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公开(公告)号：US11737635B2
公开(公告)日：2023-08-29
申请号：US17743935
申请日：2022-05-13
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmyun Baek , Seungmin Baek , Sunghun Lee
IPC: A47L11/40 , B25J9/00 , A47L9/28 , B25J9/16 , B25J11/00 , B25J19/02 , B25J19/06 , G06V10/764 , G06V10/82 , G06V20/10
CPC classification number: A47L11/4061 , A47L9/2852 , B25J9/0003 , B25J9/1664 , B25J9/1674 , B25J11/0085 , B25J19/023 , B25J19/061 , G06V10/764 , G06V10/82 , G06V20/10 , A47L2201/04
Abstract: Disclosed is a moving robot including: a travel unit configured to move a body; an image acquisition unit configured to acquire a surrounding image of the body; a sensor unit having one or more sensors configured to detect an obstacle while the body moves; a controller configured to: upon detection of an obstacle by the sensor unit, recognize an attribute of the obstacle based on an image acquired by the image acquisition unit, and control driving of the travel unit based on the attribute of the obstacle; and a sound output unit configured to: output preset sound when the recognized attribute of the obstacle indicates a movable obstacle. Accordingly, the moving robot improves stability, user convenience, driving efficiency, and cleaning efficiency.
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公开(公告)号：US09610691B2
公开(公告)日：2017-04-04
申请号：US14881738
申请日：2015-10-13
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek , Kwangho An , Yeonsoo Kim
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.
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公开(公告)号：US09488983B2
公开(公告)日：2016-11-08
申请号：US14873809
申请日：2015-10-02
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek , Taekyeong Lee
IPC: G05D1/00 , G01S17/46 , G01S17/89 , G01S17/93 , G01S7/491 , G05D1/02 , A47L9/28 , A47L9/30 , G05D1/08
CPC classification number: G05D1/0088 , A47L9/2826 , A47L9/30 , A47L2201/04 , G01S7/491 , G01S17/46 , G01S17/89 , G01S17/936 , G05D1/0248 , G05D1/0891 , G05D2201/0203
Abstract: A robot cleaner may include a main body, a light irradiation unit irradiating light towards a region in front of the main body, an image sensor including a plurality of horizontal lines sequentially exposed to form an image, an image processing unit constructing frames by synchronizing signals output from the horizontal lines, such that, after construction of any one frame, the image processing unit does not construct one or more frames by ignoring signals output from the horizontal lines, and then constructs a next frame, and a controller controlling the light irradiation unit to irradiate light while the horizontal lines are exposed to construct the one frame, such that the light irradiation unit stops irradiation of light between before exposure of all the horizontal lines to construct the frame is completed and one point of time while the image processing unit ignores signals output from the horizontal lines.
Abstract translation: 机器人清洁器可以包括主体，照射光朝向主体前方的区域的光照射单元，包括顺序暴露以形成图像的多个水平线的图像传感器，通过同步信号构成帧的图像处理单元 从水平线输出，使得在任何一帧的构造之后，图像处理单元不通过忽略从水平行输出的信号构造一个或多个帧，然后构造下一帧，以及控制光照射的控制器 在水平线曝光的同时照射光的单元构成一帧，使得光照射单元停止在所有水平线的曝光之前的光的照射以构成该帧，并且在图像处理单元 忽略从水平线输出的信号。
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公开(公告)号：US20150120056A1
公开(公告)日：2015-04-30
申请号：US14527402
申请日：2014-10-29
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek , Younguk Ku
CPC classification number: B25J9/1676 , A47L2201/04 , B25J9/1697 , G01S7/4814 , G01S17/46 , G01S17/936 , G05D1/024 , G05D2201/0203 , H04N5/74 , Y10S901/01
Abstract: Disclosed is a mobile robot including a main body and a pattern irradiation unit emitting a cross-shaped optical pattern including a horizontal line optical pattern and a vertical line optical pattern intersecting the horizontal line optical pattern. The pattern irradiation unit includes a light source and a lens converting light emitted from the light source into the cross-shaped optical pattern, the lens includes convex cells on an incidence surface upon which the emitted light is incident, the incidence surface is divided into a first area converting the light emitted from the light source into the horizontal line optical pattern and a second area converting the light emitted from the light source into the vertical line optical pattern, vertical convex cells extended in parallel in the vertical direction are formed in the first area, and horizontal convex cells extended in parallel in the horizontal direction are formed in the second area.
