Patent Description:
Generally, a moving robot is a device that automatically performs a predetermined operation while traveling by itself in a predetermined area without a user's operation. The moving robot senses obstacles located in the area and performs its operations by moving close to or away from such obstacles.

Such a moving robot may include a cleaning robot that carries out cleaning while traveling in an area, as well as a lawn mowing robot that mows a lawn on a bottom of the area. Generally, lawn mowing devices (or lawn mower) include a riding-type device on which a user rides and which moves according to a user's operation to cut a lawn or perform weeding, and a work-behind type or hand type device that is manually pushed or pulled by the user and moves and cuts a lawn. As the lawn mowing devices move and cut a lawn according to direct manipulation by a user, the user may inconveniently operate the device directly. Accordingly, researches have been conducted on a moving robot-type mowing device including elements that cuts a lawn. However, since a lawn mowing robot operates outdoors as well as indoors, there is a need to set an area in which the lawn mowing robot is to move. In detail, since an outdoor area is an open space unlike an indoor area, the area in which the lawn mowing robot is to move needs to be designated in the outdoor area in advance, and the area needs to be limited so that the lawn mowing robot travels in a place in which the lawn is planted.

A moving robot for lawn mowing is disclosed in Korean Laid-Open Patent Application No. <CIT> and hereinafter, referred to as "Patent Document". In the moving robot for lawn mowing disclosed in Patent Document <NUM>, a wire is buried where grass is planted to set or designate a travel area of the moving robot, so that the moving robot is controlled to move within the wire. Then, a boundary for the moving robot is set based on a current value (or voltage value) induced by the wire, and the moving robot senses the current value induced by the wire to recognize a boundary of the travel area based on a sensing result, allowing the moving robot to travel within an area of the wire.

Such a wire is connected to a charging station that (re)charges a moving robot so as to receive a current from the charging station. As illustrated in <FIG>, the charging station has a positive terminal (+ pole) and a negative terminal (- pole) to be connected to a wire. As the wire also have polarity, the positive end of wire should be connected to the positive terminal and the negative end of wire should be connected to the negative terminal. If the wire and the terminals are not correctly connected as shown in <FIG>, a traveling direction of the moving robot that travels based on a current flowing in the wire does not match an operation reference, causing an error while traveling. In particular, when an error occurs while the moving robot travels for generating map information after an initial installation of the charging station and the wire, the map information may be incorrectly generated, which may adversely affect future traveling.

However, in the related art charging station, a polarity of the terminals is not clearly indicated, a user may have difficult in distinguishing it when connecting a wire. As a result, incorrect polarity connection of the wire may be highly likely to occur, as illustrated in <FIG>. If the wire is connected to the wrong terminal of the charging station, a direction of current induced in the wire is changed, and thus problems such as recognition by the robot and traveling operation may occur as the robot senses a boundary by sensing a current induced in the wire. For example, as illustrated in <FIG>, a traveling direction of the robot is not performed in a counterclockwise direction, which is set as default, and may be performed in a clockwise direction. Or the boundary may not be clearly distinguished (in/out) as shown in <FIG>. In particular, when map information is generated based on recognition and traveling results, the map information is incorrectly generated due to an incorrect recognition result, which may in turn adversely affect the overall operation of the robot. This may also cause the robot to be inaccurately or improperly docked with the charging station, leading to unstable charging.

In other words, since the polarity of the terminals of the charging station are not clearly indicated, there is a possibility of incorrect connection of the wire to the charging station, and a high possibility of causing a problem in the overall operation of the robot. However, in the related art, a method or technique for solving such a problem is not presented, and miswiring can only be prevented by the user's attention. Accordingly, in the related art moving robot technology, difficulties and inconveniences are caused in establishing an environment for using the robot, and there is a limit in ensuring stability, accuracy, and reliability of robot operation. <CIT> discloses a docking system for a self-propelled working tool. The above mentioned drawbacks of the prior art solutions are overcome by means of a charging station having the features of claim <NUM> and by means of a moving robot system having the features of claim <NUM>.

The present disclosure describes a charging station of a moving robot and a moving robot system capable of solving the aforementioned problems and other drawbacks.

That is, the present disclosure describes a charging station of a moving robot capable of preventing miswiring of a boundary wire connected to the charging station, and a moving robot system.

The present disclosure also describes a charging station of a moving robot capable of allowing connection of a boundary wire and the charging station to be clearly indicated, and a moving robot system.

The present disclosure also describes a charging station of a moving robot that can easily form a boundary of a travel area, and a moving robot system.

The present disclosure also describes a charging station of a moving robot that can allow the moving robot to be accurately docked with the charging station, and a moving robot system.

In order to solve such problems described above, an aspect of the present disclosure is to provide a charging station of a moving robot and a moving robot system, wherein connection terminals of the charging station to which a boundary wire is connected are divided.

In detail, the connection terminals of the charging station are provided at surfaces of different directions, so as to allow the boundary wire to be connected to the connection terminals in different directions.

That is, in the charging station of the moving robot and the moving robot system, the connection terminals are respectively provided at any two surfaces of the charging station, allowing the boundary wire to be connected thereto.

The technical features herein may be embodied as a charging station of a moving robot and a moving robot system including a charging station of the moving robot. In this specification, embodiments of the charging station of the moving robot and the moving robot system using the above-described technical features are provided.

Embodiments disclosed herein provide a charging station of a moving robot that may include a charging unit configured to charge the moving robot, a docking base at which the moving robot is docked, and a connecting portion to which one end and another end of a boundary wire that defines a boundary of a travel area are connected, so as to cause a current to be induced in the boundary wire, so as to cause a current induced in the boundary wire. The connection portion may include a first terminal provided a first surface of the docking base so as to allow the one end of the boundary wire to be connected thereto and a second terminal provided at a second surface of the docking base so as to allow the another end of the boundary wire to be connected thereto.

Embodiments disclosed herein also provide a moving robot system that may include a boundary wire installed along a travel area to define the boundary of the travel area, a charging station to which one end and another end of the boundary wire are connected, so as to cause a current to be induced in the boundary wire, and a moving robot that travels in the travel area based on a result of sensing the current while traveling. The one end and the another end of the boundary wire may be connected to the charging station in different directions.

The effects of the embodiments disclosed herein include but are not limited to the following. In some implementations, connection terminals of a charging station may be provided at different sides of the charging station so as to allow one end and another end of a boundary wire to be connected to the different sides of the charging station. Accordingly, the charging station and the boundary wire may be connected in an easily indicatable manner.

In some implementations, the charging station and the boundary wire may be installed in a simpler and easier manner, thereby allowing the charging station and the boundary wire to be easily installed.

As the charging station and the boundary wire are easily connected to each other, usage environment may be easily changed, or reinstallation may be easily performed.

Accordingly, an environment for using the moving robot may be conveniently established, thereby improving installation and usage convenience.

In some implementations, as the charging station and the boundary wire are connected in an easily indicatable manner, miswiring of the boundary wire to the charging station may be prevented.

Accordingly, the charging station and the boundary wire may be properly installed, allowing a travel area to be properly set and operation of the moving robot to be accurately performed.

