Apparatus for locating moving robot and method for the same
First Claim
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1. A method of locating a robot, comprising:
- obtaining information on absolute coordinates of a space where the robot will move;
obtaining information on relative coordinates of the space comprising running the robot in the space;
obtaining coordinate transformation information comprising comparing the information on absolute coordinates with the information on relative coordinates; and
perceiving the robot position comprising transforming a position of the information relative coordinates to a position of the information absolute coordinates using the coordinate transformation information.
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Abstract
An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.
26 Citations
25 Claims
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1. A method of locating a robot, comprising:
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obtaining information on absolute coordinates of a space where the robot will move; obtaining information on relative coordinates of the space comprising running the robot in the space; obtaining coordinate transformation information comprising comparing the information on absolute coordinates with the information on relative coordinates; and perceiving the robot position comprising transforming a position of the information relative coordinates to a position of the information absolute coordinates using the coordinate transformation information. - View Dependent Claims (2, 3, 25)
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4. A method of locating a robot, comprising:
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operating the robot to run following a wall; obtaining straight line information on straight lines defining the wall during the operation the robot to run following the wall; matching the obtained straight line information with straight line information of a presorted map; and estimating an interior position of the robot based on the matching. - View Dependent Claims (5, 6, 7, 8, 9, 10)
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11. A method of locating a robot, comprising:
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operating the robot to run following a wall; detecting a state quantity of the robot during the operating the robot to follow the wall; obtaining straight line information on straight lines defining the wall based on the detected state quantity; extracting feature points from the obtained straight line information; matching the extracted feature points with feature points on a presorted map; and estimating an interior position of the robot based on the matching. - View Dependent Claims (12, 13, 14, 15)
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16. An apparatus to locate a robot, comprising:
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a storage unit storing straight line information on straight lines defining a wall on a map; a state quantity detection unit detecting state of quantities of the robot running along the wall; and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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24. An apparatus to locate a robot, comprising:
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a state quantity detection unit detecting a state quantity of the robot running along a wall; and a control unit estimating an interior position of the robot by obtaining straight line information by inputting the detected state quantity to a Kalman filter and matching feature points extracted from the obtained straight line information with feature points on a prestored map by ICP correspondence.
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Specification