公开(公告)号：US20230245465A1

公开(公告)日：2023-08-03

申请号：US18011028

申请日：2020-12-04

Applicant: LG ELECTRONICS INC.

Inventor： Changhyeon LEE ,  Kihong PARK ,  Kahyung CHOI

IPC: G06V20/58 ,  G06V10/44 ,  G06V10/30 ,  A47L9/00 ,  A47L9/28 ,  G05D1/02 ,  G01C21/00

CPC classification number: G06V20/58 ,  G06V10/44 ,  G06V10/30 ,  A47L9/009 ,  A47L9/2826 ,  A47L9/2852 ,  G05D1/0274 ,  G01C21/3841 ,  A47L2201/04 ,  G05D2201/0215

Abstract: Provided according to one embodiment of the present invention is a method for controlling a robot cleaner, comprising: a map data collection step of collecting first information collected by photographing a cleaning target area by means of a depth camera and second information collected by photographing the cleaning target area by means of an IR sensor; a depth data filtering step of removing, from the first information, information which is determined to be noise when detecting obstacles; and a data restoration step of, if there is a lost part of the information on the obstacles by comparing the second information with the information that is determined to be noise and removed in the depth data filtering step, restoring the lost part. According to the present embodiment, it is possible to obtain effective obstacle information by removing noise that is not removed despite filtering of the depth camera, so as to detect even thin obstacles.

公开(公告)号：US20220183525A1

公开(公告)日：2022-06-16

申请号：US17442721

申请日：2020-03-04

Applicant: LG ELECTRONICS INC.

Inventor： Byungkon SOHN ,  Kyuchun CHOI ,  Youngkouk SONG ,  Changhyeon LEE

IPC: A47L9/28 ,  A47L9/00 ,  G05D1/02

Abstract: A robot cleaner comprises a cleaner body provided with a control unit; a first sensing unit which protrudes from the upper surface of the cleaner body, and emits laser at surroundings of the cleaner body to detect obstacles located around the cleaner body; a second sensing unit which is inclined relative to side surfaces and an upper surface of an upper edge portion of the cleaner body, and captures images in both lateral and upward directions of the cleaner body; a third sensing unit which is disposed on a front surface of the cleaner body, transmits ultrasonic waves to the surroundings in front of the cleaner body, and then uses the reflected ultrasonic waves to detect obstacles located in front of the cleaner body; and a fourth sensing unit which is disposed on the front surface of the cleaner body, and captures images in front of the cleaner body.

公开(公告)号：US20200333799A1

公开(公告)日：2020-10-22

申请号：US16765405

申请日：2019-09-20

Applicant: LG ELECTRONICS INC.

Inventor： Changhyeon LEE ,  Woo HONG

IPC: G05D1/02 ,  A47L9/28 ,  A47L9/04

Abstract: A method for adaptively operating a cleaning robot based on height difference between floors and the cleaning robot are provided, and according to an embodiment of the present disclosure, the cleaning robot that adaptively operates based on the height difference between the floors includes a central controller that controls a height adjuster that controls a height of a floor cleaner based on height information related to a space stored in a map storage and height information sensed by a sensor.

公开(公告)号：US20230255424A1

公开(公告)日：2023-08-17

申请号：US18017162

申请日：2020-12-09

Applicant: LG ELECTRONICS INC.

Inventor： Changhyeon LEE ,  Jaeheon CHUNG ,  Kihong PARK

IPC: A47L9/28 ,  A47L11/40 ,  A47L11/28 ,  G05D1/02

CPC classification number: A47L9/2826 ,  A47L9/2847 ,  A47L9/2842 ,  A47L9/2852 ,  A47L11/4011 ,  A47L11/28 ,  A47L11/4066 ,  G05D1/0274 ,  G05D1/0251 ,  A47L2201/06 ,  A47L2201/04 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: Disclosed are a robot cleaner and a method for controlling same, and the method for controlling a robot cleaner, according to one embodiment of the present invention, comprises: a floor mapping step in which a robot cleaner drives in an area to be cleaned and collects information about the floor surface; a cleaning planning step in which a cleaning plan of the robot cleaner is determined on the basis of the collected information about the floor surface; and a robot control step in which, once the cleaning plan is determined, the robot cleaner is controlled to drive and clean according to the cleaning plan.

公开(公告)号：US20210365041A1

公开(公告)日：2021-11-25

申请号：US16625148

申请日：2018-05-31

Applicant: LG ELECTRONICS INC.

Inventor： Changhyeon LEE ,  Byungkon SOHN ,  Kyung Man YU

IPC: G05D1/02 ,  B60W60/00

Abstract: The present disclosure relates to a method for driving on the basis of characteristics of a driving surface, and a robot for implementing the same, and a method for driving on the basis of characteristics of a driving surface, according to one embodiment of the present disclosure, comprises the steps in which: a sensing module of the robot senses an adjacent driving surface to generate characteristic information of the driving surface, and a control unit of the robot stores position and characteristic information of the driving surface in a map storage of the robot; the controller of the robot sets a function to be applied to the driving surface in response to the characteristic information of the driving surface, or generates a movement path selectively including the driving surface corresponding to start and end points of the robot; and the controller controls a moving unit and a functional unit of the robot according to the set function or the movement path.

公开(公告)号：US20200089970A1

公开(公告)日：2020-03-19

申请号：US16500672

申请日：2018-02-19

Applicant: LG ELECTRONICS INC.

Inventor： Changhyeon LEE ,  Byungkon SOHN

IPC: G06K9/00 ,  G06T7/50 ,  G05D1/02

Abstract: The present disclosure relates to a method for identifying an obstacle on a driving ground and a robot for implementing the same, and according to one embodiment of the present disclosure, the method for identifying an obstacle on a driving ground comprises the steps of allowing: a sensing module of the robot to sense the depths of objects in a driving direction so as to generate first depth information; a plane analysis unit of the sensing module to calibrate second depth information by using ground information stored by a map storage of the robot so as to generate the first depth information; a control unit to identify an obstacle from the second depth information; and the control unit to store position information of the identified obstacle in a temporary map of the map storage.

公开(公告)号：US20180210448A1

公开(公告)日：2018-07-26

申请号：US15875235

申请日：2018-01-19

Applicant: LG ELECTRONICS INC.

Inventor： Changhyeon LEE ,  Han Shin KIM ,  Kyuchun CHOI

IPC: G05D1/02 ,  B25J5/00 ,  B25J11/00 ,  B25J15/00 ,  A47L11/40 ,  G06T7/50

CPC classification number: G05D1/0214 ,  A47L11/4052 ,  A47L11/4061 ,  A47L2201/04 ,  B25J5/007 ,  B25J11/0085 ,  B25J15/0019 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/0291 ,  G05D2201/0203 ,  G06T7/50 ,  G06T2207/10028 ,  Y10S901/01 ,  Y10S901/41 ,  Y10S901/49

Abstract: The present disclosure relates to a method of identifying a functional region in a 3-dimensional space and a robot implementing the method, and the robot comprises a sensing module that senses a protrusion located outside a robot and provides height and depth information of the sensed protrusion; a functional unit that provides a predetermined function to the outside; a moving unit that moves the robot; a map storage unit that stores a map required for movement of the robot; and a control unit that controls these components.