In some implementations, the charging station has an inner structure in which the connection terminals are located at different directions, allowing the moving robot to be accurately docked with the charging station.

Therefore, the embodiments disclosed herein may not only solve the above-identified problems of the related art, but also increase usability, safety, reliability, and convenience of the moving robot.

Hereinafter, embodiments of a charging station of a moving robot and a moving robot system will be described in detail with reference to the accompanying drawings, and the same reference numerals are used to designate the same/like components and redundant description thereof will be omitted.

In describing technologies disclosed herein, if a detailed explanation for a related known function or construction is considered to unnecessarily divert the main point of the present disclosure, such explanation has been omitted but would be understood by those skilled in the art. It should be noted that the attached drawings are provided to facilitate understanding of the embodiments disclosed in this specification, and should not be construed as limiting the technical idea disclosed in this specification by the attached drawings.

First, a moving robot (hereinafter referred to as a "robot") according to the present disclosure is described.

A robot <NUM> may refer to a robot capable of autonomous traveling, a lawn-mowing moving robot, a lawn mowing robot, a lawn mower, or a moving robot for lawn mowing. As illustrated in <FIG>, the robot <NUM> travels in a travel area <NUM> that is set, and cuts a lawn in the travel area <NUM>. The robot <NUM> may operate based on driving power (re)charged by a charging station <NUM> provided in the travel area <NUM> so as to cut a lawn while traveling in the travel area <NUM>. When the robot <NUM> that operates based on driving power charged by the charging station <NUM> travels in the travel area <NUM>, and then moves to the charging station <NUM>, the robot <NUM> may receive a transmission signal transmitted from a signal transmission module included in the charging station <NUM>, and move to the charging station <NUM> based on a reception result obtained by receiving the transmission signal. The charging station <NUM> may include one or more signal transmission modules to respectively transmit the transmission signal.

As illustrated in <FIG>, the robot <NUM> includes a main body <NUM>, a driving (or drive) unit <NUM> that moves the main body <NUM>, a receiver (or receiving unit) <NUM> that receives the transmission signal transmitted from the charging station <NUM> provided in the travel area <NUM>, a sensing unit <NUM> that senses a current by sensing at least one of an electric field and a magnetic field around the main body <NUM>, and a controller <NUM> that controls the driving unit <NUM> to control traveling of the main body <NUM> such that the main body <NUM> travels in the travel area <NUM>, based on at least one selected from the reception result obtained by the receiver <NUM>, a sensing result obtained by the sensing unit <NUM>, and an area map that is pre-stored.

That is, as the controller <NUM> controls the driving unit <NUM> to travel in the travel area <NUM> based on at least one selected from the reception result obtained by the receiver <NUM>, the sensing result obtained by the sensing unit <NUM>, and the area map, the robot <NUM> travels in the travel area <NUM>.

For example, the sensing unit <NUM> senses a magnetic field of a boundary wire <NUM> defining a boundary of the travel area <NUM>, and senses a current flowing in the boundary wire <NUM> based on a sensing result. As the controller <NUM> recognizes the boundary wire <NUM>, namely the boundary of the travel area <NUM> based on the current sensing result by the sensing unit <NUM>, the controller <NUM> may control the driving unit <NUM> such that the robot <NUM> travels within the travel area <NUM>.

Using this control method of traveling, the controller <NUM>, after initial installation of the boundary wire <NUM>, controls the robot <NUM> to travel along the boundary wire <NUM>, and generates an area map of the travel area <NUM> based on a result of sensing the current flowing in the boundary wire <NUM>.

In the robot <NUM> that includes the main body <NUM>, the driving unit <NUM>, the receiver <NUM>, the sensing unit <NUM>, and the controller <NUM>, when the controller <NUM> controls the main body <NUM> to move to the charging station <NUM>, the controller <NUM> determines a direction in which the charging station <NUM> is located based on the reception result obtained at a current position (or location) of the main body <NUM>, determines a traveling direction of the main body <NUM> based on the sensing result obtained at the current position, and controls the main body <NUM> to move to the charging station <NUM> according to a result of the determination as to the direction in which the charging station <NUM> is located and the traveling direction.

That is, when the robot <NUM> moves to the charging station <NUM> after traveling in the travel area <NUM>, the robot <NUM> determines a direction in which the charging station <NUM> is located based on the reception result and determines a traveling direction of the robot <NUM> based on the sensing result. Thus, according to a result of the determination as to the direction in which the charging station <NUM> is located and the traveling direction, the robot <NUM> changes the traveling direction to the direction in which the charging station <NUM> is located, and move to the charging station <NUM>.

When the main body <NUM> is controlled to move to the charging station <NUM>, the controller may <NUM> may sense a current induced from the charging station <NUM> upon being near the charging station <NUM>, so that the main body <NUM> is docked at the charging station <NUM>.

That is, as the main body <NUM> moves to the charging station <NUM> based on a result of sensing the current induced in an electric wire (or cable) that is embedded in the charging station <NUM>, the robot <NUM> may accurately dock with the charging station <NUM>.

As illustrated in <FIG>, the robot <NUM> may be an autonomous traveling robot configured to be movable and having the main body <NUM> capable of cutting a lawn. The main body <NUM> defines an outer appearance of the robot <NUM> and includes one or more elements to perform operations such as traveling of the robot <NUM>, cutting a lawn, etc. The main body <NUM> includes the driving unit <NUM> that may move the main body <NUM> in a desired direction and rotate the main body <NUM>. The driving unit <NUM> may include a plurality of rotatable driving wheels. Each of the driving wheels may individually rotate so as to allow the main body <NUM> to rotate in a desired direction. In detail, the driving unit <NUM> may include at least one main driving wheel 11a and an auxiliary wheel 11b. For example, the main body <NUM> may include two main driving wheels 11a, and the two main driving wheels 11a may be installed at a rear lower surface of the main body <NUM>. The main body <NUM> may include the receiver <NUM>. The receiver <NUM> may include a signal sensor module that receives the transmission signal transmitted from the charging station <NUM>. That is, the receiver <NUM> may be configured as the signal sensor module. Accordingly, the signal sensor module may receive a transmission signal transmitted from the signal transmission module.

The robot <NUM> may travel by itself in the travel area <NUM> in <FIG>. The robot <NUM> may perform a particular operation during traveling. Here, the particular operation may be an operation of cutting a lawn in the travel area <NUM>. The travel area <NUM> is an area corresponding to a target location in which the robot <NUM> is to travel and operate. A predetermined outside/outdoor area may be formed as the travel area <NUM>. For example, a garden, a yard, or the like in which the robot <NUM> is to cut a lawn may be defined as the travel area <NUM>. The charging station <NUM> by which driving power of the robot <NUM> is charged may be installed at one point of the travel area <NUM>. The robot <NUM> may be (re)charged with driving power by docking at the charging station <NUM> installed in the travel area <NUM>.

