Mobile robot and controlling method of the same
First Claim
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1. A method for a mobile robot, the method comprising:
- dividing an entire region to be cleaned into a plurality of movement regions;
obtaining image information at a predetermined time interval while moving within each of the plurality of movement regions;
extracting feature points from the obtained image information, and making sub maps corresponding to each of the plurality of movement regions based on the extracted feature points;
determining whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a closed curved line by checking whether a starting moving point and an ending moving point of the respective movement paths are the same as each other;
compensating a sub map having a movement path, not forming a closed curved line, by connecting a starting point and an ending point of the movement path; and
making a map of the entire region by connecting the sub maps.
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Abstract
Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
30 Citations
18 Claims
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1. A method for a mobile robot, the method comprising:
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dividing an entire region to be cleaned into a plurality of movement regions; obtaining image information at a predetermined time interval while moving within each of the plurality of movement regions; extracting feature points from the obtained image information, and making sub maps corresponding to each of the plurality of movement regions based on the extracted feature points; determining whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a closed curved line by checking whether a starting moving point and an ending moving point of the respective movement paths are the same as each other; compensating a sub map having a movement path, not forming a closed curved line, by connecting a starting point and an ending point of the movement path; and making a map of the entire region by connecting the sub maps. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A mobile robot, comprising:
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a detection unit configured to obtain image information at a predetermined time interval while moving within each of a plurality of movement regions; and a control unit configured to divide an entire region to be cleaned into the plurality of movement regions, to extract feature points from the obtained image information, to make sub maps corresponding to each of the plurality of movement regions based on the extracted feature points, to determine whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a dosed curved line by checking whether a starting moving point and an ending moving point of the respective movement paths are the same as each other, to compensate a sub map having a movement path, not forming a closed curved line, by connecting a starting point and an ending point of the movement path and to make a map of the entire region by connecting the sub maps. - View Dependent Claims (10, 11, 12, 13)
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14. A mobile robot, comprising:
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detector configured to obtain image information at a time interval while moving within each of a plurality of movement regions; and a controller configured to divide a region to be cleaned into the plurality of movement regions, to extract feature points from the obtained image information, to make sub maps corresponding to each of the plurality of movement regions based on the extracted feature points, to determine whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a closed figure by checking whether a starting moving point of the figure and an ending moving point of the figure are the same as each other, to compensate a sub map having a movement path that forms an open figure, by connecting a starting point and an ending point of the open figure, and to make a map of the entire region by connecting the sub maps. - View Dependent Claims (15, 16, 17, 18)
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Specification