Patent ID: 9204594
Filing Date: 2015-12-08
Classification: A01D,G05D,Y02P,Y10S

Abstract:
1. A lawn mower robot system, comprising: a plurality of boundary display apparatuses, each of the plurality of boundary display apparatuses having a signal producing unit for producing a signal; and a robot including a mowing device that mows lawns, a first sensor that senses the signal produced from at least one of the signal producing units, a second sensor to sense a presence of at least one of the plurality of boundary display apparatuses, a moving device to move the robot, and a controller to control the moving device based on results sensed by the first and second sensors, wherein the controller: controls the moving device to move the robot in a random direction, senses a first signal from one of the plurality of boundary display apparatuses with the first sensor and, in response, controls the moving device to move the robot in close proximity and parallel to the first signal, senses the presence of the boundary display apparatus of the sensed first signal with the second sensor and, in response, controls the moving device of the robot to change a moving direction until a second signal from another boundary display apparatus is sensed by the first sensor and, in response, controls the moving device to move the robot in close proximity and parallel to the second signal, repeating the sensing of the plurality of boundary display apparatus signals and presences with the first and second sensors, respectively, until the controller determines the robot has reached an initial sensing position of the first signal, wherein when the initial sensing position of the first signal is sensed controlling the robot to store the previous moving path into a memory; thereafter moving the robot in a region formed by the stored path while mowing the lawn.