Patent ID: 10939791

Abstract:
The present invention relates to a moving robot capable of recognizing a position on a map and a control method of the moving robot, and the moving robot according to the present invention includes: a travel drive unit configured to move a main body; an image acquisition unit configured to acquire images of surroundings; and a controller configured to recognize a current position. The controller is further configured to separate the travel area by the predetermined criterion into a plurality of large areas, into which the plurality of small areas is grouped; compute each large area feature distribution and the at least one recognition descriptor by a predetermined superordinate estimation rule to select a large area in which the current position is included; and compute the small area feature distribution and the at least one recognition descriptor by the predetermined estimation rule to select a small area, in which the current position is included, from among a plurality of small areas included in the selected large area.The control method according to the present invention includes: a learning process of learning a travel area to generate a map and separating the travel area into a plurality of small areas by a predetermined criterion; and a recognition process of selecting a current position on the map. The recognition process includes: a recognition descriptor generation process of acquiring an image of the current position, extract at least one recognition feature from the acquired image, and generating a recognition descriptor corresponding to the at least one recognition feature. The recognition process includes: a large area selection process of computing each large area feature distribution and the at least one recognition descriptor by a predetermined superordinate estimation rule to select a large area in which the current position is included.