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公开(公告)号：US11175676B2
公开(公告)日：2021-11-16
申请号：US16343599
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 learning initial operation of acquiring images for respective points, generating descriptors that respectively correspond to a plurality of feature points extracted from the images, and generating nodes that correspond to the images acquired at the respective points, a label generation operation of generating a label descriptor based on the plurality of descriptors, a localization initial operation of acquiring a localization image when a jumping case occurs, and generating respective localization descriptors corresponding to a plurality of localization feature points extracted from the localization image, a comparison target selection operation of matching the label descriptor to each of the localization descriptors and selecting one or more comparison target nodes corresponding to the matched label descriptor, and a last node selection operation of selecting a node estimated as the current position among the one or more comparison target node.
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公开(公告)号：US11150666B2
公开(公告)日：2021-10-19
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
IPC: G05D1/00 , B25J19/02 , G05D1/02 , B25J9/00 , B25J11/00 , B25J9/16 , A47L9/28 , G01S15/931 , B25J5/00 , G06N20/00 , G06K9/00
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：US20180218216A1
公开(公告)日：2018-08-02
申请号：US15937078
申请日：2018-03-27
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.
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公开(公告)号：US09851720B2
公开(公告)日：2017-12-26
申请号：US14712297
申请日：2015-05-14
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek , Hyungrock Kim
CPC classification number: G05D1/0231 , A47L9/009 , A47L9/2852 , G05D1/0234 , G05D1/0246 , G05D1/0248 , G05D2201/0215
Abstract: Disclosed herein is a method of controlling a cleaner including a movable body for suctioning and a following body for collecting the dust suctioned by the movable body, the method including: (a) acquiring an image for a view around the following body; (b) acquiring position information of the movable body in an real space, based on the image; (c) acquiring position information of an obstacle in the real space, based on the image; (d) setting a travel direction such that the following body avoids the obstacle to follow the movable body, based on the position information of the movable body and the position information of the obstacle; and (e) controlling the following body to travel in the set travel direction.
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公开(公告)号：US09339163B2
公开(公告)日：2016-05-17
申请号：US14529742
申请日：2014-10-31
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek
CPC classification number: A47L11/4061 , A47L11/4011 , G05D1/0231 , G05D1/0248 , G05D1/0274 , G05D2201/0215
Abstract: Data within a designated distance from a main body of the mobile robot is accumulated and stored to form a local area map. A traveling direction or a rotating direction is set while avoiding an obstacle around the main body and a path may be readily set. Repetition of unnecessary operation is prevented and thus a traveling velocity based on rapid movement may be improved. Obstacles are readily avoided and cleaning efficiency may be improved.
Abstract translation: 来自移动机器人的主体的指定距离内的数据被累积并存储以形成局部区域图。 设置行进方向或旋转方向，同时避免围绕主体的障碍物，并且可以容易地设置路径。 防止不必要的操作的重复，从而可以提高基于快速移动的行驶速度。 容易避免障碍物，并且可以提高清洁效率。
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Patent Agency Ranking
公开(公告)号：US20160089783A1
公开(公告)日：2016-03-31
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.
Abstract translation: 一种用于机器人清洁器的控制方法，包括：在所述机器人清洁器行进期间在清洁区域中获取周围环境的多个图像，基于根据为多个房间中的每一个而定义的规则来估计多个房间特征分布，基于 在获取多个图像的同时获取的图像，获取机器人清洁器的当前位置处的周围环境的图像，通过将多个房间中的每一个的规则应用于图像来获得包括多个房间特征分布的比较基准组 在获取当前位置的图像的同时，将所获得的比较参考组与所估计的房间特征分布进行比较，以及从当前位于其中的机器人清洁器的多个房间确定房间。
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公开(公告)号：US11709499B2
公开(公告)日：2023-07-25
申请号：US16660010
申请日：2019-10-22
Applicant: LG ELECTRONICS INC.
Inventor： Gyuho Eoh , Seungwook Lim , Dongki Noh
CPC classification number: G05D1/0274 , B25J9/0003 , B25J9/163 , B25J9/1697 , B25J13/089 , G05D1/0246 , G06V10/44 , G06V10/454 , G06V10/764 , G06V20/10
Abstract: A controlling method for an artificial intelligence moving robot according to an aspect of the present disclosure includes: checking nodes within a predetermined reference distance from a node corresponding to a current position; determining whether there is a correlation between the nodes within the reference distance and the node corresponding to the current position; determining whether the nodes within the reference distance are nodes of a previously learned map when there is no correlation; and registering the node corresponding to the current position on the map when the nodes within the reference distance are determined as nodes of the previously learned map, thereby being able to generate a map in which the environment of a traveling section and environmental changes are appropriately reflected.
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公开(公告)号：US11625043B2
公开(公告)日：2023-04-11
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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公开(公告)号：US11348276B2
公开(公告)日：2022-05-31
申请号：US16830964
申请日：2020-03-26
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Jaekwang Lee , Seungwook Lim , Gyuho Eoh
Abstract: A mobile robot and a method of controlling the mobile robot are disclosed. The method includes acquiring an image of an inside of a traveling zone. The method further includes performing a point-based feature point extraction by extracting a first feature point from the acquired image. The method also includes performing a block-based feature point extraction by dividing the acquired image into blocks having a predetermined size and extracting a second feature point from each of the divided block-unit images. The method also includes determining the current location by performing a point-based feature point matching using the first feature point and performing a block-based feature point using the second feature point. The method also includes storing the determined current location in association with the first feature point and the second feature point in a map.
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公开(公告)号：US11119501B2
公开(公告)日：2021-09-14
申请号：US16225515
申请日：2018-12-19
Applicant: LG ELECTRONICS INC.
Inventor： Gyuho Eoh , Dongki Noh , Taekyeong Lee , Seungwook Lim
Abstract: A method of controlling a moving-robot includes creating a plurality of maps having different generation-time information through a plurality of driving processes; choosing any one of the plurality of maps according to a certain map choosing algorithm based on current time information and the generation-time information, and attempting location recognition based on the chosen map.
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