Moving device and object detection method thereof

Patent metadata

Field	Value
Publication number	US-11428801-B2
Application number	US-201916690486-A
Country	US
Kind code	B2
Filing date	Nov 21, 2019
Priority date	Nov 21, 2018
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

A moving device and an object detection method thereof are provided. A method, performed by a moving device, of generating a map related to an object in a task space includes radiating at least one sensing signal toward aboveground and underground regions in a vicinity of the moving device, receiving signals reflected from an aboveground object located on a ground in the task space and an underground object located under the ground in the task space, and generating the map indicating distribution of the aboveground object and distribution of the underground object, based on the received reflected signals.

First claim

What is claimed is:

1. A moving device for generating a map related to an object, the moving device comprising:
a body;
a running unit configured to move the body;
a sensing circuitry configured to radiate sensing signals toward a region in a vicinity of the moving device;
a memory storing at least one instruction; and
a processor configured to execute the at least one instruction to:
control the sensing circuitry to radiate the sensing signals toward aboveground and underground regions in the vicinity of the moving device, and receive an aboveground reflected signal reflected from an aboveground object located on a ground in a task space of the moving device and an underground reflected signal reflected from an underground object located under the ground in the task space, and
generate a map indicating distribution of the aboveground object and distribution of the underground object, based on the aboveground reflected signal and the underground reflected signal,

wherein the processor is further configured to execute the at least one instruction to:
correct the aboveground reflected signal by removing a noise signal and an underground reflected signal previously stored in the memory, from the aboveground reflected signal and the underground reflected signal, and
determine characteristics of the aboveground object, based on the corrected aboveground reflected signal.

2. The moving device of claim 1 , wherein the processor is further configured to execute the at least one instruction to:
control the sensing circuitry to sequentially radiate a plurality of sensing signals while the moving device is moving, and
distinguish between the aboveground reflected signal and the underground reflected signal, based on variations of distance values calculated using the signals reflected from the aboveground object and the underground object.

3. The moving device of claim 1 , wherein the processor is further configured to execute the at least one instruction to determine characteristics of the aboveground object and the underground object, based on a frequency of the sensing signal, signal attenuation of the aboveground reflected signal, and signal attenuation of the underground reflected signal.

4. The moving device of claim 3 , wherein the characteristics of the aboveground object comprise at least one of material information of the aboveground object or type information of the aboveground object.

5. The moving device of claim 1 , wherein the processor is further configured to execute the at least one instruction to identify locations of the aboveground object and the underground object, based on distance values calculated using the signals reflected from the aboveground object and the underground object, and a location of the moving device.

6. The moving device of claim 1 , wherein the processor is further configured to execute the at least one instruction to:
control the sensing circuitry to radiate a radio-frequency (RF) signal in a downward direction of the moving device, and receive the underground reflected signal reflected from the underground object,
identify a location of the moving device corresponding to a time when the RF signal is radiated, and
generate distribution information indicating distribution of the underground object located under the task space, based on the received underground reflected signal and the identified location.

7. The moving device of claim 1 , wherein the processor is further configured to execute the at least one instruction to generate distribution information indicating distribution of the aboveground object in the task space, based on a location of the underground object identified based on the underground reflected signal.

8. The moving device of claim 1 ,
wherein the sensing circuitry comprises a first radio frequency (RF) sensor and a second RF sensor, and
wherein the first RF sensor is configured to detect the underground reflected signal and the second RF sensor configured to detect the aboveground reflected signal are mounted at different locations to radiate RF signals in different directions.

9. A method, performed by a moving device, of generating a map related to an object, the method comprising:
radiating sensing signals toward aboveground and underground regions in a vicinity of the moving device;
receiving an aboveground reflected signal reflected from an aboveground object located on a ground in a task space of the moving device and an underground reflected signal reflected from an underground object located under the ground in the task space;
generating a map indicating distribution of the aboveground object and distribution of the underground object, based on the aboveground reflected signal and the underground reflected signal;
correcting the aboveground reflected signal by removing a noise signal and an underground reflected signal previously stored in a memory, from the aboveground reflected signal and the underground reflected signal; and
determining characteristics of the aboveground object, based on the corrected aboveground reflected signal.

10. The method of claim 9 ,
wherein the radiating of the sensing signals comprises sequentially radiating a plurality of sensing signals while the moving device is moving, and
wherein the method further comprises distinguishing between the aboveground reflected signal and the underground reflected signal, based on variations of distance values calculated using the signals reflected from the aboveground object and the underground object.

11. The method of claim 9 , further comprising determining characteristics of the aboveground object and the underground object, based on a frequency of the sensing signal, signal attenuation of the aboveground reflected signal, and signal attenuation of the underground reflected signal.

12. The method of claim 9 , further comprising identifying locations of the aboveground object and the underground object, based on distance values calculated using the signals reflected from the aboveground object and the underground object, and a location of the moving device.

13. The method of claim 9 ,
wherein the receiving comprises receiving the underground reflected signal reflected from the underground object, based on a radio-frequency (RF) signal radiated in a downward direction of the moving device, and
wherein the generating of the map comprises identifying a location of the moving device corresponding to a time when the RF signal is radiated, and generating distribution information indicating distribution of the underground object located under the task space, based on the received underground reflected signal and the identified location.

14. The method of claim 9 , wherein the radiating of the at least one sensing signal comprises radiating the sensing signal toward each of the aboveground and underground regions by using a plurality of radio frequency (RF) sensors mounted at different locations on the moving device.

15. A computer program product comprising a non-transitory computer-readable recording medium having stored therein a program configured to, when executed, cause at least one computer processor to control to:
radiate sensing signals toward aboveground and underground regions in a vicinity of a moving device;
receive an aboveground reflected signal reflected from an aboveground object located on a ground in a task space of the moving device and an underground reflected signal reflected from an underground object located under the ground in the task space;
generate a map indicating distribution of the aboveground object and distribution of the underground

Assignees

• Samsung Electronics Co Ltd

Inventors

• Jeon Taehan
• Son Changwon
• Hwang Kyuyoun
• Kwon Dongwook
• Na Inhak

Classifications

• G01S13/89

  for mapping or imaging · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title

• G01S13/87

  Combinations of radar systems, e.g. primary radar and secondary radar · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title