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公开(公告)号：US10939791B2
公开(公告)日：2021-03-09
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.-
公开(公告)号：US10717193B2
公开(公告)日：2020-07-21
申请号：US16002242
申请日：2018-06-07
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Hoyoung Lee , Seungmin Baek
Abstract: Disclosed is an artificial intelligence 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：US10105028B2
公开(公告)日：2018-10-23
申请号：US14716349
申请日：2015-05-19
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek
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.
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公开(公告)号：US11423545B2
公开(公告)日：2022-08-23
申请号：US16770066
申请日：2018-12-04
Inventor： Beomseong Kim , Yeonsoo Kim , Dongki Noh , Euntai Kim , Jisu Kim , Sangyun Lee
Abstract: The present invention relates to an image processing apparatus and a mobile robot including the same. The image processing apparatus according to an embodiment of the present invention includes an image acquisition unit for obtaining an image and a processor for performing signal processing on the image from the image acquisition unit, and the processor is configured to group super pixels in the image on the basis of colors or luminances of the image, calculate representative values of the super pixels and perform segmentation on the basis of the representative values of the super pixels. Accordingly, image segmentation can be performed rapidly and accurately.
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公开(公告)号：US11330948B2
公开(公告)日：2022-05-17
申请号：US16463785
申请日：2017-11-21
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmyun Baek , Seungmin Baek , Sunghun Lee
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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Patent Agency Ranking
公开(公告)号：US11199852B2
公开(公告)日：2021-12-14
申请号：US16327454
申请日：2017-08-24
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Juhyeon Lee , Junghwan Kim , Seungmin Baek , Wonkeun Yang
IPC: G05D1/02 , B25J9/00 , B25J11/00 , B25J9/16 , A47L9/28 , B25J19/02 , 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 a plurality of images by continuously photographing surroundings of the main body, a storage configured to store the plurality of continuous images acquired by the image acquisition unit, a sensor unit having one or more sensors configured to sense an object during the movement of the main body, and a controller configured to, in response to the sensing of the object by the sensor unit, select an image acquired at a specific point in time earlier than an object sensing time of the sensor unit from among the plurality of continuous images based on a moving direction and a moving speed of the main body, and recognize an attribute of the object included in the selected image acquired at the specific point in time.
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公开(公告)号：US20210168996A1
公开(公告)日：2021-06-10
申请号：US16896610
申请日：2020-06-09
Applicant: LG ELECTRONICS INC.
Inventor： Jaekwang Lee , Jeongwoo Ju , Dongki Noh
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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公开(公告)号：US10133930B2
公开(公告)日：2018-11-20
申请号：US14882090
申请日：2015-10-13
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：US09511494B2
公开(公告)日：2016-12-06
申请号：US13920612
申请日：2013-06-18
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek , Jeongsuk Yoon
CPC classification number: B25J9/1676 , B25J9/0003 , B25J9/1697 , G05D1/0248 , G05D2201/0203
Abstract: A robot cleaner is provided. The robot cleaner may precisely detect a peripheral obstacle using a particular optical pattern. An asymmetric cross-shaped optical pattern may be irradiated, and a pattern image with respect to the optical pattern-irradiated region may be analyzed to determine whether or not an obstacle is in the moving path, and a width or a height of the obstacle. Further, the robot cleaner may perform operations such as a forward motion, a backward motion, a stopping motion and a detour motion, based the obstacle detection result.
Abstract translation: 提供机器人清洁器。 机器人清洁器可以使用特定的光学图案精确地检测外围障碍物。 可以照射不对称的十字形光学图案，并且可以分析相对于光学图案照射区域的图案图像，以确定障碍物是否在移动路径中，以及障碍物的宽度或高度。 此外，基于障碍物检测结果，机器人清洁器可以执行诸如向前运动，向后运动，停止运动和绕行运动的操作。
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公开(公告)号：US20150331424A1
公开(公告)日：2015-11-19
申请号：US14712297
申请日：2015-05-14
Applicant: LG ELECTRONICS INC.
Inventor： Dongki Noh , Seungmin Baek , Hyungrock Kim
IPC: G05D1/02
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.
Abstract translation: 本发明公开了一种控制吸尘器的方法，所述清洁器包括用于抽吸的可移动体和用于收集由所述可移动体吸入的灰尘的跟随体，所述方法包括：（a）获取围绕所述身体的视图; （b）基于图像获取实际空间中的可移动体的位置信息; （c）基于图像获取真实空间中的障碍物的位置信息; （d）根据移动体的位置信息和障碍物的位置信息，设定行进方向，使得随后的身体避免障碍物跟随移动体; 和（e）控制随后的身体在设定的行进方向上行进。
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