Apparatus and method for recognizing self-position in robot system
First Claim
1. An apparatus for recognizing self-position in a robot system, comprising:
- reflex distance detecting means for outputting a designated signal to each direction obtained by equally dividing 360°
as designated, detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted, and based on the detection result, detecting the distance to the object in each direction;
direction detecting means for providing information of absolute direction;
saving means for saving information about a cell-unit virtual map and directional reflex distance information of each cell; and
controlling means for controlling general operation of the reflex distance detecting means and the direction detecting means, generating directional reflex distance information per cell and saving the information into the saving means, and recognizing the present position by comparing the directional reflex distance information of each cell with the directional reflex distance information from the present position of a detected robot.
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Abstract
The present invention relates to an apparatus and method for recognizing self-position employing a virtual map divided into directional reflex distance data and cell unit, and a computer-readable recording medium for recording a program containing the method of the invention. The apparatus for recognizing self-position in a robot system includes: a reflex distance detecting unit for outputting a designated signal to each direction obtained by equally dividing 360° as designated, detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted, and based on the detection result, detecting the distance to the object in each direction; direction detecting unit for providing information of absolute direction; and, controlling unit for controlling general operation of the reflex distance detecting unit and the direction detecting unit, dividing the region on a virtual map into a cell unit to generate directional reflex distance information per cell, and recognizing the present position by comparing the directional reflex distance information of each cell with the directional reflex distance information from the present position of a detected robot.
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Citations
6 Claims
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1. An apparatus for recognizing self-position in a robot system, comprising:
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reflex distance detecting means for outputting a designated signal to each direction obtained by equally dividing 360°
as designated, detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted, and based on the detection result, detecting the distance to the object in each direction;
direction detecting means for providing information of absolute direction;
saving means for saving information about a cell-unit virtual map and directional reflex distance information of each cell; and
controlling means for controlling general operation of the reflex distance detecting means and the direction detecting means, generating directional reflex distance information per cell and saving the information into the saving means, and recognizing the present position by comparing the directional reflex distance information of each cell with the directional reflex distance information from the present position of a detected robot. - View Dependent Claims (2)
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3. A method for recognizing self-position in a robot system, comprising the steps of:
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a) forming a virtual map consisting of a plurality of cells;
b) outputting a designated signal to each direction obtained by equally dividing 360°
as designated, and detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted;
c) detecting distance to the object from each direction based on the detected point from the previous step, and saving the distance in each cell;
d) detecting directional reflex distance information at the present position of the robot; and
e) recognizing the present position of the robot by comparing the directional reflex distance information saved in each cell and the directional reflex distance information at the present position of the robot. - View Dependent Claims (4)
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5. A computer-readable recording medium storing instructions for executing a method for recognizing self-position in a robot system, the method comprising the steps of:
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a) forming a virtual map consisting of a plurality of cells;
b) outputting a designated signal to each direction obtained by equally dividing 360°
as designated, and detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted;
c) detecting distance to the object from each direction based on the detected point from the previous step, and saving the distance in each cell;
d) detecting directional reflex distance information at the present position of the robot; and
e) recognizing the present position of the robot by comparing the directional reflex distance information saved in each cell and the directional reflex distance information at the present position of the robot. - View Dependent Claims (6)
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Specification