Mobile robot and system and method of compensating for path diversions
First Claim
1. A mobile robot comprising:
- a mobile main body;
a driving part within the main body for driving a plurality of wheels;
a vision camera mounted on the main body to photograph an upper image perpendicular to a direction in which the mobile main body can travel; and
a controller, operatively coupled to the driving part and the vision camera, calculating a rotation angle using polar-mapping image data obtained from the vision camera by polar-mapping an image, photographed by the vision camera, said controller driving the driving part using the calculated rotation angle.
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Abstract
A mobile robot measures a rotation angle using information from an image photographed by a vision camera. A mobile robot system comprises a main body of the robot, a driving part for driving a plurality of wheels; a vision camera mounted on a main body thereof to photograph an upper image which is perpendicular to a traveling direction; and a controller for calculating a rotation angle using polar-mapping image data obtained by polar-mapping a ceiling image, photographed by the vision camera, with respect to a ceiling of a working area. The controller drives the driving part using a calculated rotation angle. The rotation angle is measured by the vision cameras and the rotation angle can be used to compensate the working path, without having to provide expensive devices such as an accelerometer or a gyroscope, thereby saving manufacturing cost.
33 Citations
10 Claims
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1. A mobile robot comprising:
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a mobile main body;
a driving part within the main body for driving a plurality of wheels;
a vision camera mounted on the main body to photograph an upper image perpendicular to a direction in which the mobile main body can travel; and
a controller, operatively coupled to the driving part and the vision camera, calculating a rotation angle using polar-mapping image data obtained from the vision camera by polar-mapping an image, photographed by the vision camera, said controller driving the driving part using the calculated rotation angle. - View Dependent Claims (2, 3)
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4. A mobile robot system comprising:
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a mobile robot having a driving part driving a plurality of wheels and a vision camera mounted on a main body of the mobile robot to photograph an image perpendicular to a traveling direction; and
a controller, wirelessly communicating with the mobile robot, wherein the controller calculates a rotation angle using polar-mapping image data obtained by polar-mapping a ceiling image photographed by the vision camera, said controller controlling a working path of the mobile robot using the calculated rotation angle. - View Dependent Claims (5, 6)
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7. A method for compensating a path of a mobile robot, the method comprising the steps of:
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storing initial polar-mapping image data obtained by polar-mapping an initial ceiling image photographed by a vision camera;
changing a traveling angle of the mobile robot, so that the mobile robot is diverted according to at least one of;
a working path programmed in advance and an obstacle; and
after changing the traveling angle of the mobile robot, comparing the initial polar-mapping image data with current polar-mapping image data obtained by polar-mapping the current ceiling image photographed by the vision camera, thereby adjusting the traveling angle of the mobile robot. - View Dependent Claims (8)
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9. A method for compensating a path of a mobile robot, comprising the steps of:
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storing initial polar-mapping image data obtained by polar-mapping an initial ceiling image photographed by a vision camera;
changing a traveling angle of the mobile robot, so that the mobile robot is diverted according to at least one of a working path programmed in advance and an obstacle;
while the robot cleaner changes the traveling angle, determining whether the traveling angle of the mobile robot corresponds to at least one of;
directions;
a traveling direction according to a preset working path and a traveling direction for avoiding an obstacle, by comparing the initial polar-mapping image data with real-time polar-mapping image data, obtained by polar-mapping the ceiling image photographed real time or at regular intervals by the vision camera; and
stopping changing of the traveling angle of the mobile robot when the traveling angle of the mobile robot corresponds to the at least one of the directions;
a traveling direction according to a preset working path and a traveling direction for avoiding an obstacle. - View Dependent Claims (10)
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Specification