# US 2021/0333391 A1 · Mobile robot and method of controlling the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0333391 A1 - Document ID: US20210333391A1 - Status: Published application - Kind: A1 - Application number: 16/490,372 - Filed: 2019-05-31 - Published: 2021-10-28 - Earliest claimed: 2019-05-31 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Wonhee LEE - Web page: https://patentgrep.com/patent/US20210333391A1 ## CPC - G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection - G01S 7/4817: {relating to scanning} - G01S 15/931: of land vehicles - G01S 17/931: of land vehicles - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)} - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract Disclosed is an autonomous mobile robot including a main body, and a driving part positioned below the main body and configured to move the main body, wherein the driving part includes a rotation part that is rotatably provided and is configured to dispose a sensor module including one or more sensors outwards, a base positioned below the rotation part, and a driving wheel installed on the base, thereby embodying a sensing system with low cost and high efficiency. ## Claims ### Claim 1 A mobile robot comprising: a main body; and a driving part positioned below the main body and configured to move the main body, wherein the driving part includes a rotation part that is rotatably provided and is configured to dispose a sensor module including one or more sensors outwards, a base positioned below the rotation part, and a driving wheel installed on the base. ### Claim 2 (depends on 1) The mobile robot of claim 1, wherein the rotation part includes a plurality of rotation parts that are stacked in upward and downward directions and are independently rotatable. ### Claim 3 (depends on 2) The mobile robot of claim 2, wherein the rotation parts on different layers include different types of sensors. ### Claim 4 (depends on 3) The mobile robot of claim 3, wherein the rotation part fixes one sensor, which detects a predetermined object, to detect the detected object and rotates remaining sensors to orient the remaining sensors in different directions among different types of sensors. ### Claim 5 (depends on 1) The mobile robot of claim 1, wherein the rotation part includes a first sensor rotation part disposed at an upper side and a second sensor rotation part disposed at a lower side; wherein a sensor module including at least one of a light detection and ranging (LiDAR) sensor or a depth sensor is disposed on the first sensor rotation part; and wherein a sensor module including an ultrasonic sensor is disposed on the second sensor rotation part. ### Claim 6 (depends on 5) The mobile robot of claim 5, wherein the first sensor rotation part is rotated to orient a sensing direction of the sensor module towards a non-detection area; and wherein the second sensor rotation part is rotated to orient the ultrasonic sensor towards a forward side of a traveling direction. ### Claim 7 A method of controlling a mobile robot, the method comprising: acquiring sensing data through a plurality of sensor modules during traveling; determining whether one or more sensor modules need to rotate based on the sensing data; determining a sensor module as a rotation target when rotation is needed; and rotating a rotation part disposed on the determined sensor module as the rotation target. ### Claim 8 (depends on 7) The method of claim 7, wherein the determining whether rotation is needed includes determining that rotation is needed when a non-detection area that is not previously detected is detected; and wherein the rotating includes fixing a rotation part, on which a sensor module including an ultrasonic sensor is disposed, to a front side in a traveling direction and rotates a rotation part, on which a sensor module including a LiDAR sensor is disposed, to orient a sensing direction of the LiDAR sensor towards the non-detection area. ### Claim 9 (depends on 7) The method of claim 7, wherein the determining whether rotation is needed includes determining that rotation is needed when some of the plurality of sensor modules detect a predetermined object and the others of the sensor modules do not detect the predetermined object; and wherein the rotating includes fixing at least one of the sensor module, which detects the predetermined object, to detect the detected object, and rotating the rotation part to orient the remaining sensor modules in a different direction. ### Claim 10 (depends on 9) The method of claim 9, wherein the rotation part is operated to orient the remaining sensor modules towards a forward side of a traveling direction.