Mapping method of lawn mower robot

{
  "publication_number": "US11672199B2",
  "country": "US",
  "kind": "B2",
  "title": "Mapping method of lawn mower robot",
  "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.",
  "claims": [
    "1. A mapping method for a lawn mower, 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; converting the first travel image into a first travel map of a two-dimensional region by dividing the first travel image into a mowing region and an obstacle region distinguished from the mowing region; recommending the number and installation locations of anchors for recognition of a location of the lawn mower 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 lawn mower, wherein the generating of the first travel image includes: extracting feature points from a plurality of aerial images including the work target region; and generating a grid map using interpolation to match the feature points, wherein the number and installation locations of anchors for recognition of the location of the lawn mower are marked on the first travel map based on the mowing region and the obstacle region, and wherein the 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; converting the second travel image into a second travel map of a two-dimensional region by dividing the second travel image into a mowing region and an obstacle region, and overlaying the first travel map with the second travel map.",
    "2. The method of claim 1, wherein the obstacle region includes a region formed to have an inclination greater than a predetermined inclination.",
    "3. 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 marked on the first travel map.",
    "4. The method of claim 1, comprising overlaying the first travel map on an image of the work target region based on a captured aerial image.",
    "5. The method of claim 1, further comprising: converting locations into coordinates available to the lawn mower based on set coordinate values of the installed anchors on the second travel map.",
    "6. The method of claim 1, further comprising: modifying the first travel map based on roll, pitch, and yaw information about the lawn mower while the lawn mower moves along the generated path.",
    "7. The method of claim 1, wherein the mowing region is a region to be mowed, and the obstacle region is marked to be distinguished from the mowing region."
  ],
  "description_excerpt": "The present disclosure relates to a method for generating a map of a lawn mower.\n\nRobots have been developed for industrial use and have been a part of factory automation. In recent years, with further expansion of the application of robots, medical robots, aerospace robots, and the like have been developed, and home robots that can be used in homes have also been made. Among these robots, a moving robot capable of autonomously traveling is called a mobile robot. A lawn mower robot is a representative example of a mobile robot used in an outdoor environment of a home.\n\nA lawn mower is a device designed to trim the grass planted in the yard of a home or a playground. Such lawn mowers may be divided into household mowers used in homes and tractors used in large playgrounds or farms.\n\nIn busy daily life, it is difficult for the user to directly operate the lawn mower to mow the lawn in the yard. For this reason, a person to mow the lawn may be hired, which may result in employment costs.\n\nAn automatic robot-type lawn mower has been developed to prevent incurrence of such additional costs and save the user's effort. Various studies have been conducted to control such an automatic robot-type lawn mower to stay in a desired area.\n\nIn order to automatically mow the lawn in the garden or the like, it is important to accurately input information on the area where mowing is to be performed. There may be a variety of ways to receive information on a work area where mowing is to be performed.",
  "cpc": [
    "A01D 34/008",
    "B25J 11/008",
    "B25J 9/1664",
    "B25J 9/1692",
    "B25J 9/1697",
    "G05D 1/0044",
    "G05D 1/0212",
    "G05D 1/0274",
    "G05D 1/0278",
    "G05D 1/028",
    "G05D 1/246",
    "G05D 1/49",
    "G05D 1/617",
    "G05D 2107/23",
    "G05D 2109/10",
    "G05D 2201/0208",
    "G06V 20/10",
    "G06V 20/17",
    "G06V 20/188",
    "G09B 29/003"
  ],
  "ipc": [
    "A01D 34/00",
    "G05D 1/00",
    "G05D 1/02",
    "G06V 20/10"
  ],
  "assignees": [
    "LG Electronics Inc"
  ],
  "inventors": [
    "Jaekwang Lee",
    "Jeongwoo JU",
    "Dongki Noh"
  ],
  "filing_date": "2020-06-09",
  "publication_date": "2023-06-13",
  "grant_date": "2023-06-13",
  "priority_date": "2019-12-06",
  "application_number": "US-202016896610-A",
  "family_id": "76208878",
  "cited_by_count": 3,
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}