US 11,989,017 B2
Station apparatus and moving robot system
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. 17/266,481
Filed by LG Electronics Inc., Seoul (KR)
PCT Filed Aug. 5, 2019, PCT No. PCT/KR2019/009702
§ 371(c)(1), (2) Date Feb. 5, 2021,
PCT Pub. No. WO2020/032501, PCT Pub. Date Feb. 13, 2020.
Claims priority of provisional application 62/714,746, filed on Aug. 5, 2018.
Claims priority of application No. 10-2019-0083393 (KR), filed on Jul. 10, 2019.
Prior Publication US 2021/0302967 A1, Sep. 30, 2021
Int. Cl. G05D 1/00 (2006.01); A01D 34/00 (2006.01); A01D 101/00 (2006.01); B60L 53/36 (2019.01); B60L 53/66 (2019.01); G01S 5/02 (2010.01); H01Q 1/27 (2006.01); H01Q 3/22 (2006.01)
CPC G05D 1/0022 (2013.01) [B60L 53/36 (2019.02); B60L 53/66 (2019.02); G05D 1/0016 (2013.01); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0219 (2013.01); G05D 1/0225 (2013.01); G05D 1/028 (2013.01); G05D 1/0295 (2013.01); H01Q 1/27 (2013.01); H01Q 3/22 (2013.01); A01D 34/008 (2013.01); A01D 2101/00 (2013.01); B60L 2260/32 (2013.01); G01S 5/0284 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A station apparatus, comprising:
an Ultra-wideband (UWB) module configured to receive a first UWB signal transmitted by a moving robot; and
a processor operably coupled to the UWB module and configured to calculate a reception angle of the first UWB signal upon reception of the first UWB signal, and control the UWB module to transmit a second UWB signal, including a direction value determined based on the reception angle, to the moving robot for return of the moving robot,
wherein the UWB module comprises:
first and second antennas; and
a motor to rotate the first and second antennas, and
wherein the processor is further configured to:
determine whether the moving robot moves based on the direction value;
transmit the second UWB signal including the direction value to the moving robot through the first and second antennas;
transmit to the moving robot a third UWB signal for finding a return reference point and moving with respect to the return reference point, when the moving robot approaches the charging station from a rear of the charging station;
determine whether the robot moves based on the direction value; and
rotate the motor to transmit and receive signals with the moving robot toward the direction value based on determining that the moving robot moves based on the direction value.