CPC G06V 20/10 (2022.01) [G05D 1/0214 (2013.01); G05D 1/0251 (2013.01); G06F 18/22 (2023.01); H04N 13/207 (2018.05); H04N 13/239 (2018.05); H04N 23/56 (2023.01); G05D 2201/0215 (2013.01)] | 17 Claims |
1. A moving robot comprising:
a main body;
a driving unit configured to move the main body;
a sensing unit configured to emit sensing light for detecting whether or not an obstacle exists at a front of the main body, so as to generate an emission result; and
a control unit configured to detect whether or not an obstacle exists in a traveling environment of the main body based on the emission result of the sensing unit, so as to control traveling of the main body according to a result of the detection,
wherein the sensing unit comprises a three-dimensional (3D) camera sensor to emit the sensing light to the front of the main body,
wherein the three-dimensional camera sensor is provided to face the ground in front of the main body and to emit the sensing light onto the ground in a form of line beam,
wherein the control unit, when controlling the traveling in a corner area within the traveling environment, generates identification information by extracting an area corresponding to a predesignated reference area from image information in which the emission results for the corner area are accumulated, detects whether or not the obstacle exists in the corner area based on a result of comparing the identification information with prestored reference information, and controls the main body to travel in the corner area according to a result of the detection,
wherein the control unit detects whether or not the obstacle exists in the corner area based on a result of accumulating the emission result of the sensing unit according to a predetermined criterion,
wherein the predetermined criterion is a criterion of the image information for identifying information on the corner area, and
wherein the predetermined criterion is a criterion for a volume of the image information, an emission time of the sensing unit, or an amount of data required for the emission result.
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