Indoor map building apparatus, method, and medium for mobile robot
First Claim
1. An indoor map building apparatus of a mobile robot, the apparatus comprising:
- a beacon which transmits/receives signals for determining the location of the mobile robot;
a beacon location fixing module which moves the beacon to a predetermined location in an indoor space where the mobile robot is to travel and fixes the beacon at the predetermined location; and
a data processing module which determines the location of the mobile robot based on signals received from the beacon, and generates map information regarding the indoor space.
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Abstract
An indoor map building apparatus, method, and medium for a mobile robot are provided. The indoor map building apparatus includes a beacon which transmits/receives signals for determining the location of the mobile robot, a beacon location fixing module which moves the beacon to a predetermined location in an indoor space where the mobile robot is to travel and fixes the beacon at the predetermined location, a data processing module which determines the location of the mobile robot based on signals received from the beacon, and generates map information regarding the indoor space, an obstacle detection module which detects an obstacle when the mobile robot travels in the indoor space, and a driving module which moves the mobile robot.
115 Citations
32 Claims
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1. An indoor map building apparatus of a mobile robot, the apparatus comprising:
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a beacon which transmits/receives signals for determining the location of the mobile robot;
a beacon location fixing module which moves the beacon to a predetermined location in an indoor space where the mobile robot is to travel and fixes the beacon at the predetermined location; and
a data processing module which determines the location of the mobile robot based on signals received from the beacon, and generates map information regarding the indoor space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 22, 23, 24, 25, 26, 27, 28)
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9. An indoor map building method for a mobile robot, the method comprising:
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(a) moving a beacon that transmits/receives signals for determining the location of the mobile robot to a predetermined location in an indoor space where the mobile robot is to travel;
(b) determining the location of the mobile robot based on signals received from the beacon, and generating outline information regarding the indoor space; and
(c) determining whether the outline information corresponds to a closed curve and, if it is determined that the outline information does not correspond to a closed curve, enabling the mobile robot to move the beacon to an open space that is nearest to the mobile robot and place the beacon in the open space. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 29)
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30. An indoor map building method for building a map of an indoor space using a mobile robot, the method comprising:
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(a) determining the location of the mobile robot based on signals received from the beacon, and generating outline information of the indoor space; and
(b) determining whether the outline information corresponds to a closed curve and, if it is determined that the outline information does not correspond to a closed curve, enabling the mobile robot to move the beacon to an open space that is nearest to the mobile robot and place the beacon in the open space. - View Dependent Claims (31, 32)
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Specification