Mapping method of lawn mower robot

Patent metadata

Field	Value
Publication number	US-2021168996-A1
Application number	US-202016896610-A
Country	US
Kind code	A1
Filing date	Jun 9, 2020
Priority date	Dec 6, 2019
Publication date	Jun 10, 2021
Grant date	—

Abstract

A mapping method of a lawn mower robot may include a first image mapping operation of generating a first travel image of a three-dimensional region based on an aerial image of a work target region, a first map displaying operation of dividing the first travel image into a mowing region and an obstacle region, converting the first travel image into a first travel map, and displaying the first travel map. The mapping method may include a first anchor displaying operation of recommending the number and installation locations of anchors on the first travel map, an anchor location determination operation of determining whether the anchors are installed at the installation locations, and a path generation operation of generating a travel path of the lawn mower robot on the first travel map. The mapping method may improve work efficiency of the lawn mower robot.

First claim

What is claimed is:

1 . A mapping method for a robot, the method comprising:
generating a first travel image of a three-dimensional region based on an aerial image captured by photographing a work target region; displaying a first travel map by dividing the first travel image into a mowing region and an obstacle region distinguished from the mowing region, and converting the first travel image into the first travel map of a two-dimensional region; recommending the number and installation locations of anchors for recognition of a location of the robot on the first travel map; determining whether the anchors are installed at the installation locations; and generating a travel path of the first travel map for the robot.

2 . The method of claim 1 , wherein the generating of the first travel image includes:
obtaining a plurality of aerial images captured by photographing the work target region; extracting feature points from the plurality of aerial images; and generating a grid map using interpolation to match the feature points.

3 . The method of claim 2 , wherein the obstacle region includes a region formed to have an inclination greater than a predetermined inclination.

4 . The method of claim 1 , comprising modifying at least one of a location and a size of each of the mowing region and the obstacle region displayed on the first travel map.

5 . The method of claim 5 , comprising overlaying the first travel map on an image of the work target region based on a captured aerial image.

6 . The method of claim 1 , wherein, the number and installation locations of anchors for recognition of the location of the robot are displayed based on the mowing region and the obstacle region.

7 . The method of claim 6 , wherein determining whether the anchors are installed includes:
generating a second travel image of a three-dimensional region using an aerial image captured after installation of the anchors; displaying a second travel map by dividing the second travel image into a mowing region and an obstacle region, and converting the second travel image into the second travel map of a two-dimensional region; and displaying the first travel map and the second travel map in an overlaid manner.

8 . The method of claim 7 , further comprising:
converting locations into coordinates available to the robot based on set coordinate values of the installed anchors on the second travel map.

9 . The method of claim 1 , further comprising:
modifying the first travel map based on roll, pitch, and yaw information about the robot while the robot moves along the generated path.

10 . The method of claim 1 , wherein the mowing region is a region to be mowed, and the obstacle region is displayed to be distinguished from the mowing region.

11 . A mapping method for a robot, the method comprising:
generating a first travel image of a three-dimensional region based on an aerial image captured by photographing a work target region; displaying a first travel map by dividing the first travel image into a mowing region and an obstacle region, and converting the first travel image into the first travel map of a two-dimensional region; inputting a coordinate value to the first travel map based on a captured aerial image of the work target region that includes a global positioning system (GPS) sensor installed in the work target region; and generating a travel path on the first travel map for the robot.

12 . The method of claim 11 , wherein the generating of the first travel image includes:
obtaining a plurality of aerial images captured by photographing the work target region; extracting feature points from the plurality of aerial images; and generating a grid map using interpolation to match the feature points.

13 . The method of claim 12 , wherein the obstacle region includes a region formed to have an inclination greater than a predetermined inclination.

14 . The method of claim 11 , comprising modifying at least one of a location and a size of each of the mowing region and the obstacle region of the displayed first travel map.

15 . The method of claim 11 , wherein the GPS sensor includes at least three GPS sensors.

16 . The method of claim 11 , further comprising:
modifying the first travel map based on roll, pitch, and yaw information about the robot while the lawn mower robot moves along the generated path.

17 . The method of claim 11 , wherein the mowing region is a region to be mowed, and the obstacle region is displayed to be distinguished from the mowing region.

18 . A mapping method for a robot, the method comprising:
generating a first travel image of a three-dimensional region based on an aerial image captured by photographing a work target region; displaying a first travel map by dividing the first travel image into a mowing region and an obstacle region, and converting the first travel image into the first travel map of a two-dimensional region; allowing a robot including a GPS sensor to travel in the work target region; calculating coordinates available to the robot from the first travel map based on location information about the robot obtained while the robot travels in the work target region and based on aerial images captured while the robot travels in the work target region; and generating a travel path on the first travel map for the robot.

19 . The method of claim 18 , wherein the mowing region is a region to be mowed, and the obstacle region is displayed to be distinguished from the mowing region.

20 . The method of claim 18 , comprising performing lawn mowing while the robot moves along the generated travel path.

Assignees

• Lg Electronics Inc

Inventors

• Lee Jaekwang
• Ju Jeongwoo
• Noh Dongki

Classifications

• G06V20/188

  Vegetation · CPC title

• G06V20/10

  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) · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1692

  Calibration of manipulator · CPC title