ROBOT POSITIONING SYSTEM
First Claim
1. A method of positioning a robot comprising:
- illuminating a space with at least a first line laser projecting vertical laser beams within a field of view of a camera;
recording with the camera, a recorded picture of the space illuminated by the vertical laser beams;
generating an extracted line by extracting, from the recorded picture, image data representing a line formed by the vertical laser beams being reflected against objects located within the space;
comparing the image data of the recorded picture with image data of at least one previously recorded picture;
generating an adjusted extracted line by adjusting the extracted line on the basis of the comparison of the image data by using dead reckoning; and
creating, from the adjusted extracted line, a representation of the illuminated space along the projected laser beams, and an estimate of a position of the robot in relation to the illuminated space.
1 Assignment
0 Petitions
Accused Products
Abstract
A robot positioning system having a camera, a processing unit and at least a first line laser. The first line laser is arranged to illuminate a space by projecting vertical laser beams within field of view of the camera. The camera is arranged to record a picture of the space illuminated by the vertical laser beams, and the processing unit is arranged to extract, from the recorded picture, image data representing a line formed by the vertical laser beams being reflected against objects located within the space. The processing unit is further arranged to create, from the extracted line, a representation of the illuminated space along the projected laser lines, in respect of which the robot is positioned. Methods of positioning a robot are also provided.
49 Citations
26 Claims
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1. A method of positioning a robot comprising:
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illuminating a space with at least a first line laser projecting vertical laser beams within a field of view of a camera; recording with the camera, a recorded picture of the space illuminated by the vertical laser beams; generating an extracted line by extracting, from the recorded picture, image data representing a line formed by the vertical laser beams being reflected against objects located within the space; comparing the image data of the recorded picture with image data of at least one previously recorded picture; generating an adjusted extracted line by adjusting the extracted line on the basis of the comparison of the image data by using dead reckoning; and creating, from the adjusted extracted line, a representation of the illuminated space along the projected laser beams, and an estimate of a position of the robot in relation to the illuminated space. - View Dependent Claims (2, 3, 4, 6, 7)
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5. (canceled)
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8. A robot positioning system comprising:
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a camera; a processing unit; and at least a first line laser arranged to illuminate a space by projecting first vertical laser beams within a field of view of the camera;
whereinthe camera is arranged to record a picture of the space illuminated by the first vertical laser beams; and the processing unit is configured to extract, from the recorded picture, image data representing a first line formed by the first vertical laser beams being reflected against objects located within the space, compare the image data of the recorded picture with image data of at least one previously recorded picture, adjust the image data representing the first line on the basis of the comparison of the image data of the recorded picture with image dates of the at least one previously recorded picture by using dead reckoning, and create, from the image data representing the first line, a representation of the illuminated space along the projected first vertical laser beams and an estimation of, a position of the robot in relation to the illuminated space. - View Dependent Claims (9, 10, 11, 12, 13, 14, 16, 18, 19, 20, 21, 22, 23)
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15. (canceled)
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17. (canceled)
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24. (canceled)
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25. (canceled)
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26. (canceled)
Specification