US Patent 11185203 Robot cleaner, charging device and charging system

A robot cleaner and a charging device capable of determining whether contact is made between charging terminals of the charging device and the robot cleaner are provided. The charging device may include a charging circuit including at least one terminal having at least a portion exposed to the outside, at least one object sensor to detect at least one identification object arranged in a robot cleaner, the at least one object sensor being arranged separately from the at least one terminal configured, and at least one processor configured to control the charging circuit to apply a voltage to the at least one terminal in response to the at least one object sensor detecting the at least one identification object.