US Patent 11503974 Cleaner and method of controlling the same

A cleaner performing autonomous traveling includes a main body, a driving unit moving the main body, a battery supplying power to the driving unit, a communication unit performing communication with a charging station to charge the battery, a sensor sensing a signal emitted from the charging station, and a controller controlling the driving unit such that the main body is docked to the charging station on the basis of the signal sensed by the sensor, wherein when the main body starts to move to dock to the charging station, the controller determines a kind of the signal sensed by the sensor and controls the driving unit such that the main body moves along a traveling path corresponding to a circle centered on a predetermined point on the basis of the determined kind of the signal.