US 11,966,226 B2
Delivery robot and control method of the delivery robot
Kyungho Yoo, Seoul (KR); and Donghoon Yi, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Filed by LG ELECTRONICS INC., Seoul (KR)
Filed on Dec. 8, 2021, as Appl. No. 17/545,753.
Claims priority of application No. 10-2021-0117024 (KR), filed on Sep. 2, 2021; and application No. PCT/KR2021/013938 (WO), filed on Oct. 8, 2021.
Prior Publication US 2023/0068618 A1, Mar. 2, 2023
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06T 7/60 (2017.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01)
CPC G05D 1/0212 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0246 (2013.01); G06T 7/60 (2013.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06T 2207/30242 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A delivery robot comprising:
a sensing part including at least one image sensor;
a drive part configured to move a main body of the delivery robot; and
a controller configured to:
detect a revolving door from an image in front of the delivery robot acquired from the at least one sensor,
detect a feature of at least one door blade of a revolving door rotating around a rotation shaft from the image,
detect a feature of the revolving door including at least one of a rotational speed of the revolving door, a size of a region inside the revolving door, and a number of door blades of the revolving door based on the feature of the at least one door blade,
generate an entry path including an initial location of the delivery robot and an entry time point for entering into the revolving door,
generate a departure path including a departure time point and a departure point for exiting from the revolving door based on the feature of the revolving door or the feature of the at least one door blade, and
control the drive part to move the delivery robot along the entry path and the departure path to pass through the revolving door.