating the robot cleaner along the calculated running course;
• photographing the upper image to produce a current position value of the recognition mark;
• and
• adjusting the running course by comparing the initial position value of the recognition mark with the current position value of the recognition mark.

A robot cleaner comprising, in combination:

• a body;
• a suction unit;
• a plurality of wheels;
• a drive unit connected to the wheels;
• an obstacle detecting sensor positioned on the body;
• a running distance detecting sensor positioned on the body;
• a camera configured to photograph a recognition mark formed on a ceiling of an area to be cleaned;
• a controller configured to send a signal to the drive unit and to recognize a position of the robot cleaner based on a comparison of a current photograph of the recognition mark and a stored photograph of the recognition mark.