公开(公告)号：US20230084829A1

公开(公告)日：2023-03-16

申请号：US17801835

申请日：2021-02-26

Applicant: LG ELECTRONICS INC.

Inventor： Chulmo SUNG ,  Hyungjin JEON

IPC: A47L11/40 ,  A47L11/28 ,  A47L9/00 ,  A47L9/28 ,  G05D1/02

Abstract: The present disclosure relates to a method for controlling a plurality of moving robots, in which by dividing an area to be cleaned into a plurality of regions, and detecting sub-regions in the respective regions, the plurality of moving robots share information on the sub-region and the respective regions, and perform cleaning alternately to reduce the waste of cleaning time.

公开(公告)号：US20210212541A1

公开(公告)日：2021-07-15

申请号：US17054860

申请日：2019-05-16

Applicant: LG ELECTRONICS INC.

Inventor： Chulmo SUNG ,  Hyungjin JEON

IPC: A47L11/40 ,  G06K9/00 ,  A47L9/28 ,  G05D1/02 ,  G06K9/46

Abstract: In order to achieve the objective of the present invention, a self-driving vacuum cleaner according to one embodiment of the present invention, comprises: a main body for traveling through a cleaning area and sucking foreign substances from the floor in the cleaning area; a drive unit for moving the main body in the cleaning area; a pattern irradiation unit, disposed on a front surface of the main body, for irradiating light in a predetermined pattern toward the lower front side of the main body; a camera, disposed on the front surface of the main body, for photographing the front of the main body; and a controller for detecting a light pattern formed by the pattern irradiation unit using an image photographed by the camera, determining whether an obstacle exists in front of the main body on the basis of the brightness of the detected light pattern, and controlling the drive unit to pass or avoid the obstacle on the basis of the determination result.

公开(公告)号：US20210121028A1

公开(公告)日：2021-04-29

申请号：US17047157

申请日：2019-04-12

Applicant: LG ELECTRONICS INC.

Inventor： Chulmo SUNG ,  Hyungjin JEON

IPC: A47L9/00 ,  A47L9/28

Abstract: A robot cleaner includes: a main body configured to travel a cleaning area, and suck foreign substances from a floor of the cleaning area; an image acquisition unit configured to be disposed in the main body, and acquire an image of a certain area of the front of the main body; a first pattern irradiating unit configured to be disposed in the main body, and irradiate light of a first pattern downward into the area; and a second pattern irradiating unit configured to be disposed below the first pattern irradiating unit in the main body, and irradiate light of a second pattern upward into the area, wherein the first pattern includes a first horizontal line and a first vertical line intersecting with the first horizontal line, wherein the second pattern includes a second horizontal line and a second vertical line intersecting with the second horizontal line, wherein when the light of the first pattern and the light of the second pattern are incident on a certain vertical plane, a first intersection point and a second intersection point are first diagonally arranged in a quadrangle defined by the first horizontal line, the first vertical line, the second horizontal line, and the second vertical line.

公开(公告)号：US20170332872A1

公开(公告)日：2017-11-23

申请号：US15597418

申请日：2017-05-17

Applicant: LG ELECTRONICS INC.

Inventor： Woochan JUN ,  Chulmo SUNG

IPC: A47L11/40 ,  G05D1/02 ,  A47L5/22 ,  A47L11/24 ,  G05D1/00 ,  G06K9/00

Abstract: A mobile robot of the present disclosure includes a first pattern emission unit configured to emit a first patterned light downward and forward from the main body on a floor of an area to be cleaned; and an image acquisition unit configured to acquire an image of first patterned light emitted by the first pattern emission unit and incident on an obstacle. A pattern is detected from the acquired image to determine an obstacle, and a cliff is detected based on at least one of a shape or a position of the pattern in the image. The mobile robot may identify a travel path that does not lead to the cliff.

公开(公告)号：US20210361132A1

公开(公告)日：2021-11-25

申请号：US17054814

申请日：2019-05-16

Applicant: LG ELECTRONICS INC.

Inventor： Chulmo SUNG ,  Hyungjin JEON

IPC: A47L9/00 ,  A47L9/28 ,  G01B11/02 ,  G05D1/02

Abstract: A self-driving cleaner includes a main body and a driving unit for driving in a cleaning area. The cleaner suctions foreign material on the floor in the cleaning area. The cleaner includes a first pattern irradiation unit and a second pattern irradiation unit on the front surface of the main body, the first and second pattern irradiation units radiating light in a preset pattern towards the front lower side and the front upper side of the main body, respectively. The cleaner includes a camera on the front surface of the main body, for capturing, at a preset interval, an image including a first light pattern and a second light pattern formed by the first and the second pattern irradiation units, respectively. The cleaner includes a control unit for determining whether a first obstacle exists at a location upwardly spaced apart from the floor, using the image captured by the camera.

公开(公告)号：US20170332871A1

公开(公告)日：2017-11-23

申请号：US15597333

申请日：2017-05-17

Applicant: LG ELECTRONICS INC.

Inventor： Chulmo SUNG ,  Woochan JUN

IPC: A47L11/40 ,  A47L11/33 ,  A47L9/00 ,  A47L11/00

Abstract: A robot cleaner of the present disclosure comprises a main body configured to travel in a cleaning zone and to suction a foreign substance on a floor in the cleaning zone, an image sensor provided on the main body and configured to obtain an image of a predetermined area at a front side of the main body, a first light source provided on the main body and configured to emit a first pattern of light to a first sub-area of the predetermined area and a second light source provided on the main body at a position below the first light source and configured to emit a second pattern of light to a second sub-area of the predetermined area, the first sub-area being located lower than the second sub-area.

公开(公告)号：US20170332862A1

公开(公告)日：2017-11-23

申请号：US15597531

申请日：2017-05-17

Applicant: LG ELECTRONICS INC.

Inventor： Woochan JUN ,  Chulmo SUNG

IPC: A47L9/28 ,  A47L9/30 ,  G01C21/20 ,  A47L5/22 ,  B25J5/00 ,  G05D1/02

CPC classification number: A47L11/4061 ,  A47L5/22 ,  A47L9/00 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2873 ,  A47L9/2884 ,  A47L9/30 ,  A47L11/00 ,  A47L11/33 ,  A47L11/4066 ,  A47L11/4069 ,  A47L2201/022 ,  A47L2201/04 ,  A47L2201/06 ,  B25J5/007 ,  G01C21/206 ,  G01S17/46 ,  G01S17/936 ,  G05D1/0231 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0274 ,  G05D2201/0215 ,  Y10S901/01

Abstract: A mobile robot of the present disclosure includes a first pattern emission unit configured to emit a first patterned light downward and forward from the main body on a floor of an area to be cleaned; and an image acquisition unit configured to acquire an image of first patterned light emitted by the first pattern emission unit and is incident on an obstacle, so as to determine an obstacle based on a pattern detected from the acquired image. Accordingly, based on the information on the nearby obstacles, by determining whether the mobile robot is in a stuck state where traveling of the mobile robot is limited by a plurality of obstacles, and by setting up an escape for traveling, traveling state of the mobile robot and obstacles may be determined rapidly and a corresponding operation may be performed, thereby enabling effective traveling to escape from the stuck state.