The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 09, 2021
Filed:
Apr. 25, 2017
Lg Electronics Inc., Seoul, KR;
LG ELECTRONICS INC., Seoul, KR;
Abstract
The present invention relates to a moving robot capable of recognizing a position on a map and a control method of the moving robot, and the moving robot according to the present invention includes: a travel drive unit configured to move a main body; an image acquisition unit configured to acquire images of surroundings; and a controller configured to recognize a current position. The controller is further configured to separate the travel area by the predetermined criterion into a plurality of large areas, into which the plurality of small areas is grouped; compute each large area feature distribution and the at least one recognition descriptor by a predetermined superordinate estimation rule to select a large area in which the current position is included; and compute the small area feature distribution and the at least one recognition descriptor by the predetermined estimation rule to select a small area, in which the current position is included, from among a plurality of small areas included in the selected large area. The control method according to the present invention includes: a learning process of learning a travel area to generate a map and separating the travel area into a plurality of small areas by a predetermined criterion; and a recognition process of selecting a current position on the map. The recognition process includes: a recognition descriptor generation process of acquiring an image of the current position, extract at least one recognition feature from the acquired image, and generating a recognition descriptor corresponding to the at least one recognition feature. The recognition process includes: a large area selection process of computing each large area feature distribution and the at least one recognition descriptor by a predetermined superordinate estimation rule to select a large area in which the current position is included.