US 12,329,335 B2
Moving robot and control method thereof
Junghwan Kim, Seoul (KR); Wonkeun Yang, Seoul (KR); Minho Lee, Seoul (KR); and Jeongwoo Ju, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/802,270
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Feb. 26, 2021, PCT No. PCT/KR2021/002458
§ 371(c)(1), (2) Date Aug. 25, 2022,
PCT Pub. No. WO2021/172936, PCT Pub. Date Sep. 2, 2021.
Claims priority of application No. 10-2020-0025508 (KR), filed on Feb. 28, 2020.
Prior Publication US 2023/0091839 A1, Mar. 23, 2023
Int. Cl. A47L 11/40 (2006.01); G01B 11/25 (2006.01); G05D 1/00 (2006.01); G06T 7/521 (2017.01)
CPC A47L 11/4011 (2013.01) [A47L 11/4061 (2013.01); G01B 11/25 (2013.01); G05D 1/0246 (2013.01); G06T 7/521 (2017.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A moving robot comprising:
a main body configured to travel an area;
an obstacle detector configured to capture an acquired image with respect to a light pattern irradiated in a traveling direction and detect an obstacle located in the traveling direction; and
a controller configured to recognize the obstacle according to position and shape of the light pattern from the acquired image captured by the obstacle detector and designate a corresponding motion for the obstacle according to an obstacle determination result to control an operation,
wherein the controller detects the obstacle from the acquired image input over time and determines a position of the obstacle, and the controller accumulates the acquired images, sets an image group including a plurality of acquired images in a predetermined time unit, and determines the obstacle through a change in the light patterns of the plurality of acquired images with respect to the image group,
wherein, the controller first determines the obstacle based on a first image group, determines whether or not the obstacle is an obstacle having a height lower than a certain height based on a first determination result, and additionally determines the obstacle according to a number of settings when the obstacle is the obstacle having the height lower than the certain height, and the controller determines the first determination result as a final determination when the obstacle is not the obstacle having the height lower than the certain height, and
wherein, when the obstacle is the obstacle having the height lower than the certain height according to the number of settings, the controller performs a second obstacle determination on a second image group for the obstacle, performs a third obstacle determination on a third image group for the obstacle, and compares the first determination result to a third determination result with each other to finally determine the obstacle.