US 11,910,742 B2
Moving robot, system of moving robot and method for moving to charging station of moving robot
Kyoungsuk Ko, Seoul (KR); Byungjin Kim, Seoul (KR); Sungwook Lee, Seoul (KR); Hyungsub Lee, Seoul (KR); and Koh Choi, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/265,671
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Aug. 2, 2019, PCT No. PCT/KR2019/009642
§ 371(c)(1), (2) Date Feb. 3, 2021,
PCT Pub. No. WO2020/027610, PCT Pub. Date Feb. 6, 2020.
Claims priority of provisional application 62/714,088, filed on Aug. 3, 2018.
Claims priority of application No. 10-2019-0050956 (KR), filed on Apr. 30, 2019.
Prior Publication US 2021/0302986 A1, Sep. 30, 2021
Int. Cl. A01D 34/00 (2006.01); B60L 53/36 (2019.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); A01D 101/00 (2006.01); A47L 9/00 (2006.01)
CPC A01D 34/008 (2013.01) [B60L 53/36 (2019.02); G05D 1/0094 (2013.01); G05D 1/0225 (2013.01); G05D 1/0259 (2013.01); G05D 1/0265 (2013.01); G05D 1/0274 (2013.01); G05D 1/0276 (2013.01); G05D 1/0278 (2013.01); A01D 2101/00 (2013.01); A47L 9/00 (2013.01); A47L 2201/04 (2013.01); B60L 2200/40 (2013.01); G05D 2201/0203 (2013.01); G05D 2201/0208 (2013.01); G05D 2201/0215 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A moving robot that cuts grass while traveling in a travel area which is an outdoor area formed as a boundary area, the moving robot comprising:
a main body;
a driving part to move the main body;
a receiver to receive a plurality of transmission signals transmitted from a charging station in the travel area;
at least one sensor to sense a magnetic field state at a point at which the main body is located; and
a controller to control traveling of the main body by controlling the driving part to travel in the travel area, based on at least one selected from a reception result obtained by the receiver, a sensing result obtained by the at least one sensor, and a pre-stored area map,
wherein the controller, when the controller controls the main body to move to the charging station, determines a direction in which the charging station is located based on the reception result at a current position of the main body, determines a traveling direction of the main body based on the sensing result at the current position, and controls the main body to move to the charging station according to a result of the determination as to the direction in which the charging station is located and the traveling direction,
wherein the controller controls the main body to move from the current position to a docking point, based on pre-stored docking information regarding the docking point, and move from the docking point into a predetermined range with reference to the charging station,
wherein while the main body is moving from the current position to the docking point, the controller determines a point corresponding to the docking point based on the reception result and the sensing result and controls the main body to move to the docking point based on a determination result of the docking point, and
wherein the controller detects the boundary area of the travel area within the predetermined range and controls the main body to move to the charging station along the boundary area.