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US 10,948,913 B2Granted
Method of identifying unexpected obstacle and robot implementing the method
AssigneeLG Electronics Inc.
InventorsChanghyeon Lee, Byungkon Sohn
Life of this patent
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Abstract
The present disclosure relates to a method of identifying an unexpected obstacle and a robot implementing the method. The method includes: by a sensing module of a robot, sensing a blind spot located in a traveling path of the robot; by a control unit of the robot, calculating a probability that a moving object appears in the sensed blind spot; and, by the control unit, controlling the speed or direction of a moving unit of the robot based on the calculated probability.
Claims20
A method of controlling a robot, the method comprising
- storing, by a memory of the robot, at least two different maps of fixed objects sensed at different heights by a sensor of the robot;
- identifying, by a controller of the robot, a blind spot located along a traveling path of the robot through a space using the maps to evaluate a same position;
- calculating, by the controller of the robot, a probability that a moving object is present in the blind spot;
- and
- managing, by the controller, at least one of a speed or a direction of the robot based on the calculated probability that the moving object is present in the blind spot,
- wherein the maps include:
- a first map that identifies positions of the fixed objects at a first height, and
- a second map that identifies positions of the fixed objects at a second height which differs from the first height, and
- wherein the blind spot is at least one of a portion of a wall or a pillar.
6 more elements
A method of controlling a robot, the method comprising
- storing, by a memory of the robot, at least two different maps of fixed objects sensed at respective different heights;
- identifying, by a controller of the robot, a blind spot located along a traveling path the robot through a space using the maps to evaluate a same position;
- detecting, by a sensor of the robot, an attribute of an object in the blind spot when the robot approaches the blind spot;
- determining, by the controller, whether the object is a fixed object or a moving object based on the detected attribute;
- and
- modifying, by the controller, at least one of a speed or a direction of the robot when the object is determined to be a moving object,
- wherein the maps include:
- a first map that identifies positions of the fixed objects at a first height and
- a second map that identifies positions of the fixed objects at a second height which differs from the first height, and
- wherein the blind spot is at least one of a portion of a wall or a pillar.
7 more elements
A robot, comprising:
- a sensor that detects data about a space in which the robot travels;
- a memory that stores at least two different maps of fixed objects sensed at different heights, the maps identifying a position of each of the fixed objects in the space where the robot travels and a fixability value of each of the fixed objects;
- a controller that generates a traveling path of the robot through the space based on data sensed by the sensor and the maps, and determines a blind spot using the maps to evaluate a same position;
- and
- a motor that selectively applies a driving force to move the robot,
- wherein the controller further identifies a moving object in the blind spot located along the traveling path of the robot and controls at least one of a speed or a direction of driving force applied by the motor to avoid a collision with the moving object,
- wherein the maps include:
- a first map that identifies the positions of the fixed objects at a first height and
- a second map that identifies positions of the fixed objects at a second height which differs from the first height, and
- wherein the blind spot is at least one of a portion of a wall or pillar.
7 more elements
Dependencies are inferred from the claim text.