OBSTACLE DETECTION APPARATUS OF MULTI-CHANNEL LIDAR-BASED MOBILE ROBOT AND METHOD THEREOF AND MOBILE ROBOT INCLUDING SAME

摘要

According to an embodiment of the present invention, disclosed are an obstacle detection apparatus of a multi-channel lidar-based mobile robot and a method thereof which increase the cleaning robots efficiency. According to an embodiment of the present invention, the obstacle detection apparatus of a multi-channel lidar-based mobile robot comprises: a multi-channel lidar unit having at least two laser modules with different emission angles of transmission signals to detect three dimensional environment information including obstacle information of a mobile robot; a projection map generation unit to generate the three dimensional environment information to define an obstacle in three dimensions based on reception information of the at least two laser modules, and generate a projection map including the three dimensional environment information on a two dimensional space map; and a driving path generation unit to determine a spatial position of an obstacle based on the projection map, and generate a driving path to avoid the obstacle to drive.;COPYRIGHT KIPO 2018