The travel area <NUM> may be formed as a predetermined boundary area <NUM>, as illustrated in <FIG>. The boundary area <NUM> corresponds to a boundary line between the travel area <NUM> and an outside area <NUM> so that the robot <NUM> travels in the boundary area <NUM> and does not deviate from the outside area <NUM>. In this case, the boundary area <NUM> may be formed in a closed curved shape or a closed loop shape. Also, in this case, the boundary area <NUM> may be defined by the boundary wire <NUM> formed in a closed curve or a closed loop. The boundary wire <NUM> may be installed in an arbitrary area. The robot <NUM> may travel in the travel area <NUM> having a closed curved shape formed by the boundary wire <NUM> that is installed.

As illustrated in <FIG>, transmitters <NUM> may be provided in the travel area <NUM>. More than one transmitter <NUM> may be provided in the travel area <NUM>. At least three transmitters <NUM> may be preferably disposed in a distributed manner. The transmitter <NUM> is a signal generation element that transmits a signal via which the robot <NUM> determines position information. The at least three transmitters <NUM> may be installed in the travel area <NUM> in a distributed manner. The robot <NUM> may receive a signal transmitted from the transmitter <NUM>, and determine a current position based on a reception result or determine position information regarding the travel area <NUM>. In this case, the receiver <NUM> in the robot <NUM> may receive the transmitted signal. The transmitter <NUM> may preferably be disposed in a periphery of the boundary area <NUM> of the travel area <NUM>. In this case, the robot <NUM> may determine the boundary area <NUM> based on a position of the arrangement of the transmitter <NUM> in the periphery of the boundary area <NUM>. The transmitter <NUM> may include an inertial measurement unit (IMU) sensor that detects posture information of the transmitter <NUM>. The IMU sensor is a sensor including at least one selected from a gyro sensor, an acceleration sensor, and an altitude sensor. The IMU sensor may be a sensor that senses posture information of the transmitter <NUM>. Accordingly, the transmitter <NUM> may sense the posture information according to a present arrangement state via the IMU sensor. Further, when a posture is changed according to a change of a position, the transmitter <NUM> may sense the change of the posture according to the change of the position via the IMU sensor.

The robot <NUM> that cuts a lawn while traveling in the travel area <NUM> as shown in <FIG> may operate according to a traveling principle of <FIG>, and a signal may flow between devices to determine a position as shown in <FIG>.

As illustrated in <FIG>, the robot <NUM> may communicate with a terminal <NUM> moving in a predetermined area, and travel by following a position of the terminal <NUM> based on data received from the terminal <NUM>. The robot <NUM> may set a virtual boundary in a predetermined area based on position information received from the terminal <NUM> or collected while the robots <NUM> is traveling by following the terminal <NUM>, and set an internal area formed by the virtual boundary as the travel area <NUM>. When the boundary area <NUM> and the travel area <NUM> are set, the robot <NUM> may travel in the travel area <NUM> such that the robot <NUM> does not deviate from the boundary area <NUM>. According to cases, the terminal <NUM> may set the boundary area <NUM> and transmit the boundary area <NUM> to the robot <NUM>. When the terminal <NUM> changes or expands an area, the terminal <NUM> may transmit changed information to the robot <NUM> so that the robot <NUM> may travel in a new area. Also, the terminal <NUM> may display data received from the robot <NUM> on a screen to monitor operation of the robot <NUM>.

The robot <NUM> or the terminal <NUM> may determine a current position by receiving position information. The robot <NUM> and the terminal <NUM> may determine a current position of the robot <NUM> based on the plurality of transmission signals transmitted from the charging station <NUM> or a global positioning system (GPS) signal obtained using a GPS satellite <NUM>. For example, a distance between the robot <NUM> and the charging station <NUM> may be measured based on reception strength, a reception direction, reception time, or the like of the plurality of transmission signals. Then, based on the measured distance, a current position of the robot <NUM> may be determined by determining a position of the charging station <NUM> in the travel area <NUM>. Alternatively, the GPS satellite <NUM> may receive a GPS signal transmitted from the GPS module in the charging station <NUM> and determine a current position of the charging station <NUM> based on the GPS signal to thereby determine the current position of the robot <NUM>.

In addition, when the transmitter <NUM> is provided in the travel area <NUM>, the robot <NUM> and the terminal <NUM> may determine a current position based on a signal for position information transmitted from the transmitter <NUM>. Here, when signals are received from a plurality of transmitters <NUM>, positions of the robot <NUM> and the plurality of transmitters <NUM> may be determined by comparing results of the reception as to the signals from the plurality of transmitters <NUM> with each other, respectively. Alternatively, a current position of the robot <NUM> may be determined by receiving a GPS signal transmitted from the GPS module included in the transmitter <NUM> and determining a position of the transmitter <NUM> based on the GPS signal. In addition, positions of the robot <NUM> and the plurality of transmitters <NUM> may be accurately determined by determining distances between the plurality of transmitters <NUM> based on a position of each of the plurality of transmitters <NUM>. The robot <NUM> and the terminal <NUM> may preferably determine a current position by receiving signals transmitted from three transmitters <NUM> and comparing the signals with each other. That is, three or more transmitters <NUM> may be preferably provided in the travel area <NUM>.

The robot <NUM> sets one certain point in the travel area <NUM> as a reference position, and then, calculates a position of the robot <NUM> as a coordinate while the robot <NUM> is moving. For example, an initial starting position of the robot <NUM>, namely, a position of the charging station <NUM> may be set as a reference position. Alternatively, a position of one of the transmitters <NUM> may be set as a reference position to calculate a coordinate in the travel area <NUM>. The robot <NUM> may also set an initial position of the robot <NUM> as a reference position in each operation, and then, determine a position of the robot <NUM> while the robot <NUM> is traveling. With reference to the reference position, the robot <NUM> may calculate a traveling distance based on the number of rotations and a rotational speed of the driving unit <NUM>, a rotation direction of the main body <NUM>, etc. to thereby determine a current position of the robot <NUM> in the travel area <NUM>. Even when the robot <NUM> determines a position of the robot <NUM> using the GPS satellite <NUM>, the robot <NUM> may determine the position of the robot <NUM> using a certain point as a reference position.

As illustrated in <FIG>, the robot <NUM> may determine a current position of the robot <NUM> based on position information transmitted from the GPS satellite <NUM> or the charging station <NUM>. The position information may be transmitted in the form of a GPS signal, an ultrasound signal, an infrared signal, an electromagnetic signal, or an ultra-wideband (UWB) signal. A transmission signal transmitted from the charging station <NUM> may preferably be a UWB signal. That is, the transmission signal may be a UWB signal transmitted from the signal transmission module in the charging station <NUM>. Accordingly, the robot <NUM> may receive the UWB signal transmitted from the charging station <NUM>, and determine a current position of the robot <NUM> based on the UWB signal. The charging station <NUM> may also include the GPS module to transmit a GPS signal. In this case, the GPS signal transmitted from the charging station <NUM> may be received by the GPS satellite <NUM>. Then, the GPS satellite <NUM> may transmit a reception result of the GPS signal received from the charging station <NUM> to the robot <NUM>.

As illustrated in <FIG>, the robot <NUM> operating as described above may include the main body <NUM>, the driving unit <NUM>, the receiver <NUM>, the sensing unit <NUM>, and the controller <NUM>, and travel in the travel area <NUM> based on the reception result obtained by the receiver <NUM>, the sensing result obtained by the sensing unit <NUM>, and the area map. Also, the robot <NUM> may further include at least one selected from a data unit <NUM>, an input/output unit <NUM>, an obstacle detection unit <NUM>, a weeding unit <NUM>, and a communication unit <NUM>.

