Moving robot and controlling method for the moving robot

A moving robot comprising:

• a main body;
• a traveling unit configured to rotate and move the main body;
• a sensing unit configured to sense position information of a specific point of a front portion of a docking device, wherein the sensing unit comprises:
• a light irradiation unit for irradiating a certain light;
• and
• a 3D camera for sensing the irradiated light reflected from the specific point;
• and
• a controller configured to, based on a sensing result of the sensing unit, determine i) whether a first condition, which is preset to be satisfied when the docking device is disposed in a front of the moving robot, is satisfied, and ii) whether a second condition, which is preset to be satisfied when the moving robot is disposed in a front of the docking device, is satisfied, to control an operation of the traveling unit so as to satisfy the first condition and the second condition, and to move to the front so as to attempt to dock in a state where the first condition and the second condition are satisfied,
• wherein the controller is further configured to:
• determine whether the first condition is satisfied, based on position information of at least one specific point of the front portion of the docking device sensed by the sensing unit,
• determine whether the second condition is satisfied, based on position information of at least two specific points spaced apart in a horizontal direction of the front portion of the docking device sensed by the sensing unit,
• determine whether the second condition is satisfied, based on relative position information of the two specific points with respect to the moving robot, and
• determine whether the second condition is satisfied, based on position information of at least four specific points in the front portion of the docking device, from an image of the front portion of the docking device photographed by the 3D camera,
• wherein, among the two specific points, one specific point and the other one specific point are horizontally spaced from each other, and wherein, among the other two specific points, one specific point and the other one specific point are vertically spaced from each other, and the controller further is configured to determine whether the second condition is satisfied, based on position information of at least two specific points spaced apart in a vertical direction of the front portion of the docking device sensed by the sensing unit and position information of at least two specific points spaced apart in a horizontal direction of the front portion of the docking device sensed by the sensing unit, and
• wherein the controller is further configured to determine whether the second condition is satisfied in a state where the first condition is satisfied.