Mobile robot using image sensor and method for measuring moving distance thereof
First Claim
1. A mobile robot comprising:
- an image capturer that captures, at predetermined intervals, images of a bottom surface in accordance with motion of the mobile robot by using an image sensor;
a memory that stores images output from the image capturer;
a displacement measurer that measures displacement with respect to the captured image;
a comparator that compares an image presently output from the image capturer with an image previously stored in the memory; and
a microcomputer that outputs an actual moving distance by direction and motion of the mobile robot on the basis of a value of the measured displacement and a value of the compared images.
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Accused Products
Abstract
In a mobile robot and a method for measuring a moving distance thereof, by including an image capture unit for photographing the bottom surface according to motion of a mobile robot at a certain intervals and capturing images; a displacement measurer for measuring displacement about the captured image; and a microcomputer for outputting an actual moving distance by direction and motion of the mobile robot on the basis of the measured displacement value, it is possible to measure an accurate moving distance of the mobile robot with only one image sensor installed at the center of a body of the mobile robot, and accordingly it is possible to simplify a mechanical structure and facilitate maintenance and repairing.
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Citations
15 Claims
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1. A mobile robot comprising:
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an image capturer that captures, at predetermined intervals, images of a bottom surface in accordance with motion of the mobile robot by using an image sensor; a memory that stores images output from the image capturer; a displacement measurer that measures displacement with respect to the captured image; a comparator that compares an image presently output from the image capturer with an image previously stored in the memory; and a microcomputer that outputs an actual moving distance by direction and motion of the mobile robot on the basis of a value of the measured displacement and a value of the compared images. - View Dependent Claims (2, 3, 4)
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5. A method for measuring a moving distance of a mobile robot comprising:
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capturing, at predetermined intervals, an image of a bottom surface according to motion of a mobile robot by utilizing an image sensor; storing images output from the image capturer in a memory; measuring displacement between the captured two images by comparing an image presently output from the image capturer with an image previously stored in the memory; and outputting an actual moving distance by calculating direction and motion of the mobile robot on the basis of a value of the measured displacement. - View Dependent Claims (6, 7, 8, 9, 10, 11)
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12. A mobile robot comprising:
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an image capturer that captures, at predetermined intervals, images of a predetermined surface based upon motion of the mobile robot, the mobile robot being configured for movement with respect to the predetermined surface; a memory that stores images output from the image capturer; a displacement measurer that measures displacement in accordance with the captured image; a comparator that compares an image presently output from the image capturer with an image previously stored in the memory; and a calculator that outputs a moving distance on the basis of a value of the measured displacement and a value of the compared images. - View Dependent Claims (13, 14, 15)
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Specification