The driving unit <NUM> is a driving wheel included in a lower part of the main body <NUM>, and may be rotatably driven to move the main body <NUM>. That is, the driving unit <NUM> may drive the main body <NUM> to travel in the travel area <NUM>. The driving unit <NUM> may include at least one driving motor to move the main body <NUM> so that the robot <NUM> travels. For example, the driving unit <NUM> may include a left wheel driving motor for rotating a left wheel and a right wheel drive motor for rotating a right wheel.

The driving unit <NUM> may transmit information about a result of the driving to the controller <NUM>, and receive a control command for operation from the controller <NUM>. The driving unit <NUM> may operate according to the control command received from the controller <NUM>. That is, the driving unit <NUM> may be controlled by the controller <NUM>.

The receiver <NUM> may include a signal sensor module for transmitting and receiving the transmission signal. The signal sensor module may be provided at a position of the main body <NUM> in which the transmission signal may be received, and receive the transmission signal from the charging station <NUM>. The signal sensor module may transmit a signal to the charging station <NUM>. When the charging station <NUM> transmits a signal using a method of using one selected from an ultrasound signal, a UWB signal, and an infrared signal, the receiver <NUM> may include a sensor module that transmits and receives an ultrasound signal, a UWB signal, or an infrared signal, in correspondence with this. The receiver <NUM> may preferably include a UWB sensor. As a reference, UWB radio technology refers to technology using a very wide frequency range of several GHz or more in baseband instead of using a radio frequency (RF) carrier. The UWB radio technology uses very narrow pulses of several nanoseconds or several picoseconds. Since pulses emitted from such a UWB sensor are several nanoseconds or several picoseconds long, the pulses have good penetrability. Thus, even when there are obstacles in a periphery of the receiver <NUM>, the receiver <NUM> may receive very short pulses emitted by another UWB sensor.

When the robot <NUM> travels by following the terminal <NUM>, the terminal <NUM> and the robot <NUM> each having a UWB sensor may transmit and receive UWB signals with each other through the UWB sensor. The terminal <NUM> may transmit the UWB signal to the robot <NUM> through the UWB sensor included in the terminal <NUM>. The robot <NUM> may determine a position of the terminal <NUM> based on the UWB signal received through the UWB sensor, so as to move by following the terminal <NUM>. In this case, the terminal <NUM> operates as a transmitting side and the robot <NUM> operates as a receiving side. When the transmitter <NUM> includes the UWB sensor and transmits a signal, the robot <NUM> or the terminal <NUM> may receive the signal transmitted from the transmitter <NUM> through the UWB sensor included in the robot <NUM> or the terminal <NUM>. In this case, a signaling method performed by the transmitter <NUM> may be identical to or different from that by the robot <NUM> or the terminal <NUM>.

The receiver <NUM> may include one or more UWB sensors. That is, the signal sensor module may be a UWB sensor. The receiver <NUM> may receive a plurality of signals transmitted in a plurality of directions from the main body <NUM> and compare the plurality of received signals with each other to thereby accurately calculate a position of the robot <NUM>. For example, according to a position of the robot <NUM>, the charging station <NUM>, or the terminal <NUM>, when a measured distance with respect to a signal received from a left side is different from a signal received from a right side, relative positions of the robot <NUM>, the charging station <NUM> or the terminal <NUM> and a direction of the robot <NUM> may be determined based on the measured distances.

The receiver <NUM> may transmit a reception result with respect to the transmitted signals to the controller <NUM>, and receive a control command for operation from the controller <NUM>. The receiver <NUM> may operate according to the control command received from the controller <NUM>. That is, the receiver <NUM> may be controlled by the controller <NUM>.

The sensing unit <NUM> may include one or more sensors for sensing information on the posture and motion of the main body <NUM>. The sensing unit <NUM> may include at least one sensor that senses a magnetic field state in a periphery of the main body <NUM>. Here, the at least one sensor may include a magnetic field sensor. That is, the sensing unit <NUM> may include at least one magnetic field sensor to sense a magnetic field state at a point in which the main body <NUM> is located. For example, the sensing unit <NUM> may sense at least one selected from a magnetic field direction and magnetic field strength in a periphery of the main body <NUM>. The sensing unit <NUM> may further include at least one selected from an inclination sensor that detects movement of the main body <NUM> and a speed sensor that detects a driving speed of the driving unit <NUM>. The inclination sensor may be a sensor that senses posture information of the main body <NUM>. When the inclination sensor is inclined forward, backward, leftward or rightward against the main body <NUM>, the inclination sensor may sense the posture information of the main body <NUM> by calculating an inclined direction and an inclination angle. A tilt sensor, an acceleration sensor, or the like may be used as the inclination sensor. In the case of the acceleration sensor, any one selected from a gyro type sensor, an inertial type sensor, and a silicon semiconductor type sensor may be adopted. In addition, various sensors or devices capable of detecting movement of the main body <NUM> may be used. The sensing unit <NUM> including such an inclination sensor may sense a magnetic field state through the inclination sensor. The speed sensor may be a sensor that senses a driving speed of a driving wheel in the driving unit <NUM>. When the driving wheel rotates, the speed sensor may sense the driving speed by detecting rotation of the driving wheel.

The sensing unit <NUM> may transmit information about a result of the sensing to the controller <NUM>, and receive a control command for operation from the controller <NUM>. The sensing unit <NUM> may operate according to a control command received from the controller <NUM>. That is, the sensing unit <NUM> may be controlled by the controller <NUM>.

The data unit <NUM> is a storage element that stores data readable by a microprocessor, and may include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a read only memory (ROM) a random access memory (RAM), CD-ROM, a magnetic tape, a floppy disk, or an optical data storage device. In the data unit <NUM>, a received signal may be stored, reference data to determine an obstacle may be stored, and obstacle information regarding a detected obstacle may be stored. In the data unit <NUM>, control data that controls operation of the robot <NUM>, data according to an operation mode of the robot <NUM>, collected position information, and information about the travel area <NUM> and its boundary area <NUM> may be stored.

The input/output unit <NUM> may include input elements such as at least one of a button, a switch, a touch pad, or the like, and output elements such as a display unit, a speaker, or the like to receive a user command and output an operation state of the robot <NUM>.

The input/output unit <NUM> may transmit information about the operation state to the controller <NUM> and receive a control command for operation from the controller <NUM>. The input/output unit <NUM> may operate according to a control command received from the controller <NUM>. That is, the input/output unit <NUM> may be controlled by the controller <NUM>.

The obstacle detection unit <NUM> includes a plurality of sensors to detect obstacles in a traveling direction. The obstacle detection unit <NUM> may detect an obstacle located in front of the main body <NUM>, that is, in a traveling direction of the main body <NUM> using at least one selected from a laser sensor, an ultrasound sensor, an infrared sensor, and a three-dimensional (3D) sensor. The obstacle detection unit <NUM> may further include a cliff detection sensor installed at a rear surface of the main body <NUM> to detect a cliff.

