Moving robot and control method thereof
AssigneeLG Electronics Inc.
InventorJieun CHOI
Life of this patent
Estimating the term…
Abstract
Creating a map of a moving robot includes: receiving sensor data regarding a distance to an external object through a distance measurement sensor; creating a cell-based grid map based on the sensor data; performing image processing to distinguish between regions in the grid map and create a boundary line between the regions; selecting an optimal boundary line if one or more boundary lines exist; planning a path to the optimal boundary line; and updating the grid map, while moving along the path, whereby a map may be automatically created.
Claims20
A method for creating a map by a moving robot, the method comprising:
- collecting sensor data by a sensor of the moving robot;
- creating a map based on the sensor data;
- performing image processing of the map to distinguish between regions in the map and to identify at least one boundary line between the regions;
- selecting a particular boundary line of the at least one boundary lines;
- moving along a path to the particular boundary line;
- and
- updating the map based on additional sensor data collected while moving along the path.
A moving robot for automatically generating a map, the moving robot comprising:
- a sensor configured to create sensor data regarding distances between the moving robot and at least one external object;
- a driving wheel configured to move a main body of the moving robot;
- and
- a controller configured to create a map based on the sensor data,
- wherein the controller:
- divides the map into a first region which is an empty space, a second region where an obstacle is detected, and a third region not sensed by the sensor,
- performs image processing to generate at least one boundary line between the first region and the third region,
- selects an particular boundary line of the at least one boundary line,
- determines a path toward the optimal boundary line, and
- updates the map based on sensor data collected while moving along the path toward the optimal boundary line.
Dependencies are inferred from the claim text.