US 12,078,506 B2
Region segmentation apparatus and method for map decomposition of robot
Seong Ju Park, Incheon (KR); Chang Soo Kim, Incheon (KR); Ji Gwan Park, Incheon (KR); Jin Baek Kim, Incheon (KR); and Dong Hyeon Seo, Incheon (KR)
Assigned to Yujin Robot Co., Ltd., Incheon (KR); and Miele & Cie. KG, Götersloh (DE)
Filed by YUJIN ROBOT CO., LTD., Incheon (KR); and Miele & Cie. KG, Gütersloh (DE)
Filed on Feb. 28, 2022, as Appl. No. 17/682,343.
Claims priority of application No. 10-2021-0027648 (KR), filed on Mar. 2, 2021; and application No. 10-2021-0073684 (KR), filed on Jun. 7, 2021.
Prior Publication US 2022/0282991 A1, Sep. 8, 2022
Int. Cl. G01C 21/00 (2006.01); G01S 17/89 (2020.01)
CPC G01C 21/3837 (2020.08) [G01S 17/89 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A region segmentation apparatus for map decomposition of a robot, the apparatus comprising:
a memory; and
one or more processors coupled to the memory, the one or more processors configured to:
while the apparatus is moving, obtain information in a space and generate a grid map of the space based on the obtained information, wherein the space includes obstacles; and
segment the grid map into a plurality of regions on a basis of a critical line which segments the space, wherein intervals from the obstacles located at a left and a right of the critical line are larger than a predetermined first reference value based on a size of the apparatus.