METHOD FOR CHECKING A TRAVELABLE AREA OF A PLANE OF TRAVEL FOR A ROBOT, ROBOT AND RECORDING MEDIUM
First Claim
1. A method for checking a moving available area of a robot on a moving surface in order to allow the robot to autonomously move on the moving surface of a curved surface, the method comprising:
- a) generating a geometric model of the moving surface divided into a plurality of curved surfaces;
b) dividing the plurality of curved surfaces into a plurality of triangles by using the geometric model;
c) calculating angles between the plurality of triangles and triangles adjacent to the plurality of triangles; and
d) determining whether or not the angles are within a predetermined range.
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Abstract
There is provided a method for checking a moving available area of a robot on a moving surface robot. The method for checking a moving available area of a robot on a moving surface robot according to an exemplary embodiment of the present invention includes a) generating a geometric model of the moving surface, b) generating a triangle mesh by triangulating curved surfaces of the moving surface by using the geometric model, c) calculating angles between any one triangle of a plurality of triangles positioned within the triangle mesh and triangles adjacent to the any one triangle, and d) primarily checking moving available areas of a robot by determining whether or not the angles between any one triangle and the triangles adjacent to the any one triangle are within a predetermined range.
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Citations
10 Claims
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1. A method for checking a moving available area of a robot on a moving surface in order to allow the robot to autonomously move on the moving surface of a curved surface, the method comprising:
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a) generating a geometric model of the moving surface divided into a plurality of curved surfaces; b) dividing the plurality of curved surfaces into a plurality of triangles by using the geometric model; c) calculating angles between the plurality of triangles and triangles adjacent to the plurality of triangles; and d) determining whether or not the angles are within a predetermined range. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification