System and method for detecting traveling state
First Claim
1. A system for detecting a traveling state, comprising:
- an image receiving unit acquiring two consecutive images and detecting first traveling information from image information regarding each of the two consecutive images;
a traveling information processing unit connected to a driver moving in a direction perpendicular to a direction in which the images are acquired, the traveling information processing unit detecting second traveling information from the driver; and
a control unit determining the traveling state based on the first traveling information and the second traveling information.
1 Assignment
0 Petitions
Accused Products
Abstract
A system and method for detecting a traveling state. The system includes an image receiving unit acquiring two consecutive images and detecting first traveling information from image information regarding each of the two consecutive images, a traveling information processing unit connected to a driver moving in a direction perpendicular to a direction in which the images are acquired, the traveling information processing unit detecting second traveling information from information regarding the driver, and a control unit determining the traveling state based on the first traveling information and the second traveling information.
-
Citations
37 Claims
-
1. A system for detecting a traveling state, comprising:
-
an image receiving unit acquiring two consecutive images and detecting first traveling information from image information regarding each of the two consecutive images;
a traveling information processing unit connected to a driver moving in a direction perpendicular to a direction in which the images are acquired, the traveling information processing unit detecting second traveling information from the driver; and
a control unit determining the traveling state based on the first traveling information and the second traveling information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method of detecting a traveling state, comprising:
-
acquiring two consecutive images and detecting first traveling information from image information regarding each of the two consecutive images;
detecting second traveling information from a driver moving in a direction perpendicular to a direction in which the images are acquired; and
determining the traveling state based on the first traveling information and the second traveling information. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
-
17. A system for detecting a traveling state, comprising:
-
a control unit including a command receiver receiving a traveling command from a user, a traveling state determiner receiving traveling information and image information and determining a current traveling state of the system, and a compensator correcting, when a current traveling state is abnormal, the abnormal traveling state into a normal state;
a traveling unit including a driver receiving the traveling command from the control unit and driving the system to move, and a traveling information processor performing signal processing on traveling information received from the driver and transmitting a signal processing result to the control unit;
an image receiving unit including an image grabber receiving an image according to a command from the control unit and an image information processor performing signal processing on image information received from the image grabber and transmitting a signal processing result to the control unit; and
a traveling command input unit receiving a traveling command and transmitting the traveling command to the control unit. - View Dependent Claims (18, 19, 20, 21, 22)
-
-
23. A method of determining a rotary movement state, comprising:
-
receiving a first image and a second image;
converting the first image and the second image into respective first and second polar coordinates;
acquiring a first polar image and a second polar image from the first polar coordinates and the second polar coordinates, respectively; and
detecting a rotation angle by setting a parameter shift_count to adjust a number of sum of squared distance (SSD) calculations which are calculated with respect to 360 angles each at an interval of 1 degree from 0 degrees to 359 degrees. - View Dependent Claims (24, 25)
-
-
26. A method of determining a rectilinear movement state, comprising:
-
receiving two consecutive images from an image grabber;
calculating a normalized difference between the two consecutive images by calculating a value indicating a normalized image using a difference between the two consecutive images; and
determining whether the normalized difference exceeds a threshold value and, when the normalized difference exceeds a the threshold value, setting a parameter variable to “
TRUE”
indicating rectilinear movement, and when the normalized difference does not exceed the threshold value, setting the parameter variable to “
FALSE”
indicating no rectilinear movement. - View Dependent Claims (27, 28)
-
-
29. A method of processing traveling information, comprising:
-
setting a coordinate value (x,y) and an azimuth angle (θ
) of a current position of a robot on an X-Y plane;
calculating an amount of a rectilinear movement of a traveling unit of the system and the amount of a rotary movement of the traveling unit; and
updating the position and the azimuth of the system based on the set position and the set azimuth angle and the amount of calculated rectilinear movement and the amount of calculated rotary movement. - View Dependent Claims (30, 31, 32, 33)
-
-
34. A computer-readable storage medium encoded with processing instructions for causing a processor to perform a method of detecting a traveling state, the method comprising:
-
acquiring two consecutive images and detecting first traveling information from image information regarding each of the two consecutive images;
detecting second traveling information from a driver moving in a direction perpendicular to a direction in which the images are acquired; and
determining the traveling state based on the first traveling information and the second traveling information.
-
-
35. A computer-readable storage medium encoded with processing instructions for causing a processor to perform a method of determining a rotary movement state, the method comprising:
-
receiving a first image and a second image;
converting the first image and the second image into respective first and second polar coordinates;
acquiring a first polar image and a second polar image from the first polar coordinates and the second polar coordinates, respectively; and
detecting a rotation angle by setting a parameter shift_count to adjust the number of sum of squared distance (SSD) calculations which are calculated with respect to 360 angles each at an interval of 1 degree from 0 degrees to 359 degrees.
-
-
36. A computer-readable storage medium encoded with processing instructions for causing a processor to perform a method of determining a rectilinear movement state, the method comprising:
-
receiving two consecutive images from an image grabber;
calculating a normalized difference between the two consecutive images by calculating a value indicating a normalized image using a difference between the two consecutive images; and
determining whether the normalized difference exceeds a threshold value and, when the normalized difference exceeds a the threshold value, setting a parameter variable to “
TRUE”
indicating rectilinear movement, and when the normalized difference does not exceed the threshold value, setting the parameter variable to “
FALSE”
indicating no rectilinear movement.
-
-
37. A computer-readable storage medium encoded with processing instructions for causing a processor to perform a method of processing traveling information, the method comprising:
-
setting a coordinate value (x,y) and an azimuth angle (θ
) of a current position of a robot on an X-Y plane;
calculating an amount of a rectilinear movement of a traveling unit of the system and the amount of a rotary movement of the traveling unit; and
updating the position and the azimuth of the system based on the set position and the set azimuth angle and the amount of calculated rectilinear movement and the amount of calculated rotary movement.
-
Specification