Mobile robot position detecting method for robot cleaner, involves detecting position based on angle and distance calculated by multiplying sound velocity to time taken for receiving ultrasonic signal after being oscillated

摘要

The method involves finding an angle between a mobile robot and an infrared generator based on an infrared signal frequency and previously stored frequency values. Distance between robot and an ultrasonic signal oscillator is calculated by multiplying a sound velocity to a time taken for receiving an ultrasonic signal after being oscillated. The robot position is detected based on the determined angle and calculated distance. Independent claims are also included for the following: (A) an apparatus for detecting a position of a mobile robot (B) a charging device for charging a battery of the mobile robot (C) a mobile robot moving on the basis of previously stored map information.