US 12,001,218 B2
Mobile robot device for correcting position by fusing image sensor and plurality of geomagnetic sensors, and control method
Soonhyuk Hong, Suwon-si (KR); Hyeon Myeong, Daejeon (KR); Hyongjin Kim, Daejeon (KR); Seungwon Song, Daejeon (KR); and Jieum Hyun, Daejeon (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR); and KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, Daejeon (KR)
Appl. No. 17/055,415
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR); and KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, Daejeon (KR)
PCT Filed Jun. 21, 2019, PCT No. PCT/KR2019/007499
§ 371(c)(1), (2) Date Nov. 13, 2020,
PCT Pub. No. WO2019/245320, PCT Pub. Date Dec. 26, 2019.
Claims priority of provisional application 62/688,700, filed on Jun. 22, 2018.
Claims priority of application No. 10-2019-0024283 (KR), filed on Feb. 28, 2019.
Prior Publication US 2021/0114204 A1, Apr. 22, 2021
Int. Cl. B25J 9/16 (2006.01); G05D 1/00 (2006.01); G06F 16/901 (2019.01); G06V 10/80 (2022.01); G06V 20/10 (2022.01)
CPC G05D 1/0246 (2013.01) [B25J 9/162 (2013.01); G06F 16/9024 (2019.01); G06V 10/803 (2022.01); G06V 20/10 (2022.01)] 12 Claims
OG exemplary drawing
 
1. A mobile robot device, comprising:
a driving unit;
an image sensor;
a plurality of geomagnetic sensors;
a memory storing at least one instruction; and
a processor configured to execute the at least one instruction,
wherein the processor is configured to:
obtain, while the mobile robot device moves through the driving unit, a plurality of image data through the image sensor and obtain sensing data through the plurality of geomagnetic sensors,
extract a feature point from the plurality of image data and obtain key nodes based on the feature point,
obtain a node sequence based on the sensing data,
generate a graph structure estimating a position of the mobile robot device based on the key nodes and the node sequence,
recognize a position of the mobile robot device based on the generated graph structure;
based on failing in position recognition of the mobile robot device, stop generating the graph structure that estimates the position based on the key nodes and the node sequence;
obtain new image data from the image sensor;
obtain new sensing data through the plurality of geomagnetic sensors;
obtain a new key node corresponding to the new image data and a new node sequence corresponding to the new sensing data; and
correct the graph structure based on the new sensing data and the new node sequence.