US 12,266,128 B2
Moving robot and controlling method for the moving robot
Juno Choi, Seoul (KR); and Janghun Cheong, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/436,241
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Mar. 4, 2020, PCT No. PCT/KR2020/003062
§ 371(c)(1), (2) Date Sep. 3, 2021,
PCT Pub. No. WO2020/180107, PCT Pub. Date Sep. 10, 2020.
Claims priority of application No. 10-2019-0024996 (KR), filed on Mar. 5, 2019.
Prior Publication US 2022/0175210 A1, Jun. 9, 2022
Int. Cl. G06T 7/60 (2017.01); G01B 11/25 (2006.01); G05D 1/00 (2006.01); G06T 7/521 (2017.01); A47L 11/40 (2006.01)
CPC G06T 7/60 (2013.01) [G01B 11/254 (2013.01); G05D 1/0238 (2013.01); G05D 1/0246 (2013.01); G06T 7/521 (2017.01); A47L 11/4011 (2013.01); A47L 2201/04 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30261 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of controlling a moving robot, the method comprising:
an image acquisition step of acquiring an image of a front of the moving robot;
a detection step of detecting an obstacle and a front floor surface in front of the obstacle from the acquired image;
a calculation step of calculating a height of the obstacle and a depth of the front floor surface; and
a climbing avoidance step of climbing or avoiding the obstacle by the moving robot based on the height of the obstacle and the depth of the front floor surface,
wherein, in the climbing avoidance step, the moving robot climbs the obstacle when the height of the obstacle is smaller than a reference height and the depth of the front floor surface is smaller than a reference depth.