# US 2023/0068618 A1 · Delivery robot and control method of the delivery robot

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- Number: US 2023/0068618 A1
- Document ID: US20230068618A1
- Status: Published application
- Kind: A1
- Application number: 17/545,753
- Filed: 2021-12-08
- Published: 2023-03-02
- Earliest claimed: 2021-09-02
- Assignees: LG Electronics Inc.
- Applicants: LG Electronics Inc.
- Inventors: Kyungho YOO; Donghoon YI
- Web page: https://patentgrep.com/patent/US20230068618A1

## CPC

- E06B 3/90: Revolving doors; Cages or housings therefor (turnstiles E06B11/08)
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G05D 1/628: following the obstacle profile, e.g. a wall or undulated terrain
- G05D 1/633: Dynamic obstacles
- G05D 1/65: Following a desired speed profile
- G06Q 10/083: Shipping
- G06T 7/60: Analysis of geometric attributes
- G06V 10/25: Determination of region of interest [ROI] or a volume of interest [VOI]
- G06V 10/44: Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
- G06V 10/70: using pattern recognition or machine learning (optical pattern recognition or electronic computations therefor G06V10/88)
- G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59)
- E05F 15/608: for revolving wings
- G05D 2105/285: {postal packages}
- G05D 2107/60: Open buildings, e.g. offices, hospitals, shopping areas or universities
- G05D 2109/10: Land vehicles
- G05D 2111/10: Optical signals
- G06T 2207/30242: Counting objects in image
- E06B: FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES (shades or blinds for greenhouses A01G9/22; curtains A47H; lids for car boots or bonnets B62D25/10; skylights E04B7/18; sunshades, awnings E04F10/00)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- E05F: DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING

## Abstract

A delivery robot can include an image sensor; a drive par; and a controller configured to detect a revolving door from an image in front of the delivery robot, detect a feature of at least one door blade of a revolving door from the image, generate an entry path including an initial location of the delivery robot and an entry time point for entering into the revolving door, and generate a departure path including a departure time point and a departure point for exiting from the revolving door, and control the drive part to move the delivery robot along the entry path and the departure path to pass through the revolving door.

## Claims

### Claim 1

A delivery robot comprising:
a sensing part including at least one image sensor;
a drive part configured to move a main body of the delivery robot; and
a controller configured to:
detect a revolving door from an image in front of the delivery robot acquired from the at least one sensor,
detect a feature of at least one door blade of a revolving door rotating around a rotation shaft from the image,
detect a feature of the revolving door including at least one of a rotational speed of the revolving door, a size of a region inside the revolving door, and a number of door blades of the revolving door based on the feature of the at least one door blade,
generate an entry path including an initial location of the delivery robot and an entry time point for entering into the revolving door,
generate a departure path including a departure time point and a departure point for exiting from the revolving door based on the feature of the revolving door or the feature of the at least one door blade, and
control the drive part to move the delivery robot along the entry path and the departure path to pass through the revolving door.

### Claim 2 (depends on 1)

The delivery robot of claim 1, wherein the controller is further configured to:
identify any one of the door blades of the revolving door that is distinguishable from other door blades as an identified any one door blade, and
detect the rotational speed of the revolving door and the number of door blades of the revolving door based on a change in a distance on the image between an edge of the identified any one door blade and the rotation shaft.

### Claim 3 (depends on 2)

The delivery robot of claim 2, wherein the controller is further configured to:
detect one or more static features of each door blade among the door blades calculated based on a width of the each door blade calculated based on a distance on the image having a maximum value when a distance on the image between an edge of the each door blade and the rotation shaft has the maximum value, and a shape of the each door blade, and
identify any one of the door blades based on the one or more static features.

### Claim 4 (depends on 2)

The delivery robot of claim 2, wherein the controller is further configured to:
calculate a time period for one rotation of the revolving door based on a time difference between a first time point corresponding to a feature of the identified any one door blade and a second time point at which the feature of the identified any one door blade is detected again after the first time point, and
calculate the rotational speed of the revolving door and the number of door blades of the revolving door based on the time period for the one rotation and a distance on the image between an edge of the identified any one door blade and the rotation shaft.

### Claim 5 (depends on 4)

The delivery robot of claim 4, wherein the controller is further configured to:
calculate a size of an inner region of the revolving door based on the distance on the image between the edge of the identified any one door blade and the rotation shaft, and
calculate a size of an entry space for allowing the delivery robot to enter into the revolving door based on the size of the inner region of the revolving door and the number of door blades of the revolving door.

### Claim 6 (depends on 1)

The delivery robot of claim 1, further comprising:
a storage device including information on a time period required for the revolving door to rotate by a preset angle based on an angular speed for each number of revolutions per minute of the revolving door,
wherein the controller is further configured to:
calculate a time difference between a time point at which a distance on the image between the edge of the door blade at either one of left and right sides of the rotation shaft has a maximum value and a time point at which the distance on the image between the edge of the door blade at the either one of left and right sides of the rotation shaft has a minimum value,
calculate a number of revolutions per minute of the revolving door based on information on the time difference and the required time period,
calculate estimated required time periods for each one rotation of revolving doors having different door blades according to a number of times a change pattern of the distance on the image between the edge of the door blade and the rotation shaft is repeated at either one of the left and right sides of the rotation shaft, and
estimate the number of door blades of the revolving door based on any one of the estimated required time periods corresponding to a time period required for one rotation of the revolving door calculated based on the number of revolutions per minute.

