Mobile robot, and system and method for autonomous navigation of the same
First Claim
Patent Images
1. A mobile robot, comprising:
- a communications module for transmitting a light source control signal to selectively control flickering of each of a plurality of light sources of a landmark array provided in a working space such that each of said plurality of light sources can be separately detected by its flickering;
an image processing module for calculating image coordinates of at least one of the plurality of the light sources by separately detecting the at least one light source by selectively controlling the flickering the light source, controlled to flicker in response to the light source control signal, from an image signal obtained by a camera;
a pose calculation module for calculating world position coordinates of the mobile robot in the working space using the calculated image coordinates and previously stored world coordinates of the light sources;
a motion control module for calculating a moving path in the working space for the mobile robot by applying the position coordinates of the mobile robot to previously stored spatial coordinates of the working space and controlling the mobile robot to move along the moving path in the working space; and
a main control module for controlling interoperations of the communications, image processing, pose calculation and motion control modules of the mobile robot.
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Abstract
Disclosed herein is a mobile robot, and system and method for autonomous navigation of the same. The mobile robot includes a communications module for transmitting a light source control signal to selectively control light sources of a landmark array to flicker, an image processing module for calculating image coordinates of the light sources from an image signal, a pose calculation module for calculating position coordinates of the mobile robot, a motion control module for calculating a moving path and controlling the mobile robot to move along the moving path, and a main control module for controlling interoperations of the modules and general operations of the mobile robot.
89 Citations
20 Claims
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1. A mobile robot, comprising:
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a communications module for transmitting a light source control signal to selectively control flickering of each of a plurality of light sources of a landmark array provided in a working space such that each of said plurality of light sources can be separately detected by its flickering; an image processing module for calculating image coordinates of at least one of the plurality of the light sources by separately detecting the at least one light source by selectively controlling the flickering the light source, controlled to flicker in response to the light source control signal, from an image signal obtained by a camera; a pose calculation module for calculating world position coordinates of the mobile robot in the working space using the calculated image coordinates and previously stored world coordinates of the light sources; a motion control module for calculating a moving path in the working space for the mobile robot by applying the position coordinates of the mobile robot to previously stored spatial coordinates of the working space and controlling the mobile robot to move along the moving path in the working space; and a main control module for controlling interoperations of the communications, image processing, pose calculation and motion control modules of the mobile robot. - View Dependent Claims (2, 3, 4)
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5. A system for autonomous navigation of a mobile robot, comprising:
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a landmark array comprising a plurality of light sources disposed in a working space to selectively flicker; a landmark array control module for separately controlling each of the light sources of the plurality of light sources of the landmark array to flicker; and a mobile robot equipped with a pose calculation module for selectively controlling each of the light sources in the plurality of light sources of the landmark array to flicker such that each of said plurality of light sources can be separately detected by transmitting a light source control signal to the landmark array control module and recognizing a world position of the mobile robot in a working space using image coordinates of detected light sources, controlled to flicker in response to the light source control signal, extracted from an image signal. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for autonomous navigation of a mobile robot, comprising the steps of:
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(1) the mobile robot selectively controlling each of a plurality of light sources of a landmark array arranged across a certain working space to flicker by transmitting a light source control signal to the landmark array such that each of the light sources can be separately detected; (2) extracting image coordinates of at least one of the plurality of the light sources by detecting a light source by the selectively controlled flickering the light source, controlled to flicker in response to the light source control signal, from an image signal input from a camera; and (3) calculating a current world position of the mobile robot with reference to the extracted image coordinates and previously stored world coordinates of the detected light source. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification