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公开(公告)号：US20190133396A1
公开(公告)日：2019-05-09
申请号：US16096604
申请日：2017-04-25
Applicant: LG ELECTRONICS INC.
Inventor： Seungwook LIM , Taekyeong LEE , Dongki NOH
Abstract: The present invention relates to a moving robot capable of recognizing a position on a map and a control method of the moving robot, and the moving robot according to the present invention includes: a travel drive unit configured to move a main body; an image acquisition unit configured to acquire images of surroundings; and a controller configured to recognize a current position. The controller is further configured to separate the travel area by the predetermined criterion into a plurality of large areas, into which the plurality of small areas is grouped; compute each large area feature distribution and the at least one recognition descriptor by a predetermined superordinate estimation rule to select a large area in which the current position is included; and compute the small area feature distribution and the at least one recognition descriptor by the predetermined estimation rule to select a small area, in which the current position is included, from among a plurality of small areas included in the selected large area.The control method according to the present invention includes: a learning process of learning a travel area to generate a map and separating the travel area into a plurality of small areas by a predetermined criterion; and a recognition process of selecting a current position on the map. The recognition process includes: a recognition descriptor generation process of acquiring an image of the current position, extract at least one recognition feature from the acquired image, and generating a recognition descriptor corresponding to the at least one recognition feature. The recognition process includes: a large area selection process of computing each large area feature distribution and the at least one recognition descriptor by a predetermined superordinate estimation rule to select a large area in which the current position is included.
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公开(公告)号：US20180354132A1
公开(公告)日：2018-12-13
申请号：US16002242
申请日：2018-06-07
Applicant: LG ELECTRONICS INC.
Inventor： Dongki NOH , Hoyoung Lee , Seungmin Baek
Abstract: Disclosed is a moving robot including: a travel unit configured to move a main body based on a navigation map including a plurality of local maps; an image acquisition unit configured to acquire a plurality of images in regions corresponding to the plurality of local maps during movement; a storage unit configured to store the plurality of images acquired by the image acquisition unit; and a controller configured to recognize an attribute of a local map in which an N number of images photographed in multiple directions is acquired among the plurality of local maps, store the attribute recognition result in the storage, generate a semantic map composed of a predetermined number of neighboring local maps, and recognize a final attribute of a region corresponding to the semantic map based on attribute recognition results of the local maps included in the semantic map.
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公开(公告)号：US20150335219A1
公开(公告)日：2015-11-26
申请号：US14716349
申请日：2015-05-19
Applicant: LG ELECTRONICS INC.
Inventor： Dongki NOH , Seungmin BAEK
CPC classification number: A47L9/2842 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/30 , A47L2201/04 , A47L2201/06
Abstract: Disclosed herein is a cleaner including a main body for sucking dust on the floor in a cleaning region while actively traveling, and a marker indication device for indicating a marker on the floor in the cleaning region while moving independently of the main body, wherein the main body includes an image acquisition unit acquiring a front image thereof, and a controller to track a movement trajectory of the marker on the acquired image, set a traveling path, in an actual space, corresponding to the movement trajectory, and control the main body such that the main body travels along the set traveling path.
Abstract translation: 这里公开了一种清洁器，其包括主体，用于在主动地行进时在清洁区域中吸入灰尘的主体;以及标记指示装置，用于在独立于主体移动的同时在清洁区域中的地板上指示标记，其中主体 本体包括获取其前图像的图像获取单元和跟踪所获取的图像上的标记的移动轨迹的控制器，根据移动轨迹在实际空间中设置行进路径，并且控制主体 主体沿着设置的行进路径行进。
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14.发明申请公开(公告)号：US20220386522A1
公开(公告)日：2022-12-08
申请号：US17782650
申请日：2020-10-22
Applicant: LG ELECTRONICS INC.
Inventor： Dongki NOH , Jeongwoo JU , Seungmin BAEK , Jaekwang LEE , Jaemin LEE , Sungyeon PARK , Minkuk JUNG
Abstract: The present specification relates to a mobile robot system and a method for generating boundary information of the mobile robot system, wherein the mobile robot system generates first map data for the locations of a plurality of transmitters installed in a driving area on the basis of the result of receiving the transmission signals from the plurality of transmitters, receives second map data for an area corresponding to the driving area from a communication target means in which map information of an area including the driving area is stored, and matches the first map data and the second map data to generate boundary information about a boundary area of the driving area.
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公开(公告)号：US20210026367A1
公开(公告)日：2021-01-28
申请号：US16926260
申请日：2020-07-10
Applicant: LG ELECTRONICS INC.
Inventor： Wonkeun YANG , Junghwan KIM , Minho LEE , Jeongwoo JU , Dongki NOH
Abstract: The present disclosure provides a method for controlling a robot cleaner including a travel operation in which the robot cleaner travels, a recognition operation in which when the robot cleaner contacts an obstacle during the travel, the robot cleaner determines whether the obstacle is pushed by the robot cleaner and slides, and an obstacle bypass operation in which upon determination that the obstacle is the pushed-and-sliding obstacle, the robot cleaner stops the travel and then bypasses the pushed-and-sliding obstacle.
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Patent Agency Ranking
16.发明申请公开(公告)号：US20200326722A1
公开(公告)日：2020-10-15
申请号：US16096650
申请日：2017-04-25
Applicant: LG ELECTRONICS INC.
