Patent ID: 11921513
Assignee: LG ELECTRONICS INC.
Field: Control (Instruments)
Classification: CPC G  A  B | IPC A  B  G

Claim 6:
7. A moving robot system comprising:
a first boundary wire and a second boundary wire positioned to respectively define a first travel area and a second travel area; and
a moving robot which includes:
a body,
a motor configured to provide a driving force to move the moving robot,
a sensor configured to detect a first boundary signal of the first boundary wire, a second boundary signal of the second boundary wire, and a proximity boundary signal generated by the first boundary wire and the second boundary wire in a proximity boundary area, and
a controller configured to:
determine a proximity boundary line based on the proximity boundary signal, and
manage the motor to apply the driving force such that the moving robot performs a homing travel from the first travel area to a docking station, the homing travel including a first traveling portion in which the moving robot follows the first boundary wire based on the sensor detecting the first boundary signal, and a second traveling based on the proximity boundary line when the sensor concurrently detects both the first and second boundary signals,

wherein the controller is further configured to control the motor such that, during the second traveling portion of the homing travel, the moving robot travels along a homing travel route which crosses the proximity boundary line one or more times,
wherein the controller is further configured to manage the motor such that, during the second traveling portion of the homing travel, the moving robot enters the first travel area and the second travel area, alternatively,
wherein the controller is further configured to:
define a first homing boundary line and a second homing boundary line which are parallel to the proximity boundary line positioned therebetween; and
control the motor such that, during the second traveling portion of the homing travel, the moving robot changes a direction of travel at the first and second homing boundary lines to cross the proximity boundary line the one or more times,

wherein one end of the proximity boundary area is positioned within a prescribed distance of the docking station,
wherein the docking station includes a reference wire which extends in a vertical direction crossing the first and second boundary wires, and which generates a docking position signal,
wherein the controller is further configured to generate a random number, and
wherein the controller is further configured to, after a first occurring one of the docking position signal being detected or the moving robot crossing die proximity boundary line the random number of titres during the second traveling portion of the homing travel, control the motor such that the moving robot performs a docking travel that includes moving toward the docking station.