Moving apparatus, method, and medium for compensating position of the moving apparatus

• US 7,768,417 B2
• Filed: 02/20/2007
• Issued: 08/03/2010
• Est. Priority Date: 06/16/2006
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Choi, Ki-wan, Lee, Hyoung-ki, Bang, Seok-won, Kim, Dong-yoon
• Primary Examiner(s): Previl; Daniel
• Application Number:
  US11/707,992
• Publication Number:
  US 20070290828A1
• Time in Patent Office: 1,260 Days
• