Patents · Core Technology
Autonomous driving technology assets developed and secured by NaviFra.
28
Registered patents
Registered patents28
Patents that have passed examination and been registered.
Robot Providing Route Guidance Images and Operating Method Thereof
Disclosed are a robot that travels along a route together with a user while providing route guidance image information, and an operating method thereof. By projecting onto a projection area an image that includes a linked real-world map, the travel route, and position information of the robot and the user, the robot can help the user being guided to efficiently check the information needed for travel while moving.
NaviFra Inc. · Application 10-2024-0136483 (2024-10-08)
Apparatus and Method for Path Generation Using a Wheel-Environment Pairing Matrix
Disclosed are an apparatus and method for generating a path using a wheel-environment pairing matrix. A path generation apparatus according to an embodiment includes: a selection unit that selects a model predictive control algorithm and a path planning algorithm based on the robot's wheel type and operating environment type; through bidirectional feedback between the selected model predictive control and path planning algorithms, control performance and…
NaviFra Inc. · Application 10-2025-0071549 (2025-05-30)
Apparatus and Method for Controlling a Robot Based on Model Predictive Control According to the Robot's Wheel Type
Disclosed are an apparatus and method for controlling a robot in real time based on model predictive control (MPC) according to the robot's wheel type.
NaviFra Inc. · Application 10-2025-0071548 (2025-05-30)
Apparatus and Method for 3D Environment Modeling
Disclosed are an apparatus and method for modeling a 3D environment by registering data from an RGB-D camera and a LiDAR sensor.
NaviFra Inc. · Application 10-2025-0071322 (2025-05-30)
Robot for Predicting and Following User Movement
Disclosed are a robot that predicts a user's movement, follows the user, and projects route guidance image information, and an operating method thereof. Because the robot is implemented to follow behind the person, it can address problems of the conventional approach in which the person follows the robot, such as the user losing sight of the robot or being unable to smoothly check the guidance information the robot provides…
NaviFra Inc. · Application 10-2024-0136482 (2024-10-08)
Apparatus and Method for Parking Management Using Cameras
Disclosed are an apparatus and method for performing parking management by detecting parking spaces and vehicles through cameras. A parking management apparatus according to an embodiment includes: a sensor unit that detects people and vehicles through one or more RGB-D cameras and a LiDAR sensor and generates sensor data; based on the sensor data, the movement of people, the movement of vehicles…
NaviFra Inc. · Application 10-2025-0071552 (2025-05-30)
Apparatus and Method for Object Position Estimation Based on CAD Data
Disclosed are an apparatus and method for precisely estimating an object's position in a docking system using the object's CAD data.
NaviFra Inc. · Application 10-2025-0091911 (2025-07-08)
Apparatus and Method for Forming 3D Objects
Disclosed are an apparatus and method for forming a 3D object by performing similarity and reliability analysis between a 3D object shape generated in real time and an existing object shape, together with ICP registration.
NaviFra Inc. · Application 10-2025-0071324 (2025-05-30)
Apparatus and Method for Pallet Recognition
Disclosed are a pallet recognition apparatus and method that reconstruct a 3D pallet structure by fusing corner point information, detected in 2D images using a deep learning model, with depth data.
NaviFra Inc. · Application 10-2025-0037467 (2025-03-24)
Mobile Robot Unit for Floor Damage Control and Control Method Thereof
The present invention comprises a unit control unit (22) including a path control unit (2215) that generates a travel path and a path travel control unit (2217) that controls travel along the generated travel path, wherein the path generation control unit (2215) uses edge link information including node information and direction information, through input path planning information…
NaviFra Inc. · Application 10-2024-0157098 (2024-11-07)
Apparatus and Method for Path Generation for a Forklift Robot
Disclosed are an apparatus and method for generating paths for a forklift robot, which generate an optimal path for the forklift robot and, upon a docking failure, regenerate the path by reflecting real-time sensor data.
NaviFra Inc. · Application 10-2025-0037468 (2025-03-24)
Mobile Robot Unit, Mobile Robot System, and Method for Controlling a Mobile Robot System
The present invention includes a plurality of mobile robot units (20) and a mobile robot managing server (10) that provides the reference paths along which the mobile robot units (20) travel and manages their travel, wherein, when an obstacle is detected on the reference path during travel of a mobile robot unit (20) and a collision is predicted, the mobile robot…
NaviFra Inc. · Application 10-2025-0054215 (2025-04-25)
Multi-Scheduling Mobile Robot System and Method for Controlling a Multi-Scheduling Mobile Robot System
The present invention includes a plurality of mobile robot units (20), and receives planning information including at least a destination and an arrival point, checks for collisions between the plurality of mobile robot units (20), transmits travel paths to the mobile robot units, and the mobile robot status information transmitted from the mobile robot units (20)…
NaviFra Inc. · Application 10-2025-0051115 (2025-04-18)
Apparatus and Method for Image Integration and Object Recognition
Disclosed are an image integration and object recognition apparatus and method that perform selective-resolution stitching on multiple camera images based on weights reflecting environmental conditions and the likelihood of object appearance, and perform object recognition by estimating the probability of object presence in priority search regions.