In addition, the obstacle detection unit <NUM> may include a camera for detecting an obstacle by photographing a front. The camera is a digital camera, and may include an image sensor (not shown) and an image processing unit (not shown). An image sensor is a device that converts an optical image into an electrical signal. The image sensor includes a chip in which a plurality of photodiodes is integrated. A pixel may be an example of a photodiode. Charges are accumulated in each of pixels by an image formed on a chip by the light passing through the lens, and the charges accumulated in each of the pixels are converted into an electrical signal (e.g., a voltage). A charge-coupled device (CCD) sensor and a complementary metal oxide semiconductor (CMOS) sensor are well known as image sensors. In addition, the camera may include an image processing unit (a digital signal processor (DSP)) for processing a captured image.

The obstacle detection unit <NUM> may transmit information about a result of the detection to the controller <NUM>, and receive a control command for operation from the controller <NUM>. The obstacle detection unit <NUM> may operate according to the control command received from the controller <NUM>. That is, the obstacle detection unit <NUM> may be controlled by the controller <NUM>.

The weeding unit <NUM> cuts grass on a bottom while traveling. The weeding unit <NUM> includes a brush or a blade for lawn mowing, so as to mow a lawn on the bottom through rotation.

The weeding unit <NUM> may transmit information about a result of operation to the controller <NUM> and receive a control command for the operation from the controller <NUM>. The weeding unit <NUM> may operate according to a control command received from the controller <NUM>. That is, the weeding unit <NUM> may be controlled by the controller <NUM>.

The communication unit <NUM> may communicate with a communication device that is to communicate with the robot <NUM>, using a wireless communication method. For example, the communication unit <NUM> may communicate with at least one selected from the transmitter <NUM>, the terminal <NUM>, and the GPS satellite <NUM>. The communication unit <NUM> is connected to a predetermined network and may communicate with an external server or the terminal <NUM> that controls the robot <NUM>. When the communication unit <NUM> communicates with the terminal <NUM>, the communication unit <NUM> may transmit a generated map to the terminal <NUM>, receive a command from the terminal <NUM>, and transmit data regarding an operation state of the robot <NUM> to the terminal <NUM>. The communication unit <NUM> may include a communication module such as a wireless fidelity (Wi-Fi) module, a wireless broadband (WiBro) module, or the like, as well as a short-range wireless communication module such as Zigbee, Bluetooth, or the like, to transmit and receive data. The communication unit <NUM> may communicate with the GPS satellite <NUM> via the terminal <NUM> that communicates with the GPS satellite <NUM>. In addition, the communication unit <NUM> may further include a GPS module that transmits and receives a GPS signal to/from the GPS satellite <NUM> to communicate with the GPS satellite <NUM>. When the communication unit <NUM> communicates with the GPS satellite <NUM>, the GPS satellite <NUM> may receive GPS signals transmitted from at least one transmitter <NUM> provided in the travel area <NUM> or the charging station <NUM>, and transmit a result of the reception as to the GPS signals to the communication unit <NUM>. That is, when the communication unit <NUM> communicates with the GPS satellite <NUM> that receives a GPS signal from the transmitter <NUM> or the charging station <NUM>, the communication unit <NUM> may receive a result of the reception as to the GPS signal from the GPS satellite <NUM>.

The communication unit <NUM> may transmit information about a result of the communication to the controller <NUM>, and receive a control command for operation from the controller <NUM>. The communication unit <NUM> may operate according to the control command received from the controller <NUM>. That is, the communication unit <NUM> may be controlled by the controller <NUM>.

The controller <NUM> may perform overall operation control of the robot <NUM>, including a central processing unit. The controller <NUM> may include a central processing unit to control all operations of the robot <NUM>. The controller <NUM> may determine position information in the travel area <NUM> via the receiver <NUM> and the sensing unit <NUM> to thereby control the main body <NUM> to travel in the travel area <NUM> via the driving unit <NUM>. The controller <NUM> may also control the robot <NUM> to perform functions/operations via the data unit <NUM>, the input/output unit <NUM>, the obstacle detection unit <NUM>, the weeding unit <NUM>, and the communication unit <NUM>.

The controller <NUM> may control input/output of data and control the driving unit <NUM> such that the main body <NUM> travels according to settings. The controller <NUM> may independently control operations of the left wheel driving motor and the right wheel driving motor by controlling the driving unit <NUM> to thereby control the main body <NUM> to travel rotationally or in a straight line.

The controller <NUM> may set the boundary area <NUM> of the travel area <NUM> based on position information received from the terminal <NUM> or position information determined based on the transmitted signal received from the charging station <NUM>. The controller <NUM> may also set the boundary area <NUM> of the travel area <NUM> based on position information that is collected by the controller <NUM> during traveling. The controller <NUM> may set a certain area of a region formed by the set boundary area <NUM> as the travel area <NUM>. The controller <NUM> may set the boundary area <NUM> in a closed loop form by connecting discontinuous position information using a line or a curve, and set an inner area within the boundary area <NUM> as the travel area <NUM>. When the travel area <NUM> and the boundary area <NUM> corresponding thereto are set, the controller <NUM> may control traveling of the main body <NUM> so that the main body <NUM> travels in the travel area <NUM> and does not deviate from the set boundary area <NUM>. The controller <NUM> may determine a current position based on received position information and control the driving unit <NUM> such that the determined current position is located in the travel area <NUM> to thereby control traveling of the main body <NUM>.

In addition, according to obstacle information input by the obstacle detection unit <NUM>, the controller <NUM> may control traveling of the main body <NUM> to avoid obstacles. In this case, the controller <NUM> may reflect the obstacle information in pre-stored area information regarding the travel area <NUM> to thereby modify the travel area <NUM>.

The robot <NUM> having a configuration shown in <FIG> may travel in the travel area <NUM>, as the controller <NUM> determines a current position of the main body <NUM> based on at least one selected from a reception result obtained by the receiver <NUM>, a sensing result obtained by the sensing unit <NUM>, a communication result obtained by the communication unit <NUM>, and the area map that is pre-stored, and controls the driving unit <NUM> such that the main body <NUM> travels in the travel area <NUM>.

While the robot <NUM> travels in the travel area <NUM> shown in <FIG>, the robot <NUM> may perform set operations. For example, while the robot <NUM> is traveling in the travel area <NUM>, the robot <NUM> may cut a lawn on a bottom of the travel area <NUM>.

In the robot <NUM>, the main body <NUM> may travel as the driving unit <NUM> is driven. The main body <NUM> may travel as the driving unit <NUM> is driven to move the main body <NUM>.

In the robot <NUM>, the driving unit <NUM> may move the main body <NUM> by driving wheels. The driving unit <NUM> may move the main body <NUM> by driving the driving wheels so as to allow the main body <NUM> to perform traveling.

