Method of identifying functional region in 3-dimensional space, and robot implementing the method

Patent metadata

Field	Value
Publication number	US-10620636-B2
Application number	US-201815875235-A
Country	US
Kind code	B2
Filing date	Jan 19, 2018
Priority date	Jan 25, 2017
Publication date	Apr 14, 2020
Grant date	Apr 14, 2020

Abstract

The present disclosure relates to a method of identifying a functional region in a 3-dimensional space and a robot implementing the method, and the robot comprises a sensing module that senses a protrusion located outside a robot and provides height and depth information of the sensed protrusion; a functional unit that provides a predetermined function to the outside; a moving unit that moves the robot; a map storage unit that stores a map required for movement of the robot; and a control unit that controls these components.

First claim

What is claimed is:

1. A robot that performs a predetermined function, the robot comprising:
a sensor that detects a protrusion located outside the robot in a three-dimensional space and determines height and depth information about the protrusion;
a driven wheel that moves the robot;
a map memory that stores a map of a region around the robot; and
a controller that compares the height and depth information about the protrusion that is collected by the sensor and the map stored in the map memory to identify a functional region in the three-dimensional space where the robot can perform the predetermined function,
wherein the predetermined function is a cleaning function,
wherein the robot further comprises:
a cleaning head to perform the cleaning function; and
an arm which can move at least one of horizontally or vertically to position the cleaning head relative to a body of robot, and

wherein the robot performs the cleaning function in a portion of the functional region associated with the protrusion by extending the arm to position the cleaning head in the portion of the functional region when the protrusion prevents the body of the robot from entering the portion of the functional region.

2. The robot of claim 1 , wherein the map stores information about a fixed object in a moving space of the robot in two dimensions and stores information about the protrusion in three dimensions, and a height at which the protrusion is located is smaller than a height of the robot.

3. The robot of claim 1 , wherein the sensor includes:
a first infrared sensor that is provided at an upper end of the robot and senses a distance to a first object located at a height of the robot;
an ultrasonic sensor that is provided at a lower position than the first infrared sensor and senses a distance to a second object located outside the robot;
a depth sensor that senses a depth of a third object in front of the robot; and
a sensing data processor that analyzes data collected by the first infrared sensor, the ultrasonic sensor, and the depth sensor.

4. The robot of claim 3 , wherein the sensing data processor provides the controller with the distance to the second object sensed by the ultrasonic sensor and the distance to the first object sensed by the first infrared sensor, and
wherein the controller determines the protrusion based on a difference between the distance to the first object and the distance to the second object.

5. The robot of claim 3 , wherein the sensor further includes a second infrared sensor that is provided at a lower end of the robot lower than the ultrasonic sensor and determines a distance to a fourth object located at a height over which the robot can pass.

6. The robot of claim 3 , wherein the sensor further includes a light and distance ranging (LiDAR) sensor provided above the first infrared sensor.

7. The robot of claim 1 , wherein the controller, when identifying the functional region, is further configured to include in the functional region, an area outside the robot that is blocked by the protrusion and within a movement range of the arm.

8. The robot of claim 1 , wherein the controller, when identifying the functional region, is further configured to include in the functional region, a portion of the protrusion having an upper height that is below a reference height.

9. The robot of claim 1 , further comprising a communication interface to forward the height and depth information about the protrusion to at least one of a server or another robot.

10. A method of controlling a robot that performs a predetermined function in a functional region of a three-dimensional space, the method comprising:
detecting, by a sensor of the robot, a height and a depth of a protrusion located outside the robot in a three dimensional space;
determining, by a controller of the robot, the functional region in the three-dimensional space including the protrusion based on the height and the depth of the protrusion and a map of a region around the robot; and
controlling, by the controller, a movement of the robot to perform the predetermined function in the functional region,
wherein the predetermined function is a cleaning function, and the robot includes a cleaning head, and an arm that moves the cleaning head at least one of vertically or horizontally to perform the cleaning function, and
wherein the method further comprises performing the cleaning function in a portion of the functional region by extending the arm to position the cleaning head in the portion of the functional region when the protrusion prevents a body of the robot from entering the portion of the functional region.

11. The method of claim 10 , further comprising
storing information about a fixed object in a moving space of the robot in the map in two dimensions; and
storing information about the protrusion in three dimensions.

12. The method of claim 10 , wherein detecting the protrusion includes:
sensing, by a first infrared sensor provided at an upper end of the robot, a distance to a first object located at a height of the robot;
sensing, by an ultrasonic sensor provided at a lower position than the first infrared sensor, a distance to a second object located outside the robot;
sensing, by a depth sensor, a depth of a third object in front of the robot; and
analyzing, by a sensing data processor, data sensed by the first infrared sensor, the ultrasonic sensor and the depth sensor to determine the height and the depth of the protrusion.

13. The method of claim 12 , further comprising
providing, by the sensing data processor, the controller with the distance to the second object sensed by the ultrasonic sensor and the distance to the first object sensed by the first infrared sensor; and
determining, by the controller, the protrusion associated with the first and second objects based on a difference between the distance to the first object and the distance to the second object.

14. The method of claim 12 , further comprising:
sensing, by a second infrared sensor provided at a lower end of the robot lower than the ultrasonic sensor, a distance to a fourth object located at a height over which the robot can pass.

15. The method of claim 12 , further comprising
sensing, by a light and distance ranging (LiDAR) sensor provided above the first infrared sensor, an attribute of the protrusion.

16. The method of claim 10 , wherein determining the functional area includes:
including, in the functional region, an area outside the robot that is blocked by the protrusion and within a movement range of the arm.

17. The method of claim 10 , wherein determining the functional area includes:
including, in the functional region, a portion of the protrusion having an upper height that is below a reference height.

18. The method of claim 10 , further comprising:
forwarding the height and depth information about the protrusion to at least one of a server or another robot.

19. A robot that performs a function, the robot comprising:
a body;
a sensor that detects an obstacle located outside the body of the robot in a three-dimensional space and determines height and depth information about the obstacle;
a wheel that rotates to move the body of the robot;
a functional unit to perform the function; and
an arm which can move at least one of horizontally or vertically to position the function unit relative to the body of robot,
a controller that compares the height and depth information about the obstacle and a stored map of a region around the robot to

Assignees

• Lg Electronics Inc

Inventors

• Lee Changhyeon
• Kim Han Shin
• Choi Kyuchun

Classifications

• Y10S901/49

  Protective device · CPC title

• A47L11/4061

  Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated · CPC title

• B25J11/0085

  Cleaning · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B25J15/0019

  End effectors other than grippers · CPC title