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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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Patent Agency Ranking
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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公开(公告)号：US20160098039A1
公开(公告)日：2016-04-07
申请号：US14873809
申请日：2015-10-02
Applicant: LG ELECTRONICS INC.
Inventor： Dongki NOH , Seungmin BAEK , Taekyeong LEE
CPC classification number: G05D1/0088 , A47L9/2826 , A47L9/30 , A47L2201/04 , G01S7/491 , G01S17/46 , G01S17/89 , G01S17/936 , G05D1/0248 , G05D1/0891 , G05D2201/0203
Abstract: A robot cleaner may include a main body, a light irradiation unit irradiating light towards a region in front of the main body, an image sensor including a plurality of horizontal lines sequentially exposed to form an image, an image processing unit constructing frames by synchronizing signals output from the horizontal lines, such that, after construction of any one frame, the image processing unit does not construct one or more frames by ignoring signals output from the horizontal lines, and then constructs a next frame, and a controller controlling the light irradiation unit to irradiate light while the horizontal lines are exposed to construct the one frame, such that the light irradiation unit stops irradiation of light between before exposure of all the horizontal lines to construct the frame is completed and one point of time while the image processing unit ignores signals output from the horizontal lines.
Abstract translation: 机器人清洁器可以包括主体，照射光朝向主体前方的区域的光照射单元，包括顺序暴露以形成图像的多个水平线的图像传感器，通过同步信号构成帧的图像处理单元 从水平线输出，使得在任何一帧的构造之后，图像处理单元不通过忽略从水平行输出的信号构造一个或多个帧，然后构造下一帧，以及控制光照射的控制器 在水平线曝光的同时照射光的单元构成一帧，使得光照射单元停止在所有水平线的曝光之前的光的照射以构成该帧，并且在图像处理单元 忽略从水平线输出的信号。
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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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