Robot cleaning system and method of controlling robot cleaner

Control method of the robot cleaner of the present invention comprising the steps of: (a) from a predetermined reference position, obtaining a two markers spaced from each other at regular intervals, an image of the robot cleaner and its surrounding cover; (B) extracting the two markers from the obtained image; (C) defining a horizontal plane in which the two marker is located on the position of the two markers in the obtained image, on the basis of the actual distance between the two markers, the actual space; Based on the position information of the two markers on the horizontal plane, (d) obtaining location information of the robot cleaner on the reference position; And a step (e) for controlling the running of the robot cleaner on the basis of position information of the robot cleaner with respect to the reference position.