Abstract translation: 公开了一种移动机器人，其包括主体和图案照射单元，其发射包括与水平线光学图案相交的水平线光学图案和垂直线光学图案的十字形光学图案。 图案照射单元包括光源和将从光源发射的光转换成十字形光学图案的透镜，透镜在入射表面上包括凸起单元，入射表面被分成一个 将从光源发射的光转换成水平线光学图案的第一区域和将从光源发射的光转换成垂直线光学图案的第二区域，在垂直方向上平行延伸的垂直凸起单元形成在第一区域中 区域和在水平方向上平行延伸的水平凸起单元形成在第二区域中。
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公开(公告)号：US11561549B2
公开(公告)日：2023-01-24
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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Patent Agency Ranking
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
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.
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公开(公告)号：US10255501B2
公开(公告)日：2019-04-09
申请号：US15937078
申请日：2018-03-27
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Yeonsoo Kim , Seungmin Baek
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.
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公开(公告)号：US09798957B2
公开(公告)日：2017-10-24
申请号：US14868828
申请日：2015-09-29
Applicant: LG Electronics Inc.
Inventor： Dongki Noh , Seungwook Lim , Taekyeong Lee , Inbo Shim
CPC classification number: G06K9/6267 , G05D1/0225 , G05D1/0246 , G05D1/0274 , G05D2201/0203 , G06K9/00671 , G06K9/46 , G06K9/52 , G06K9/6201 , G06K9/6212 , G06K9/626 , G06K9/6262 , G06K2009/4666 , Y10S901/01
Abstract: A control method for a robot cleaner includes acquiring a plurality of images of surroundings during travel of the robot cleaner in a cleaning area, estimating a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired while acquiring the plurality of images, acquiring an image of surroundings at a current position of the robot cleaner, obtaining a comparison reference group including a plurality of room feature distributions by applying the rule for each of the plurality of rooms to the image acquired while acquiring the image at the current position, comparing the obtained comparison reference group with the estimated room-specific feature distributions, and determining a room from the plurality of rooms having the robot cleaner currently located therein.
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公开(公告)号：US09440355B2
公开(公告)日：2016-09-13
申请号：US14527402
申请日：2014-10-29
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek , Younguk Ku
CPC classification number: B25J9/1676 , A47L2201/04 , B25J9/1697 , G01S7/4814 , G01S17/46 , G01S17/936 , G05D1/024 , G05D2201/0203 , H04N5/74 , Y10S901/01
Abstract: Disclosed is a mobile robot including a main body and a pattern irradiation unit emitting a cross-shaped optical pattern including a horizontal line optical pattern and a vertical line optical pattern intersecting the horizontal line optical pattern. The pattern irradiation unit includes a light source and a lens converting light emitted from the light source into the cross-shaped optical pattern, the lens includes convex cells on an incidence surface upon which the emitted light is incident, the incidence surface is divided into a first area converting the light emitted from the light source into the horizontal line optical pattern and a second area converting the light emitted from the light source into the vertical line optical pattern, vertical convex cells extended in parallel in the vertical direction are formed in the first area, and horizontal convex cells extended in parallel in the horizontal direction are formed in the second area.
Abstract translation: 公开了一种移动机器人，其包括主体和图案照射单元，其发射包括与水平线光学图案相交的水平线光学图案和垂直线光学图案的十字形光学图案。 图案照射单元包括光源和将从光源发射的光转换成十字形光学图案的透镜，透镜在入射表面上包括凸起单元，入射表面被分成一个 将从光源发射的光转换成水平线光学图案的第一区域和将从光源发射的光转换成垂直线光学图案的第二区域，在垂直方向上平行延伸的垂直凸起单元形成在第一区域中 区域和在水平方向上平行延伸的水平凸起单元形成在第二区域中。
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公开(公告)号：US11672199B2
公开(公告)日：2023-06-13
申请号：US16896610
申请日：2020-06-09
Applicant: LG ELECTRONICS INC.
Inventor： Jaekwang Lee , Jeongwoo Ju , Dongki Noh
CPC classification number: A01D34/008 , G05D1/0044 , G05D1/0212 , G05D1/0274 , G05D1/0278 , G06V20/188 , G05D2201/0208
Abstract: A mapping method of a lawn mower robot may include a first image mapping operation of generating a first travel image of a three-dimensional region based on an aerial image of a work target region, a first map displaying operation of dividing the first travel image into a mowing region and an obstacle region, converting the first travel image into a first travel map, and displaying the first travel map. The mapping method may include a first anchor displaying operation of recommending the number and installation locations of anchors on the first travel map, an anchor location determination operation of determining whether the anchors are installed at the installation locations, and a path generation operation of generating a travel path of the lawn mower robot on the first travel map. The mapping method may improve work efficiency of the lawn mower robot.
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