APPARATUS AND METHOD FOR SEARCHING MOVING ROUTE OF CARGO ON THE BASIS OF 3D INFORMATION

• US 20140121965A1
• Filed: 06/17/2013
• Published: 05/01/2014
• Est. Priority Date: 10/30/2012
• Status: Abandoned Application

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: KIM, Jin Ho, KIM, Hong Kee, JO, Dong Sik
• Application Number:
  US13/919,118
• Publication Number:
  US 20140121965A1
• Time in Patent Office: Days
• US Class Current: 701/527
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G06Q 10/083 Shipping

Abstract

Disclosed is a method for searching a moving route of a cargo on the basis of 3D information, including: acquiring workplace information including depth information by using a camera; generating 3D information on the workplace based on the acquired workplace information; and searching all the possible moving routes for each cargo to move from a start position to a target position on the basis of the generated 3D information to select moving routes for each cargo to move.

Claims

1. A method for searching a moving route of a cargo on the basis of 3D information, comprising:

acquiring workplace information including depth information by using a camera;

generating 3D information on the workplace based on the acquired workplace information; and

searching all the possible moving routes for each cargo to move from a start position to a target position on the basis of the generated 3D information to select moving routes for each cargo to move.

2. The method of claim 1, wherein in the generating of the 3D information, the generated 3D information includes start positions and target positions for each cargo to move, a size of the workplace, and positions and heights of obstacles present in the moving routes.

3. The method of claim 1, wherein the selecting of the moving routes includes:

virtually moving each cargo to move from the start position to the target position;

arranging the virtual moving route when the cargo to move reaches the target position to extract a length of the arranged route and the moving route; and

sequentially repeating the virtually moving of each cargo and the arranging of the virtual moving route as much as a preset number of times, and then determining the shortest moving route for each cargo to move.

4. The method of claim 3, wherein in the virtually moving of each cargo, a sum of moving probabilities of the cargo to move is set to 1 in four directions and the moving probabilities increase in a direction approaching the target position and decreases in a direction far away from the target position.

5. The method of claim 4, wherein in the virtually moving of each cargo, when obstacles are present in a moving direction of the cargo to move, the moving probability of the cargo to move is 0.

6. The method of claim 4, wherein in the virtually moving of each cargo, the moving directions of the cargo to move in a previous step and a current step approach the target position and when the moving directions of the cargo to move are the same, the moving probability increases.

7. The method of claim 4, wherein in the virtually moving of each cargo, when the moving directions of the cargo to move in a previous step and a current step are opposite to each other, the moving probability decreases.

9. The apparatus of claim 7, wherein the 3D information generation unit generates the 3D information including start positions and target positions for each cargo to move, a size of the workplace, and positions and heights of obstacles present in the moving routes.

10. The apparatus of claim 7, wherein the route setting unit includes:

a virtual moving unit that virtually moves each cargo to move from the start position to the target position;

a route arrangement unit that arranges the virtual moving route when the cargo to move reaches the target position to extract a length of the arranged route and the moving route; and

a route determination unit that sequentially repeats the virtually moving of each cargo and the arranging of the virtual moving route as much as a preset number of times and then determines the shortest moving route for each cargo to move.

11. The apparatus of claim 10, wherein the virtual moving unit sets a sum of moving probabilities of the cargo to move to 1 in four directions and increases the moving probability in a direction approaching the target position and decreases the moving probability in a direction far away from the target position.

12. The apparatus of claim 11, wherein the virtual moving unit sets the moving probability of the cargo to move to 0 when obstacles are present in a moving direction of the cargo to move.

13. The apparatus of claim 11, wherein the virtual moving unit makes the moving directions of the cargo to move in a previous step and a current step approach the target position and when the moving directions of the cargo to move are the same, increases the moving probability.

14. The apparatus of claim 11, wherein the virtual moving unit decreases the moving probability when the moving directions of the cargo to move in a previous step and a current step are opposite to each other.

8. An apparatus for searching a moving route of a cargo on the basis of 3D information, comprising:

an image acquisition unit that acquires workplace information including depth information;

a 3D information generation unit that generates 3D information on the workplace based on the acquired workplace information; and

a route setting unit that searches all the possible moving routes for each cargo to move from a start position to a target position on the basis of the generated 3D information to select moving routes for each cargo to move.