In the robot <NUM>, the receiver <NUM> may receive at least one transmission signal transmitted from the charging station <NUM> provided in the travel area <NUM>, while the robot <NUM> is traveling. Here, the charging station <NUM> may transmit and receive the at least one transmission signal via the at least one transmission module. The receiver <NUM> may include the signal sensor module to thereby receive the at least one transmission signal. While the main body <NUM> is traveling in the travel area <NUM>, the receiver <NUM> may receive the at least one transmission signal in real time. That is, a reception result obtained by receiving the at least one transmission signal may vary depending on a position (or location) in which the at least one transmission signal is received, that is, a position of the main body <NUM>. Here, the transmission signal transmitted from the at least one signal transmission module may be transmitted in a certain form. In addition, as the transmission signal is transmitted from a position in which the charging station <NUM> is provided, namely, from a fixed position of the charging station <NUM>, a reception sensitivity of the transmission signal may vary depending on a position of the main body <NUM>. That is, a reception result obtained by receiving the transmission signal may vary depending on a position in which the transmission signal is received, that is, a position of the main body <NUM>. The robot <NUM> may determine a current position of the main body <NUM> based on the transmission signal, of which reception result varies depending on a position in which the transmission signal is received. For example, when the main body <NUM> travels from one point to another point, distances are measured between the charging station <NUM> and the main body <NUM> at the one point and the another point, respectively, based on the reception result obtained while the main body <NUM> travels from the one point to the another point, and it is determined that the main body <NUM> moved from the one point to the another point based on the measured distances. Thus, a current position of the main body <NUM> may be determined. In addition, when a plurality of transmission signals is transmitted, respective reception results obtained by receiving the plurality of transmission signals are different as the signal sensor module receives the plurality of transmission signals transmitted from different positions. Thus, a current position of the main body <NUM> may be determined by comparing the reception results obtained by receiving the plurality of transmission signals with each other.

In the robot <NUM>, the sensing unit <NUM> may sense a magnetic field state at a position in which the main body <NUM> is located while traveling. The sensing unit <NUM> may sense a magnetic field state at a current position. The sensing unit <NUM> may sense at least one selected from a magnetic field direction and magnetic field strength at a point in which the main body <NUM> is located while traveling. The sensing unit <NUM> may include at least one magnetic field sensor that senses at least one selected from a magnetic field direction and magnetic field strength at a point in which the main body <NUM> is located. Thus, the sensing unit <NUM> may sense the magnetic field state at a current position while traveling. The sensing unit <NUM> may sense the magnetic field state in real time while traveling. Accordingly, the sensing unit <NUM> may sense the magnetic field state at each point in a path of the travel area <NUM> via which the main body <NUM> travels.

The controller <NUM> of the robot <NUM> may determine a position of the main body <NUM> based on at least one selected from the reception result obtained by the receiver <NUM>, the sensing result obtained by the sensing unit <NUM>, and the area map, and control the driving unit <NUM> such that the main body <NUM> travels in the travel area <NUM>, to thereby control traveling of the main body <NUM>. Here, the area map is a map of the travel area <NUM>, and an arrangement position of the charging station <NUM> and the boundary area <NUM> may be designated on the area map. For example, the area map may be pre-stored in the data unit <NUM>. The area map may be pre-generated according to at least one selected from a previous traveling history of the robot <NUM>, a position of the charging station <NUM>, and a user setting of the robot <NUM>, and pre-stored in the robot <NUM>. The controller <NUM> may determine a position of the charging station <NUM> and measure a distance between the main body <NUM> and the charging station <NUM> based on the reception result, and determine a current position of the main body <NUM> based on the measured distance. The controller <NUM> may determine a magnetic field state information at a current position of the main body <NUM> based on the sensing result. Thus, a particular point in the travel area <NUM> may be searched/identified. For example, if the main body <NUM> is located at a point x, magnetic field state information at the point x may be determined and stored based on the sensing result at the point x, and the stored magnetic field state information is compared with a sensing result at a current position to thereby search/identify whether the current position corresponds to the point x. Accordingly, based on the sensing result, a position of the travel area <NUM> may be determined or position information of the travel area <NUM> may be converted into a coordinate. In addition, the controller <NUM> may further measure a distance for which the main body <NUM> has traveled, based on at least one selected from a sensing result obtained by the sensing unit <NUM> and a communication result obtained by the communication unit <NUM>, and determine a current position of the main body <NUM> based on the measured distance. The controller <NUM> may control driving of the driving unit <NUM> such that the main body <NUM> travels in the travel area <NUM> according to the determined current position. That is, according to the determined current position, the controller <NUM> may control traveling of the main body <NUM> by controlling driving of the main body <NUM>, so that the main body <NUM> does not deviate from the boundary area <NUM>. The controller <NUM> may also control operation of the main body <NUM> such that the main body <NUM> performs set (or predetermined) operation.

The robot <NUM> may be docked at the charging station <NUM> to (re)charge power.

Hereinafter, embodiments of the charging station <NUM> will be described.

The charging station <NUM>, as illustrated in <FIG> or <FIG>, a charging unit <NUM> for (re)charging the robot <NUM>, a docking base <NUM> at which the robot <NUM> is docked, and a connection (or connecting) portion <NUM> to which one end and another end of the boundary wire <NUM> defining the boundary of the travel area <NUM> are connected, so as to cause a current to be induced in the boundary wire <NUM>.

As the charging unit <NUM> is provided at an upper portion of the docking base <NUM>, the charging unit <NUM> is electrically connected to the robot <NUM> while being docked at the docking base <NUM>, allowing the robot <NUM> to be (re)charged.

The docking base <NUM> may include the connection portion <NUM> to define a bottom surface of the charging station <NUM>, allowing the robot <NUM> to be docked therewith.

The connection portion <NUM>, which is included in the docking base <NUM>, may be connected to the one end and the another end of the boundary wire <NUM>, so as to cause a current to be induced in the boundary wire <NUM>.

The robot <NUM> may be charged as the charging station <NUM> is provided with the charging unit <NUM>, the docking base <NUM>, and the connection portion <NUM>. In the charging station <NUM> that causes the current to be induced in the boundary wire <NUM>, the connection portion <NUM> includes a first terminal 530a provided at a first surface of the docking base <NUM> so as to allow the one end of the boundary wire <NUM> to be connected thereto, and a second terminal 530b provided at a second surface of the docking base <NUM> so as to allow the another end of the boundary wire <NUM> to be connected thereto.

That is, as the first terminal 530a and the second terminal 530b are provided at the first surface and the second surface of the docking base <NUM>, respectively, the first terminal 530a is connected to the one end of the boundary wire <NUM> at the first surface of the docking base <NUM> and the second terminal 530b is connected to the another end of the boundary wire <NUM> at the second surface of the docking base <NUM>, allowing the charging station <NUM> and the boundary wire <NUM> to be connected to each other.

Here, directions of the first surface and the second surface may be different.

In more detail, the first surface and the second surface may be at different directions from the docking base <NUM>, so that the first terminal 530a and the second terminal 530b may be located at different directions.

The first surface may be any one of a front surface and a left surface of the docking base <NUM>.

For example, referring to <FIG> and <FIG>, it may be the front surface or the left surface of the docking base <NUM>.

Accordingly, the first terminal 530a may be provided at the front surface of the docking base <NUM> as illustrated in <FIG>, or provided at the left surface of the docking base <NUM> as illustrated in <FIG>.

