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1.发明申请公开(公告)号：US20200326722A1
公开(公告)日：2020-10-15
申请号：US16096650
申请日：2017-04-25
Applicant: LG ELECTRONICS INC.
Inventor： Seungwook LIM , Taekyeong LEE , Dongki NOH
Abstract: The present invention relates to a technology in which a moving robot using artificial intelligence is enabled to learn a map using information generated by itself and information received from another moving robot, and a map learning method of a moving robot according to the present invention includes generating, by the moving robot, node information based on a constraint measured during traveling, and receiving node group information of another moving robot. A moving robot using artificial intelligence according to the present invention includes: a travel drive unit configured to move a main body; a travel constraint measurement unit configured to measure a travel constraint; a receiver configured to receive node group information of another moving robot; and a controller configured to generate node information on a map based the travel constraint, and add the node group information of the another moving robot to the map.
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公开(公告)号：US20190332115A1
公开(公告)日：2019-10-31
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：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
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：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
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.
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公开(公告)号：US20200050213A1
公开(公告)日：2020-02-13
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：US20190196497A1
公开(公告)日：2019-06-27
申请号：US16225515
申请日：2018-12-19
Applicant: LG ELECTRONICS INC.
Inventor： Gyuho EOH , Dongki NOH , Taekyeong LEE , Seungwook LIM
CPC classification number: G05D1/0274 , G01C21/32 , G05D1/0088 , G05D1/0246 , G05D2201/0203 , G06F16/29
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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公开(公告)号：US20190133396A1
公开(公告)日：2019-05-09
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.
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