Inventor： Seungwook LIM , Taekyeong LEE , Dongki NOH
Abstract: The present invention relates to a technology in which a moving robot using artificial intelligence is enabled to learn a map using information generated by itself and information received from another moving robot, and a map learning method of a moving robot according to the present invention includes generating, by the moving robot, node information based on a constraint measured during traveling, and receiving node group information of another moving robot. A moving robot using artificial intelligence according to the present invention includes: a travel drive unit configured to move a main body; a travel constraint measurement unit configured to measure a travel constraint; a receiver configured to receive node group information of another moving robot; and a controller configured to generate node information on a map based the travel constraint, and add the node group information of the another moving robot to the map.
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公开(公告)号：US20190332115A1
公开(公告)日：2019-10-31
申请号：US16343631
申请日：2017-10-20
Applicant: LG ELECTRONICS INC.
Inventor： Seungwook LIM , Taekyeong LEE , Dongki NOH
Abstract: A method of controlling a mobile robot includes a first basic learning process of generating a first basic map based on environment information acquired in a traveling process, a second basic learning process of generating a second basic map based on environment information acquired in a separate traveling process, and a merging process of merging the first basic map and the second basic map to generate a merged map.
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公开(公告)号：US20190196495A1
公开(公告)日：2019-06-27
申请号：US16327449
申请日：2017-08-24
Applicant: LG ELECTRONICS INC.
Inventor： Dongki NOH , Juhyeon LEE , Junghwan KIM , Seungmin BAEK , Wonkeun YANG
CPC classification number: G05D1/0246 , A47L9/28 , B25J5/007 , B25J9/00 , B25J9/16 , B25J9/1666 , B25J9/1697 , B25J11/00 , B25J11/0085 , B25J19/02 , B25J19/023 , G01S15/931 , G05D1/0221 , G05D1/0234 , G05D1/0272 , G05D2201/0203 , G06K9/00664 , G06N20/00
Abstract: A mobile robot includes a travel drive unit configured to move a main body, an image acquisition unit configured to acquire an image of surroundings of the main body, a sensor unit having one or more sensors configured to sense an object during the movement of the main body, a storage configured to, when the sensor unit senses an object, store position information of the sensed object and position information of the mobile robot, register an area having a predetermined size around a position of the sensed object as an object area in a map, and store the image acquired by the image acquisition unit in the object area, and a controller having an object recognition module configured to recognize the object sequentially with respect to images acquired by the image acquisition unit in the object area, and determine a final attribute of the object based on a plurality of recognition results of the sequential recognition.
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公开(公告)号：US20160104044A1
公开(公告)日：2016-04-14
申请号：US14882090
申请日：2015-10-13
Applicant: LG ELECTRONICS INC.
Inventor： Dongki NOH , Yeonsoo KIM , Seungmin BAEK
CPC classification number: G06K9/00664 , B25J9/1664 , B25J9/1676 , B25J9/1697 , G05D1/0248 , G05D2201/0203 , G06K9/4661 , G06T7/521 , G06T7/74 , Y10S901/01
Abstract: A method for controlling a robot cleaner configured to project light of a predetermined pattern to a floor of an area in front thereof in a specific direction and to acquire an image of the area to which the light is projected, according to the present disclosure, includes: (a) acquiring a front view image of the robot cleaner; (b) detecting the pattern from the image acquired in (a); and (c) discriminating a pattern formed by reflected light from a pattern formed by light directly projected from the robot cleaner, from among patterns indicated in the acquired image, on the basis of geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired when two or more patterns are detected from the image.
Abstract translation: 一种用于控制机器人清洁器的方法，所述机器人清洁器被配置为根据本公开将特定方向的光投影到其特定方向前方的区域的地板并且获取投射光的区域的图像，所述方法包括 （a）获取机器人清洁器的前视图; （b）从（a）中获取的图像中检测图案; 以及（c）基于由光的投影方向和方向限定的几何特性，从所获取的图像中指示的图案中区分由来自机器人清洁器直接突出的光形成的图案的反射光形成的图案; 的光轴，其中当从图像检测到两个或更多个图案时，获取图像。
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公开(公告)号：US20160101524A1
公开(公告)日：2016-04-14
申请号：US14881738
申请日：2015-10-13
Applicant: LG ELECTRONICS INC.
Inventor： Dongki NOH , Seungmin BAEK , Kwangho AN
CPC classification number: B25J9/1697 , B25J9/1676 , B25J11/0085 , G05D1/0246 , G05D2201/0215 , G06K9/00664 , G06K9/2036 , G06K9/48 , G06T7/11 , G06T7/74 , G06T7/90 , G06T2207/20021 , Y10S901/01
Abstract: A robot cleaner and a control method thereof according to the present disclosure select a seed pixel in an image of an area in front of a main body, obtain a brightness difference between an upper region and a lower region obtained by dividing a predetermined detection area including each of neighboring pixels of the seed pixel and select a pixel belonging to a detection area having a largest brightness difference as a pixel constituting the boundary between objects indicated in the image. Accordingly, the boundary between objects present within a cleaning area can be detected rapidly and correctly through an image.
Abstract translation: 根据本公开的机器人清洁器及其控制方法在主体前面的区域的图像中选择种子像素，获得通过划分预定检测区域而获得的上部区域和下部区域之间的亮度差，包括 种子像素的每个相邻像素，并且选择属于具有最大亮度差的检测区域的像素作为构成图像中指示的对象之间的边界的像素。 因此，可以通过图像快速且正确地检测存在于清洁区域内的物体之间的边界。
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