When the first surface is the front surface of the docking base <NUM>, the second surface may be a right surface of the docking base <NUM> as illustrated in <FIG>.

Accordingly, the second terminal 530b may be provided at the right surface of the docking base <NUM> when the first terminal 530a is provided at the front surface of the docking base <NUM> as illustrated in <FIG>.

When the first surface is the left surface of the docking base <NUM> as illustrated in <FIG>, the second surface may be any one of the front surface and the right surface of the docking base <NUM>.

That is, when the first terminal 530a is disposed at the left surface of the docking base <NUM> as shown in <FIG>, the second terminal 530b may be provided at any one of the front surface and the right surface of the docking base <NUM>.

As the first terminal 530a and the second terminal 530b are located at different directions of the docking base <NUM>, the one end and the another end of the boundary wire <NUM> may be connected in different directions.

The first terminal 530a is provided at the first surface so as to be connected to the one end of the boundary wire <NUM>, and the second terminal 530b is provided at the second surface so as to be connected to the another end of the boundary wire <NUM>.

The first terminal 530a and the second terminal 530b may be respectively provided at the first surface and the second surface of the docking base <NUM> to be adjacent to a front side or part F of the docking base <NUM>.

For example, as illustrated in <FIG> and <FIG>, the first terminal 530a and the second terminal 530b may be provided at positions in a direction opposite to where the charging unit <NUM> is disposed, namely, the front side F.

That is, the first terminal 530a and the second terminal 530b may be respectively provided at the first surface and the second surface to be adjacent to the front part of the docking base <NUM>.

The first terminal 530a and the second terminal 530b may be divided according to a polarity of the boundary wire <NUM>.

The first terminal 530a may correspond to a negative pole (-), and the second terminal 530b may correspond to a positive pole (+).

The negative pole (-) may correspond to the one end of the boundary wire <NUM>, and the positive pole (+) may correspond to the another end of the boundary wire <NUM>.

As the connection portion <NUM> having the first terminal 530a and the second terminal 530b located at the different directions of the docking base <NUM> may further include a first (electric) wire 530a' that connects the first terminal 530a and the charging unit <NUM>, and a second (electric) wire 530b' that connects the second terminal 530b and the charging unit <NUM>.

The first wire 530a' and the second wire 530b' may be wires that respectively provide electrical connection between the charging unit <NUM> and the first terminal 530a, and between the charging unit <NUM> and the second terminal 530b, so as to allow a current to be induced from the charging station <NUM> to the boundary wire <NUM> connected to the first terminal 530a and second terminal 530b.

That is, the current may be transmitted to the boundary wire <NUM> from the charging unit <NUM> through the first wire 530a' and the second wire 530b'.

The first wire 530a' and the second wire 530b' may be embedded in the docking base <NUM> to provide electrical connection between the charging unit <NUM> and the first terminal 530a, and between the charging unit <NUM> and the second terminal 530b.

The first wire 530a' and the second wire 530b' may be built in the docking base <NUM> without being overlapped on the same plane.

For example, as illustrated in <FIG> and <FIG>, they may be divided and embedded in the docking base <NUM> without being overlapped on the same plane.

Accordingly, when the main body <NUM> is traveling on the docking base <NUM>, the controller <NUM> may sense respective currents flowing in the first wire 530a' and the second wire 530b' in a separate or distinguishable manner, and thus a built-in path of the first wire 530a' and a built-in path of the second wire 530b' may be distinguished.

The first wire 530a' may be embedded along an edge of the docking base <NUM>, from the left surface of the charging base <NUM> to the first terminal 530a.

For example, as illustrated in <FIG> and <FIG>, the first wire <NUM>' may be embedded along a left part (edge) of the docking base <NUM> so as to be connected to the first terminal 530a provided at the first surface.

The first wire 530a', installed from the left surface of the charging unit <NUM> to the first terminal 530a along the edge of the docking base <NUM>, may include a <NUM>-<NUM>th wire portion 530a'#<NUM> extending in a first direction, and a <NUM>-<NUM>th wire portion 530a'#<NUM> extending in a second direction crossing the first direction.

Here, the first direction may be a direction toward a left side of the docking base <NUM>, and a second direction may be a direction toward the front side of the docking base <NUM>.

The <NUM>-<NUM>th wire portion 530a'#<NUM> may extend along an edge of a surface of the docking base <NUM> where the charging unit <NUM> is located.

The <NUM>-<NUM>th wire portion 530a'#<NUM> may extend in the first direction, from a left surface of the charging unit <NUM> to a point intersecting the <NUM>-<NUM>th wire portion 530a'#<NUM>.

The <NUM>-<NUM>th wire portion 530a'#<NUM> may extend along an edge of the left side of the docking base <NUM>.

The <NUM>-<NUM>th wire portion 530a'#<NUM> may extend in the second direction, from a point intersecting the <NUM>-<NUM>th wire portion 530a'#<NUM> to the first terminal 530a.

The <NUM>-<NUM>th wire portion 530a'#<NUM> and the <NUM>-<NUM>th wire portion 530a'#<NUM> may be straightly (or linearly) installed.

The <NUM>-<NUM>th wire portion 530a'#<NUM> and the <NUM>-<NUM>th wire portion 530a'#<NUM> may intersect at a specific angle.

For example, they may cross at right angles as illustrated in <FIG> and <FIG>.

That is, the first wire 530a' includes at least two or more wire portions, and may be embedded in the docking base <NUM> to have the shortest length (or distance) from the charging unit <NUM> to the first terminal 530a.

The second wire 530b' may be embedded along a central part (or portion) and an edge of the docking base <NUM>, from a front surface of the charging unit <NUM> to the second terminal 530b.

For example, as illustrated in <FIG> and <FIG>, the second wire 530b' may be embedded along the central part and the front part of the docking base <NUM> so as to be connected to the second terminal 530b provided at the second surface.

The second wire 530b', installed from the front surface of the charging unit <NUM> to the second terminal 530b along the central part and the edge of the docking base <NUM>, may include a <NUM>-<NUM>th wire portion 530b'#<NUM> extending in the second direction and a <NUM>-<NUM>th wire portion 530b'#<NUM> extending in a third direction crossing the second direction.

Here, the second direction may be a direction toward the front side of the docking base <NUM>, and the third direction may be a direction toward a right side of the docking base <NUM>.

The <NUM>-<NUM>th wire portion 530b'#<NUM> may extend along a central part of the of the docking base <NUM> where the charging unit <NUM> is located.

The <NUM>-<NUM>th wire portion 530b'#<NUM> may extend in the second direction, from the central part of the charging unit <NUM> to a point intersecting the <NUM>-<NUM>th wire portion 530b'#<NUM>.

The <NUM>-<NUM>th wire portion 530b'#<NUM> may extend along an edge of the front side of the docking base <NUM>.

The <NUM>-<NUM>th wire portion 530b'#<NUM> may extend in the third direction, from a point intersecting the <NUM>-<NUM>th wire portion 530b'#<NUM> to the second terminal 530b.

The <NUM>-<NUM>th wire portion 530b'#<NUM> and the <NUM>-<NUM>th wire portion 530b'#<NUM> may be straightly (or linearly) installed.

