US 11,740,625 B2
Plurality of autonomous mobile robots and controlling method for the same
Donghoon Kwak, Seoul (KR); Kyoungsuk Ko, Seoul (KR); and Sungwook Lee, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Filed by LG Electronics Inc., Seoul (KR)
Filed on Jan. 13, 2022, as Appl. No. 17/574,721.
Application 17/574,721 is a continuation of application No. 16/559,030, filed on Sep. 3, 2019, granted, now 11,256,250.
Claims priority of application No. 10-2019-0020080 (KR), filed on Feb. 20, 2019.
Prior Publication US 2022/0137619 A1, May 5, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); A47L 11/40 (2006.01); G05D 1/02 (2020.01); B25J 11/00 (2006.01); G01S 13/02 (2006.01); F24F 8/80 (2021.01)
CPC G05D 1/0027 (2013.01) [A47L 11/4069 (2013.01); B25J 11/0085 (2013.01); G01S 13/0209 (2013.01); G05D 1/0022 (2013.01); G05D 1/0219 (2013.01); G05D 1/0295 (2013.01); A47L 2201/04 (2013.01); F24F 8/80 (2021.01); G05D 2201/0215 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A plurality of autonomous mobile robots, comprising:
a first mobile robot having an antenna configured to transmit and receive a signal; and
a second mobile robot comprising:
a main body, and
a first antenna and a second antenna disposed on a front area of the main body, the first antenna and the second antenna being configured to transmit and receive signals to and from the antenna of the first mobile robot,
wherein the second mobile robot comprises a control unit configured to:
determine a relative position of the first mobile robot based on an intensity of the signal from the first mobile robot received by the first antenna and the second antenna;
determine a first distance between the antenna of the first mobile robot and the first antenna, based on the signal transmitted from the antenna of the first mobile robot and received by the first antenna of the second mobile robot;
determine a second distance between the antenna of the first mobile robot and the second antenna, based on the signal transmitted from the antenna of the first mobile robot and received by the second antenna of the second mobile robot; and
determine two intersections between a first circle and a second circle,
wherein a radius of the first circle corresponds to the first distance, and a center of the first circle corresponds to the first antenna, and
wherein a radius of the second circle corresponds to the second distance, and a center of the second circle corresponds to the second antenna.