### Claim 7 (depends on 1)

The delivery robot of claim 1, wherein the controller is further configured to:
detect a first distance between an edge of a door blade at a left side of the rotation shaft and the rotation shaft, and a second distance between an edge of a door blade at a right side of the rotation shaft and the rotation shaft,
determine that the revolving door has three door blades according to whether the first and second distances have a maximum value at a time point at which the first and second distances become equal, and
in response to determining that the revolving door does not have three door blades, determine that the number of door blades of the revolving door is two or four based on a change pattern of the first and second distances.

### Claim 8 (depends on 7)

The delivery robot of claim 7, wherein the controller is further configured to:
determine whether the first and second distances have the maximum value based on whether the first and second distances have a value above a preset ratio with respect to a maximum value of each of the first and second distances at the time point at which the first and second distances become the equal.

### Claim 9 (depends on 7)

The delivery robot of claim 7, wherein the controller is further configured to:
determine that the number of door blades of the revolving door is two or four based on when both the first and second distances have a value close to or approximately equal to zero, or when both the first and second distances are not detected when the revolving door is determined not have three door blades.

### Claim 10 (depends on 1)

The delivery robot of claim 1, wherein the controller is further configured to:
extract a partial region as a region of interest from image information acquired from the at least one image sensor based on an angle directed by the image sensor and distance information included in the image information, and
detect whether the revolving door is present within the extracted region of interest.

### Claim 11 (depends on 1)

The delivery robot of claim 1, wherein the controller is further configured to:
determine any one space divided by each door blade of the revolving door as an entry space for the delivery robot to enter,
detect a location of the entry space based on the rotational speed of the revolving door, and
generate the entry path for the delivery robot to enter into the entry space based on location of the entry space.

### Claim 12 (depends on 11)

The delivery robot of claim 11, wherein the controller is further configured to:
calculate a time period in which the location of the entry space is changed to be greater than a preset angle based on the rotational speed of the revolving door, and
generate the departure path based on the time period.

### Claim 13 (depends on 11)

The delivery robot of claim 11, wherein the controller is further configured to:
determine an entry speed based on a time period when the entry space moves to a preset entry location according to the rotational speed of the revolving door and a distance between the revolving door and the delivery robot.

### Claim 14 (depends on 13)

The delivery robot of claim 13, wherein a center point of the preset entry location corresponds to a center point of an entrance of the revolving door.

### Claim 15 (depends on 1)

The delivery robot of claim 1, wherein the controller is further configured to:
detect separation distances between door blades of the revolving door around the delivery robot and an outer wall surrounding the revolving door and the delivery robot, and
control the drive part to move the delivery robot based on the separation distances and the rotational speed of the revolving door when the delivery robot is in a region inside the revolving door.

### Claim 16 (depends on 1)

The delivery robot of claim 1, wherein the controller is further configured to:
define a departure point at a point symmetrical to the initial location of the delivery robot at which the delivery robot starts to enter into the revolving door about the rotation shaft.

### Claim 17 (depends on 1)

The delivery robot of claim 1, wherein the controller is further configured to:
continuously update a location of the delivery robot when driving in an inner region of the revolving door to generate an updated location of the delivery robot,
generate the departure path connecting the departure point and the updated location when the updated location and the departure point are approximately within a preset range, and
control the drive part to move the delivery robot along the departure path based on whether the departure path collides with the rotating door blade.

### Claim 18 (depends on 17)

The delivery robot of claim 17, wherein the controller is further configured to:
detect a distance between an edge of a door blade in front of the delivery robot and an outer wall surrounding the revolving door, and
determine whether to collide with the door blade when driving along the departure path based on whether the distance between the edge of the door blade in front of the delivery robot and the outer wall is greater than a preset distance.

### Claim 19 (depends on 18)

The delivery robot of claim 18, wherein the preset distance is determined based on a size of the delivery robot.

### Claim 20

A method for controlling a delivery robot, the method comprising:
detecting, by a sensing part including at least one image sensor, a revolving door located in front of the delivery robot based on at least one image acquired through at least one image sensor;
detecting, by a controller in the delivery robot, a feature of at least one door blade of the revolving door that rotates about a rotation shaft from the at least one image;
detecting, by the controller, a feature of the revolving door including at least one of a rotational speed of the revolving door, a size of a region inside the revolving door, and a number of door blades of the revolving door based on the feature of the at least one door blade;
generating, by the controller, an entry path including an initial location of the delivery robot and an entry time point for entering into the revolving door and control a drive part of the delivery robot to move the delivery robot along the entry path;
controlling, by the controller, the drive part to move the delivery robot in an inner region of the revolving door based on the rotational speed of the revolving door and a movement of the door blades;
determining, by the controller, a departure point located at an exit of the revolving door based on the initial location of the delivery robot, and generating a departure path based on the departure point and the location of the delivery robot; and
controlling, by the controller, the drive part to move the delivery robot along the departure path.