The <NUM>-<NUM>th wire portion 530b'#<NUM> and the <NUM>-<NUM>th wire portion 530b'#<NUM> may intersect at a specific angle.

That is, the second wire portion 530b' is made up of at least two or more wire portions, and may be embedded in the docking base <NUM> to have the shortest length (or path) from the charging unit <NUM> to the second terminal 530b.

The charging station <NUM> may be connected to the boundary wire <NUM> defining the boundary of the travel area <NUM> in a moving robot system <NUM> of <FIG>.

Hereinafter, embodiments of the moving robot system <NUM> (hereinafter, "system") according to the present disclosure will be described.

The system <NUM> may refer to a system for travelling and (re)charging of the robot <NUM> in the travel area <NUM>.

As illustrated in <FIG>, the system <NUM> includes the boundary wire <NUM> installed along a boundary of the travel area <NUM> to define the boundary of the travel area <NUM>, the charging station <NUM> connected to one end and another end of the boundary wire <NUM> so as to cause a current to be induced in the boundary wire <NUM>, and the robot <NUM> traveling in the travel area <NUM> based on a result of sensing the current while traveling in the travel area <NUM>.

In the system <NUM>, the one end and the another end of the boundary wire <NUM> are connected to the charging station <NUM> in different directions.

That is, the boundary wire <NUM> may be connected to the charging station <NUM> from any two different directions.

The charging station <NUM> may include the charging unit <NUM> that (re)charges the robot <NUM> during docking, the docking base <NUM> at which the robot <NUM> is docked, and the connection portion <NUM> to which the one end and the another end of the boundary wire <NUM> are connected.

Here, the connection portion <NUM> may include the first terminal 530a provided at a first surface of the docking base <NUM> and connected to the one end of the boundary wire <NUM> at the first surface, the first wire 530a' that connects the first terminal 530a and the charging unit <NUM>, the second terminal 530b provided at a second surface of the docking base <NUM> and connected to the another end of the boundary wire <NUM> at the second surface, and the second wire 530b' that connects the second terminal 530b and the charging unit <NUM>.

The first terminal 530a may be connected to the one end that corresponds to a negative pole (-) of the boundary wire <NUM>, and the second terminal 530b may be connected to the another end that corresponds to a positive pole (+) of the boundary wire <NUM>.

The first wire 530a' and the second wire 530b' may allow the current to be induced from the charging unit <NUM> to the boundary wire <NUM> connected to the first terminal 530a and the second terminal 530b.

The first wire 530a' and the second wire 530b' are embedded in the docking base <NUM> without being overlapped with each other, so as to allow the robot <NUM> to sense respective currents flowing in the first wire 530a' and the second wire 530b' in a separate manner.

As the first wire 530a' and the second wire 530b' are included in the connection portion <NUM>, the robot <NUM> may move to the charging unit <NUM> along a built-in path of the second wire 530b' for docking at the charging station <NUM>.

That is, as the second wire 530b' is embedded in the docking base <NUM> in a manner of extending from the front surface of the charging unit <NUM>, as illustrated in <FIG>, the robot <NUM> may move to the front side of the charging unit <NUM> along the built-in path of the second wire 530b' based on a result of sensing the current flowing in the second wire 530b'.

Accordingly, the robot <NUM> may accurately move to the charging unit <NUM> for docking.

As illustrated in <FIG>, in the system <NUM> in which the boundary wire <NUM> is connected to the first terminal 530a and the second terminal 530b provided at different directions of the charging station <NUM>, the robot <NUM> that is docked at the charging station <NUM> may travel again from the first terminal 530a to the second terminal 530b.

The robot <NUM> may sense the current flowing in the boundary wire <NUM> to recognize the boundary of the travel area <NUM> based on a sensing result, and travel in a direction toward the second terminal 530b from the first terminal 530a based on a recognition result.

Here, the robot <NUM> may travel in a counterclockwise direction as illustrated in <FIG>.

The robot <NUM>, after the one end and the another end of the boundary wire <NUM> are connected to the charging station <NUM>, may travel from the first terminal 530a to the second terminal 530b along the boundary wire <NUM> based on the current sensing result, and generate map information based on a traveling result.

For example, when the robot <NUM> initially travels after the charging station <NUM> and the boundary wire <NUM> are connected to each other, namely, when the system <NUM> for generating the map information initially runs, the robot <NUM> may recognize the boundary of the travel area <NUM> based on the current sensing result, so as to generate the map information while traveling along the boundary wire <NUM>.

While traveling from the first terminal 530a to the second terminal 530b, the robot <NUM> may detect a connection state between the boundary wire <NUM> and the terminal station <NUM> based on at least one of the result of sensing the current and a result of recognizing a traveling direction.

That is, the robot <NUM> may determine the connection state between the boundary wire <NUM> and the charging station <NUM> while traveling along the boundary wire <NUM> based on the current sensing result.

When at least one of the current sensing result and the traveling direction recognition result does not satisfy a preset (or predetermined) state reference, the robot <NUM> may detect that there is a connection problem or error.

The state reference may be a reference for a traveling direction of the robot <NUM> when traveling from the first terminal 530a to the second terminal 530b.

The state reference may be set based on when the boundary wire <NUM> and the charging station <NUM> are correctly or properly connected to each other.

For example, it may be set as a counterclockwise direction.

In this case, while the robot <NUM> is traveling from the first terminal 530a to the second terminal 530b along the boundary wire <NUM>, when the traveling direction is recognized as a counterclockwise direction, the robot <NUM> may determine that there is no problem in the connection state, whereas when the traveling direction is detected as a clockwise direction, the robot <NUM> may determine that there is a problem in the connection state.

More specifically, when the boundary wire <NUM> and the charging station <NUM> are connected as illustrated in <FIG>, traveling from the first terminal 530a to the second terminal 530b is performed in the counterclockwise direction, and thus the robot <NUM> may detect that the connection state is correct. When the boundary wire <NUM> and the charging station <NUM> are connected as illustrated in <FIG>, and <FIG>, traveling from the first terminal 530a to the second terminal 530b is not performed in the counterclockwise direction, and thus the robot <NUM> may detect that the connection state is incorrect.

When it is detected as the incorrect connection state, the robot <NUM> may output a notification regarding the connection error.

For example, a notification signal for the connection problem may be output through the input/output unit <NUM>, or information regarding the connection error may be transmitted to the terminal <NUM> through the communication unit <NUM>.

Claim 1:
A charging station of a moving robot, comprising:
a charging unit (<NUM>) configured to charge the moving robot (<NUM>);
a docking base (<NUM>) at which the moving robot (<NUM>) is docked; and
a connection portion (<NUM>) to which one end and another end of a boundary wire (<NUM>) that defines a boundary of a travel area are connected, so as to cause a current to be induced in the boundary wire,
wherein the connection portion (<NUM>) comprises:
a first terminal (530a) provided at a first surface of the docking base (<NUM>) so as to allow the one end of the boundary wire (<NUM>) to be connected thereto; and
a second terminal (530b) provided at a second surface of the docking base (<NUM>) so as to allow the another end of the boundary wire (<NUM>) to be connected thereto.