US 12,256,887 B2
Mobile robot using artificial intelligence and controlling method thereof
Jungmin Shim, Seoul (KR); and Jieun Choi, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/597,354
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Jul. 2, 2020, PCT No. PCT/KR2020/008663
§ 371(c)(1), (2) Date Jan. 4, 2022,
PCT Pub. No. WO2021/006542, PCT Pub. Date Jan. 14, 2021.
Claims priority of application No. 10-2019-0081460 (KR), filed on Jul. 5, 2019.
Prior Publication US 2022/0257074 A1, Aug. 18, 2022
Int. Cl. A47L 9/28 (2006.01); A47L 9/00 (2006.01); A47L 9/32 (2006.01); A47L 11/40 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01); G01S 13/00 (2006.01); G05D 1/242 (2024.01); G05D 1/243 (2024.01); G05D 1/246 (2024.01); G05D 1/622 (2024.01)
CPC A47L 9/2805 (2013.01) [A47L 9/009 (2013.01); A47L 9/2852 (2013.01); A47L 9/2873 (2013.01); A47L 9/2884 (2013.01); A47L 9/322 (2013.01); A47L 11/4061 (2013.01); B25J 9/0003 (2013.01); B25J 9/161 (2013.01); B25J 9/1666 (2013.01); B25J 9/1676 (2013.01); B25J 11/0085 (2013.01); B25J 13/08 (2013.01); B25J 19/022 (2013.01); B25J 19/023 (2013.01); G01S 13/00 (2013.01); G05D 1/242 (2024.01); G05D 1/2427 (2024.01); G05D 1/243 (2024.01); G05D 1/2462 (2024.01); G05D 1/622 (2024.01); A47L 2201/04 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A mobile robot comprising:
a traveling unit configured to move a main body of the mobile robot;
a lidar sensor configured to acquire terrain information outside the main body;
a camera sensor configured to acquire an image outside the main body; and
a controller configured to fuse the image and a detection signal of the lidar sensor in the absence of a base map, to obtain a plurality of candidate edge screens from screens of the lidar sensor in a plurality of directions centered on the main body, to select one of the plurality of candidate edge screens as a front edge for a next movement of the mobile robot, and set a target location of the next movement at the front edge to perform mapping travelling,
wherein the front edge includes information on a direction for the next movement of the mobile robot, and is an edge disposed on a path that the mobile robot passes as it moves next,
wherein the controller is configured to acquire the candidate edge screen for four directions of the mobile robot from the image and the detection signal of the lidar sensor and select one of the candidate edge screens as the front edge,
wherein the controller is configured to select, as the front edge, the candidate edge screen that has no obstacles in a straight direction of the mobile robot among the candidate edge screens, and
wherein the controller is configured to reduce a detection radius of the lidar sensor when an angle of an arc drawn by the detection signal of the lidar sensor on the candidate edge screen is smaller than a threshold angle.