公开(公告)号：US20210205996A1

公开(公告)日：2021-07-08

申请号：US17098781

申请日：2020-11-16

Applicant: LG ELECTRONICS INC.

Inventor： Sookhyun YANG ,  Jungsik Kim ,  Gyuho Eoh

IPC: B25J9/16

Abstract: A robot according to one embodiment may include a storage configured to store a map of a space in which the robot operates, an input interface configured to obtain at least one image of a surrounding environment of the robot, and at least one processor configured to estimate a first position of the robot based on the at least one image obtained by the input interface, determine candidate nodes in the map of the space based on the first position of the robot, and estimate at least one of a second position of the robot or a pose of the robot based on the determined candidate nodes. In a 5G environment connected for the Internet of Things, embodiments may be implemented by executing an artificial intelligence algorithm and/or machine learning algorithm.

公开(公告)号：US11055341B2

公开(公告)日：2021-07-06

申请号：US16659971

申请日：2019-10-22

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Hoyoung Lee ,  Dongki Noh

IPC: G06F16/44 ,  G06F16/84 ,  B25J9/00 ,  G05D1/02 ,  G06K9/00

Abstract: A controlling method for an artificial intelligence moving robot according to an aspect of the present disclosure includes: moving based on a map including a plurality of regions; acquiring images from the plurality of regions through an image acquisition unit during the moving; extracting region feature information based on the acquired image; and storing the extracted region feature information in connection with position information when an image is acquired.

公开(公告)号：US11688081B2

公开(公告)日：2023-06-27

申请号：US16855979

申请日：2020-04-22

Applicant: LG ELECTRONICS INC.

Inventor： Sookhyun Yang ,  Gyuho Eoh ,  Jungsik Kim ,  Minjung Kim

IPC: G06V10/46 ,  B25J13/08 ,  B25J13/00 ,  B25J9/16 ,  G06T7/579 ,  G01B11/14 ,  G06F16/53 ,  G05D1/02 ,  G06V20/10

CPC classification number: G06V10/462 ,  B25J9/1664 ,  B25J13/006 ,  B25J13/089 ,  G01B11/14 ,  G05D1/0274 ,  G06F16/53 ,  G06T7/579 ,  G06V20/10 ,  G06T2207/20164 ,  G06T2210/12

Abstract: The present disclosure relates to a method for performing simultaneous localization and mapping (SLAM) with respect to a salient object in an image, a robot and a cloud server for implementing such method. According to an embodiment of the present disclosure, a robot includes a camera sensor configured to capture one or more images for the robot to perform the SLAM with respect to a salient object for estimating a location of the robot within the space, a map storage configured to store the information for the robot to perform the SLAM, and a controller that is configured to: detect an object from the captured image; select, as a specific salient object for identifying the space, the detected object verified as corresponding to the specific salient object; and store, in the map storage, the selected specific salient object and coordinate information related to the selected specific salient object.

公开(公告)号：US11554495B2

公开(公告)日：2023-01-17

申请号：US16766274

申请日：2019-05-30

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Jungsik Kim ,  Hyoungrock Kim ,  Dong Ki Noh ,  Joongtae Park

IPC: B25J9/16 ,  B25J13/08 ,  B25J9/10 ,  B25J11/00

Abstract: Disclosed herein are a method of localization using multi sensors and a robot implementing the same, the method including sensing a distance between an object placed outside of a robot and the robot and generating a first LiDAR frame by a LiDAR sensor of the robot while a moving unit moves the robot, capturing an image of an object placed outside of the robot and generating a first visual frame by a camera sensor of the robot, and comparing a LiDAR frame stored in a map storage of the robot with the first LiDAR frame, comparing a visual frame registered in a frame node of a pose graph with the first visual frame, determining accuracy of comparison's results of the first LiDAR frame, and calculating a current position of the robot by a controller.

公开(公告)号：US20200004266A1

公开(公告)日：2020-01-02

申请号：US16557000

申请日：2019-08-30

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Jungsik Kim ,  Hyoungrock Kim ,  Moonsik Nam ,  Sookhyun Yang ,  Donghak Lee

IPC: G05D1/02 ,  B25J9/16

Abstract: Provided are a method of performing cloud simultaneous localization and mapping (SLAM), and a robot and a cloud server for performing the same, and a robot for performing cloud SLAM in real time includes a first sensor configured to acquire sensor data necessary to perform the SLAM, a map storage unit configured to store a map synchronized with a cloud server, a communication unit configured to transmit the sensor data, a feature, or a last frame to the cloud server and receive a local map patch or a global pose from the cloud server, and a control unit configured to generate the sensor data, the feature extracted from the sensor data, or the last frame and control movement of the robot using the local map patch or the global pose received from the cloud server.

