# US 10,871,781 B2 · Method for drawing map having feature of object applied thereto and robot implementing the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,871,781 B2 - Document ID: US10871781B2 - Status: Granted - Kind: B2 - Application number: 15/893,141 - Filed: 2018-02-09 - Published: 2018-08-23 - Granted: 2020-12-22 - Earliest claimed: 2017-02-20 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Donghoon Kim; Byungkon Sohn; Hyun Sup Song - Web page: https://patentgrep.com/patent/US10871781B2 ## CPC - G05D 1/024: {in combination with a laser (lasers per se H01S)} - B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1697: {Vision controlled systems} - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 7/51: Display arrangements - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05B 2219/40506: Self motion topology knowledge, configuration mapping - Y10S 901/01: Mobile robot - Y10S 901/47: Optical - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Disclosed are a method for drawing a map to which a feature of an object is applied and a robot implementing the same. The robot drawing a map to which feature of an object is applied, which comprises a moving unit configured to control a movement of the robot; a map storage unit configured to store the map to be referred while the robot moves; a sensing unit configured to sense one or more objects provided outside the robot; and a controller configured to control the moving unit, the map storage unit, and the sensing unit, and calculate position information and feature information on the one or more sensed objects, wherein the controller of the robot stores the position information and the feature information of the one or more sensed objects in the map storage unit. ## Claims ### Claim 1 A robot comprising: a motor configured to selectively apply a force to move the robot; a memory configured to store a map of a space; a sensor configured to scan objects located outside the robot in the space, the objects including a first object, a second object, and a third object; and a controller configured to: calculate position information and feature information on the objects, distinguish between the first object through which a signal of the sensor passes from the second object through which the signal of the sensor does not pass based on the position information and the feature information; store the position information and the feature information of the objects in the memory, and control the motor to move the robot through the space based on the map, the position information, and the feature information, wherein the first object is positioned between the robot and the third object, the sensor includes a light detection and ranging (LiDAR) sensor, and the LiDAR sensor includes a laser transmitter, a laser receiver, and a sensed data analyzer, and wherein the laser transmitter is configured to transmit the signal, the laser receiver is configured to receive a first reflection of the signal from the first object and a second reflection of the signal from the third object, and the sensed data analyzer is configured to compare an intensity of the first reflection and position information on the first object to an intensity of the second reflection and position information on the third object. ### Claim 2 (depends on 1) The robot of claim 1, wherein the memory includes: a map storage configured to store information on the space in which the robot moves; and an object feature storage configured to store a feature of one of the objects provided in the space. ### Claim 3 (depends on 1) The robot of claim 1, wherein: the feature information of the objects include respective intensities of the reflections received by the laser receiver. ### Claim 4 (depends on 3) The robot of claim 3, wherein the controller separates the objects into categories based on the intensities of the reflections therefrom, and the robot further comprises a user interface configured to separately display information on the objects stored in the memory according to the categories, including the intensities of the reflections. ### Claim 5 (depends on 1) The robot of claim 1, wherein the controller stores, in the memory, information on an imaginary object that is identified in the map and not sensed. ### Claim 6 (depends on 1) The robot of claim 1, wherein: the robot is configured to perform a preset function, and the robot operates differently based on the feature information for at least one object, of the objects, that is adjacent to a current position of the robot. ### Claim 7 (depends on 1) The robot of claim 1, wherein the memory further stores information on categories of the objects, and the controller of the robot reorganizes the categories according to the feature information on the objects stored in the memory. ### Claim 8 A method to control a robot, the method comprising: detecting, by sensor, position information and feature information on objects within a sensible range of the sensor, the objects including a first object and a second object; distinguishing, by a controller, between the first object through which a signal of the sensor passes from the second object through which the signal of the sensor does not pass based on the position information and the feature information; storing, in a memory, the position information and the feature information on the first object; and storing, in the memory, position information on the second object, wherein: the objects further include a third object, the first object is positioned between the robot and the third object, the sensor includes a light detection and ranging (LiDAR) sensor, the LiDAR sensor includes a laser transmitter, a laser receiver, and a sensed data analyzer, and sensing the position information and the feature information includes: transmitting the signal by the laser transmitter; receiving a first reflection of the signal from the first object by the laser receiver; receiving a second reflection of the signal from the third object by the laser receiver; and comparing an intensity of the first reflection and position information on the first object to an intensity of the second reflection and position information on the third object by the sensed data analyzer. ### Claim 9 (depends on 8) The method of claim 8, wherein the detected feature information identifies at least one of the intensity of the first reflection from the first object or the intensity of the second reflection from the third object. ### Claim 10 (depends on 8) The method of claim 8, wherein the storing of the position information and the feature information on the first object in the memory includes distinguishing from and storing information on the first object in the memory according to a category corresponding to the intensity of the first reflection from the first object. ### Claim 11 (depends on 8) The method of claim 8, further comprising: separately displaying stored information for at least two of the objects on a user interface of the robot. ### Claim 12 (depends on 8) The method of claim 8, further comprising: storing information on an imaginary object that that is identified in the map and not sensed. ### Claim 13 (depends on 8) The method of claim 8, wherein: the robot is configured to perform a preset function, and the method further comprises: determining stored feature information on an object positioned adjacent to a current location; and setting an operational mode of the robot based on the feature information. ### Claim 14 (depends on 13) The method of claim 13, wherein the preset function is a cleaning function, and the present function relates to cleaning a surface on which the robot is traveling. ### Claim 15 (depends on 8) The method of claim 8, wherein: the memory further stores information on categories of the objects, and the method further comprises: reorganizing the categories according to the feature information for one of the objects. ### Claim 16 (depends on 8) The method of claim 8, further comprising: controlling a movement of the robot through a space based on the position information and the feature information for the objects. ### Claim 17 (depends on 16) The method of claim 16, further comprising: storing a map of the space; and updating the map based on the position information and the feature information for the objects. ### Claim 18 (depends on 8) The method of claim 8, further comprising: determining, based on the position information and the feature information on the objects, that a particular one of the objects may damage the robot or impede a movement of the robot; and control the robot to adjust at least one of a movement direction or a movement speed to avoid the particular one of the objects. ### Claim 19 (depends on 8) The method of claim 8, further comprising: transmitting at least a portion of the position information and the feature information on the objects to at least one of another robot or a computer.