×

System for operating mobile robot based on complex map information and operating method thereof

  • US 10,335,949 B2
  • Filed: 01/19/2017
  • Issued: 07/02/2019
  • Est. Priority Date: 01/20/2016
  • Status: Active Grant
First Claim
Patent Images

1. A mobile robot comprising:

  • a memory; and

    a controller,wherein the controller selects cleaning area information stored in the memory, recognizes a position of the mobile robot within a cleaning area, and causes the mobile robot to clean the cleaning area based on the selected cleaning area information and the recognized position using feature point maps including feature point information for the cleaning area,wherein the controller obtains images of the cleaning area while the mobile robot moves from a first position to a second position within the cleaning area, and extracts feature point information from the obtained images to configure a temporary feature point map,wherein the controller calculates odometry information using inertia information obtained during the movement of the mobile robot from the first position to the second position, and predicts a movement point based on the calculated odometry information,wherein the controller compares the temporary feature point map with feature point maps associated with the predicted movement point and a vicinity of the predicted movement point without comparing the temporary feature point map with all feature point maps which constitute a loaded composite of cleaning area information, andwherein the controller determines, based on the comparison of the temporary feature point map with the feature point maps associated with the predicted movement point and a vicinity of the predicted movement point, a position having a highest matching rate as the second position.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×