公开(公告)号：US12085951B2

公开(公告)日：2024-09-10

申请号：US16964982

申请日：2019-06-14

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Jungsik Kim ,  Hyoungrock Kim ,  Dong Ki Noh ,  Joongtae Park

IPC: G05D1/00 ,  G01S17/89 ,  G06F30/13 ,  G06T7/579

CPC classification number: G05D1/0274 ,  G01S17/89 ,  G05D1/0212 ,  G05D1/0248 ,  G06F30/13 ,  G06T7/579

Abstract: Disclosed herein are a method of updating a map in fusion SLAM and a robot implementing the same, the robot, which updates a map in fusion SLAM using two types of sensors, configured to update a first map with first type information acquired by a first sensor and to estimate a current position of the robot using second type information acquired by a second sensor.

公开(公告)号：US11614747B2

公开(公告)日：2023-03-28

申请号：US16760013

申请日：2019-05-16

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Jungsik Kim ,  Hyoungrock Kim ,  Dong Ki Noh ,  Joongtae Park

IPC: G05D1/02 ,  G01S17/931 ,  G01S17/86

Abstract: Disclosed herein are a robot that generates a map and configures a correlation of nodes, based on multi sensors and artificial intelligence, and that moves based on the map, and a method of generating a map, and the robot according to an embodiment generates a pose graph comprised of LiDAR branch, visual branch, and backbone, and the LiDAR branch includes one or more of the LiDAR frames, the visual branch includes one or more of the visual frames, and the backbone includes two or more frame nodes registered with any one or more of the LiDAR frames or the visual frames, and to generate a correlation between nodes in the pose graph.

公开(公告)号：US11347237B2

公开(公告)日：2022-05-31

申请号：US16557000

申请日：2019-08-30

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Jungsik Kim ,  Hyoungrock Kim ,  Moonsik Nam ,  Sookhyun Yang ,  Donghak Lee

IPC: G05D1/10 ,  G05D1/02 ,  B25J9/16

Abstract: Provided are a method of performing cloud simultaneous localization and mapping (SLAM), and a robot and a cloud server for performing the same, and a robot for performing cloud SLAM in real time includes a first sensor configured to acquire sensor data necessary to perform the SLAM, a map storage unit configured to store a map synchronized with a cloud server, a communication unit configured to transmit the sensor data, a feature, or a last frame to the cloud server and receive a local map patch or a global pose from the cloud server, and a control unit configured to generate the sensor data, the feature extracted from the sensor data, or the last frame and control movement of the robot using the local map patch or the global pose received from the cloud server.

公开(公告)号：US11960297B2

公开(公告)日：2024-04-16

申请号：US16964176

申请日：2019-05-03

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Jungsik Kim ,  Hyoungrock Kim ,  Dong Ki Noh ,  Joongtae Park

IPC: G05D1/02 ,  G01C21/00 ,  G01S17/86 ,  G01S17/89 ,  G01S17/894 ,  G05D1/00

CPC classification number: G05D1/0274 ,  G01C21/3848 ,  G01S17/86 ,  G01S17/89 ,  G01S17/894 ,  G05D1/0251 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0207

Abstract: Disclosed herein is a robot generating a map based on multi sensors and artificial intelligence and moving based on the map, the robot according to an embodiment including a controller generating a pose graph that includes a LiDAR branch including one or more LiDAR frames, a visual branch including one or more visual frames, and a backbone including two or more frame nodes registered with any one or more of the LiDAR frames or the visual frames, and generating orodometry information that is generated while the robot is moving between the frame nodes.

公开(公告)号：US11513525B2

公开(公告)日：2022-11-29

申请号：US16696719

申请日：2019-11-26

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho Eoh ,  Dong Ki Noh ,  Seungmin Baek ,  Jeong Sik Choi

IPC: G05D1/02

Abstract: A main server for controlling laser irradiation of a movement path of a robot, the main server including a communication unit configured to communicate with a camera module and a laser irradiation module; and a controller configured to: receive, via the communication unit, an image of a robot captured by the camera module, identify a location of the robot in the image captured by the camera module, generate a movement path of the robot based on sensing information, and transmit, via the communication unit, movement path information to the laser irradiation module for outputting the movement path to a vicinity of the robot with a laser for the robot to follow, in which the sensing information includes first information about an obstacle sensed by the camera module or second information about the obstacle sensed by the laser irradiation module.