Patent ID: 11910742
Assignee: LG ELECTRONICS INC.
Field: Control (Instruments)
Classification: CPC A  B  G  Y | IPC A  B  G

Claim 15:
16. A method for moving to a charging station of a moving robot that cuts grass while traveling in a travel area which is an outdoor area formed as a boundary area, wherein the moving robot comprises:
a main body;
a driving part to move the main body;
a receiver to receive a plurality of transmission signals transmitted from the charging station provided 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,
the method comprising:
moving a predetermined distance after departing from the charging station;
storing docking information regarding a docking point based on the reception result and the sensing result at one point to which movement by the predetermined distance is performed;
determining a traveling direction and a direction in which the docking point is located based on the reception result, the sensing result, and the docking information at a current position, after traveling is performed in the travel area;
moving to the docking point by switching the traveling direction to the direction in which the docking point is located;
determining the traveling direction and the direction in which the charging station is located based on the docking information at the docking point; and
moving to the charging station by switching the traveling direction to the direction in which the charging station is located,
wherein in the moving 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.