NaviFra Inc. · Application 10-2025-0071323 (2025-05-30)
Calibration Control Method for a Mobile Robot Unit
The present invention comprises a type checking step (S0) of checking at least the drive type of a mobile robot unit that has a unit drive unit (16) and acquires sensing information from the travel environment to perform mapping and localization, and, using the sensing information of the encoder sensing unit (115) and the LiDAR sensing unit (111) of the mobile robot unit (10), the…
NaviFra Inc. · Application 10-2025-0051181 (2025-04-18)
Mobile Robot System Based on Travel in Unstructured Work Environments and Method for Controlling the Mobile Robot System
The present invention comprises a providing step (S1) of providing a mobile robot system (1) including a plurality of mobile robot units (20) and a mobile robot server (10) that searches for, updates, and confirms the travel paths of the mobile robot units (20), and planning information including a destination and an arrival point, and [information] transmitted from the plurality of mobile robot units (20)…
NaviFra Inc. · Application 10-2024-0075498 (2024-06-11)
Mobile Robot Server and Mobile Robot System Based on Travel in Unstructured Work Environments Including the Same
The present invention includes a plurality of mobile robot units (20), and receives planning information including a destination and an arrival point, checks for collisions between the plurality of mobile robot units (20), transmits travel paths to the mobile robot units, and feeds back the mobile robot status information transmitted from the mobile robot units (20)…
NaviFra Inc. · Application 10-2024-0075497 (2024-06-11)
Layered Grid Map Generation Method, Layered Grid Map-Based Localization Method, Layered Grid Map-Based Mobile Robot Unit, and Mobile Robot System Including the Same
The present invention comprises a characterizing step (S110) of acquiring sensing information from the travel environment and, through the occupancy states of cells in a grid map corresponding to the travel environment, identifying and generating sensing-information characters for character-unit cells of a preset unit size, and a frame registration [step] of registering the sensing-information characters within the plurality of frames in which the sensing information was acquired…
NaviFra Inc. · Application 10-2025-0049666 (2025-04-16)
Conveyance Robot Unit, Mobile Robot System Including the Same, and Control Method Thereof
The present invention relates to a conveyance robot unit (20) that carries and transfers loads between a load loading position and the work position of a working robot (W) deployed at a work site, comprising: a conveyance robot unit sensing unit (21) that identifies markers at the work site in an initial state without guide markers on the floor or a pre-explored map; and, the load loading position…
NaviFra Inc. · Application 10-2024-0066945 (2024-05-23)
Mobile Robot Travel Map Generation Unit and Mobile Robot Travel Map Generation Method
The present invention relates to a mobile robot travel map generation method for the travel of a mobile robot, in which multiple pieces of individual mobile robot travel map information, each including a plurality of input LiDAR points and its own travel-specific information, are each formed into map region information including occupied regions, unoccupied regions, and unexplored regions, and among the unexplored regions…
NaviFra Inc. · Application 10-2023-0153038 (2023-11-07)
Mobile Robot Travel Map Generation Unit and Mobile Robot Travel Map Generation Method
The present invention includes a plurality of mobile robot units (20) and a mobile robot managing server (10) that provides the reference paths along which the mobile robot units (20) travel and manages their travel, wherein, when an obstacle is detected on the reference path during travel of a mobile robot unit (20) and a collision is predicted, the mobile robot…
NaviFra Inc. · Application 10-2023-0153089 (2023-11-07)
VPS-Integrated Mobile Robot Unit, Mobile Robot System, and Method for Controlling a VPS-Integrated Mobile Robot Unit
The present invention relates to a mobile robot unit (20) comprising: a unit storage unit (23) that stores an integrated map linking a grid map and a VPS map; and, based on the integrated map, surrounding-environment distance positioning information obtained through a sampling range that can vary according to the kinematic drive type of the unit drive unit (28), and from surrounding-environment image information…
NaviFra Inc. · Application 10-2023-0098631 (2023-07-28)
Apparatus and Method for Fleet Control of Autonomous Mobile Robots
Disclosed are an apparatus and method for fleet control of autonomous mobile robots using a visual positioning system. An autonomous mobile robot fleet control apparatus according to an embodiment includes: a communication unit that communicates with an autonomous mobile robot (AMR); and a control unit connected to the communication unit, wherein the control unit, through the communication unit, the autonomous…
NaviFra Inc. · Application 10-2024-0064054 (2024-05-16)
Route Guidance Robot Using Image Projection and Operating Method Thereof
Disclosed are a route guidance robot that travels along a route together with a user while projecting route guidance image information, and an operating method thereof. The route guidance robot includes: an interface unit for receiving input data from the user; a sensor unit including one or more sensors; a drive unit including one or more motors for moving the robot; an image projector that projects images…
NaviFra Inc. · Application 10-2024-0077475 (2024-06-14)
Route Guidance Robot That Follows a User and Operating Method Thereof
Disclosed are a route guidance robot that follows a user while projecting route guidance image information, and an operating method thereof. A route guidance robot according to an embodiment includes: an interface unit for receiving input data from the user; a sensor unit including one or more sensors; a drive unit including one or more motors for moving the robot; an image projector that projects…
NaviFra Inc. · Application 10-2024-0077474 (2024-06-14)
Method for Controlling a Mobile Robot
The present invention provides a method for generating a safe path plan for a mobile robot, including a process of using a congestion map and a grid map and a process of planning a path using a cost function.
NaviFra Inc. · Application 10-2016-0143822 (2016-10-31)
Method for Creating a Grid Map Using a Mobile Robot
The present invention relates to a method for creating a grid map using a mobile robot, in which a control unit applies drive control signals to a robot drive unit to control travel, using sensing information from a sensing unit (10) including a distance sensor (11) and preset data stored in a storage unit (30), including drawing information that contains grid information on the actual environment,…
NaviFra Inc. · Application 10-2016-0143824 (2016-10-31)
Method for Mobile Robot Localization Using Arbitrary Shape Features of the Ceiling
The present invention comprises a providing step of providing a mobile robot apparatus for localization using arbitrary ceiling shape features, the apparatus having an image input unit, an encoder sensing unit, a computation unit, a control unit, a storage unit, and a drive unit; and a feature extraction step of extracting features, including arbitrary shape features, from contours extracted from image information input through the image input unit…
NaviFra Inc. · Application 10-2011-0086112 (2011-08-27)