公开(公告)号：US20210356293A1

公开(公告)日：2021-11-18

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: G01C21/00 ,  G05D1/02 ,  G01S17/894

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：US20200174484A1

公开(公告)日：2020-06-04

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.

公开(公告)号：US20210405649A1

公开(公告)日：2021-12-30

申请号：US16764377

申请日：2019-05-30

Applicant: LG ELECTRONICS INC.

Inventor： Gyuho EOH ,  Jungsik KIM ,  Hyoungrock KIM ,  Dong Ki NOH ,  Joongtae PARK

IPC: G05D1/02 ,  G06T7/579

Abstract: Disclosed herein are a method of localization by synchronizing multi sensors and a robot implementing the same. The robot according to an embodiment includes a controller that, when a first sensor acquires first type information, generates first type odometry information using the first type information, that, at a time point when the first type odometry information is generated, acquires second type information by controlling a second sensor and then generates second type odometry information using the second type information, and that the robot by combining the first type odometry information and the second type odometry information.

公开(公告)号：US20200379455A1

公开(公告)日：2020-12-03

申请号：US16573551

申请日：2019-09-17

Applicant: LG ELECTRONICS INC.

Inventor： Sookhyun YANG ,  Gyuho EOH ,  Joongtae PARK ,  Jungsik KIM ,  Dong Ki NOH

IPC: G05D1/00 ,  G06K9/62 ,  G06K9/00 ,  G05D1/02 ,  G01S17/89 ,  G06N3/04

Abstract: Provided are a method for drawing a map of a specific area, a robot and an electronic device that implement such a method. According to the present disclosure, the method, the robot, and the electronic device improve quality of the drawn map by moving the robot so that loop closing is performed many times when the map is drawn. To this end, an accumulated moving distance from a first position and a second position of the robot moving in the specific area is measured, and when the loop closing is not performed at the second position, whether the loop closing is required at the second position is determined based on the measured accumulated moving distance and information on matching of feature points at the second position, and a movement of the robot is controlled based on a result of the determination.

公开(公告)号：US20230161356A1

公开(公告)日：2023-05-25

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: G05D1/02 ,  G06T7/579 ,  G01S17/89 ,  G06F30/13

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

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：US20210405650A1

公开(公告)日：2021-12-30

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 ,  G01S17/86 ,  G01S17/931

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：US20210089772A1

公开(公告)日：2021-03-25

申请号：US15931724

申请日：2020-05-14

Applicant: LG ELECTRONICS INC.

Inventor： Sookhyun YANG ,  Jungsik KIM ,  Gyuho EOH

IPC: G06K9/00 ,  G06T7/11 ,  G06T7/70 ,  G01S19/01 ,  G05D1/02

Abstract: A robot and/or a computer system may be used to generate position information of the robot operating in an operating space that is subdivided into a plurality of cells. The robot includes a sensor configured to acquire data related to the operating space. A memory of the robot and/or the computer server may store information regarding at least two of the cells and an indicator of a position information acquisition technique used to generate position information of the robot in a cell. The controller may be configured to acquire information related to a cell that the robot is positioned in and generate the position information of the robot based on the position information acquisition technique, the sensor data, and the cell information.

公开(公告)号：US20210073570A1

公开(公告)日：2021-03-11

申请号：US16855979

申请日：2020-04-22

Applicant: LG ELECTRONICS INC.

Inventor： Sookhyun YANG ,  Gyuho EOH ,  Jungsik KIM ,  Minjung KIM

IPC: G06K9/46 ,  G06K9/00 ,  B25J13/08 ,  B25J13/00 ,  B25J9/16 ,  G05D1/02 ,  G06T7/579 ,  G01B11/14 ,  G06F16/53

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：US20200311970A1

公开(公告)日：2020-10-01

申请号：US16830964

申请日：2020-03-26

Applicant: LG ELECTRONICS INC.

Inventor： Dongki NOH ,  Jaekwang LEE ,  Seungwook LIM ,  Gyuho EOH

IPC: G06T7/73 ,  G06T7/20

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.

公开(公告)号：US20200306983A1

公开(公告)日：2020-10-01

申请号：US16830910

申请日：2020-03-26

Applicant: LG ELECTRONICS INC.

Inventor： Dongki NOH ,  Jaekwang LEE ,  Seungwook LIM ,  Kahyung CHOI ,  Gyuho EOH

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B25J19/04

Abstract: A mobile robot includes a traveling unit configured to move a main body, a LiDAR sensor configured to acquire geometry information, a camera sensor configured to acquire an image of the outside of the main body, and a controller. The controller generates odometry information based on the geometry information acquired by the LiDAR sensor. The controller determines a current location of the mobile robot by performing feature matching between images acquired by the camera sensor based on the odometry information. The controller combines the information obtained by the camera sensor and the LiDAR sensor to accurately determine the current location of the mobile robot.