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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：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：US11561549B2
公开(公告)日：2023-01-24
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：US09798957B2
公开(公告)日：2017-10-24
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.
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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：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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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.
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