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US 12,644,991 B2Granted
Robot driving by controlling TOF LiDAR sensor and controlling method of the robot
AssigneeSamsung Electronics Co., Ltd.
InventorsJeayun So, Jaeyoon Jeong, Sangsik Yoon
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Abstract
Provided are a robot driven by controlling a time of flight (TOF) light detection and ranging (LiDAR) sensor, and a driving method thereof. The robot outputs laser pulse signals of the TOF LiDAR sensor by switching a laser pulse signal of a short-range pulse energy and a laser pulse signal of a remote pulse energy, while the TOF LiDAR sensor rotates, corrects information about a distance between the robot and peripheral objects of the robot, based on reflection signals of the laser pulse signals, the reflection signals being received from the peripheral objects of the robot, and controls the driving module to move the robot based on the corrected information about the distance.
Claims16
A robot comprising:
- a driving module;
- a time of flight (TOF) light detection and ranging (LiDAR) sensor;
- at least one memory storing one or more instructions;
- and
- at least one processor configured to execute the one or more instructions stored in the at least one memory to:
- obtain information about a distance between the robot and peripheral objects of the robot by outputting a laser pulse signal of the TOF LiDAR sensor of a default pulse energy,
- determine, based on the obtained information about the distance, whether to change the default pulse energy of the laser pulse signal of the TOF LiDAR sensor to a short-range pulse energy for short-range objects and a remote pulse energy for remote objects, wherein the short-range pulse energy and the remote pulse energy are different than the default pulse energy,
- based on determining not to change the default pulse energy of the laser pulse signal of the TOF LiDAR sensor to the short-range pulse energy for short-range objects and the remote pulse energy for remote objects, continue outputting the laser pulse signal of the TOF LIDAR sensor of the default pulse energy,
- based on determining to change the default pulse energy of the laser pulse signal of the TOF LIDAR sensor to the short-range pulse energy for short-range objects and the remote pulse energy for remote objects,
- output laser pulse signals of the TOF LiDAR sensor by continuously switching between a laser pulse signal of the short-range pulse energy and a laser pulse signal of the remote pulse energy, while the TOF LiDAR sensor rotates,
- correct the information about the distance between the robot and the peripheral objects of the robot, based on reflection signals of the laser pulse signal of the short-range pulse energy and the laser pulse signal of the remote pulse energy, the reflection signals being received from the peripheral objects of the robot, and
- control the driving module to move the robot based on the corrected information about the distance.
9 more elements
A driving method of a robot, the driving method comprising:
- obtaining information about a distance between the robot and peripheral objects of the robot by outputting a laser pulse signal of a time of flight (TOF) light detection and ranging (LiDAR) sensor of a default pulse energy;
- determining, based on the obtained information about the distance, whether to change the default pulse energy of the laser pulse signal of the TOF LiDAR sensor to a short-range pulse energy for short-range objects and a remote pulse energy for remote objects, wherein the short-range pulse energy and the remote pulse energy are different than the default pulse energy;
- based on determining not to change the default pulse energy of the laser pulse signal of the TOF LIDAR sensor to the short-range pulse energy for short-range objects and the remote pulse energy for remote objects, continue outputting the laser pulse signal of the TOF LiDAR sensor of the default pulse energy,
- based on determining to change the default pulse energy of the laser pulse signal of the TOF LIDAR sensor to the short-range pulse energy for short-range objects and the remote pulse energy for remote objects,
- outputting laser pulse signals of the TOF LiDAR sensor by continuously switching between a laser pulse signal of the short-range pulse energy and a laser pulse signal of the remote pulse energy, while the TOF LiDAR sensor rotates;
- correcting the information about the distance between the robot and the peripheral objects of the robot, based on reflection signals of the laser pulse signal of the short-range pulse energy and the laser pulse signal of the remote pulse energy, the reflection signals being received from the peripheral objects of the robot;
- and
- moving the robot based on the corrected information about the distance.
5 more elements
Dependencies are inferred from the claim text.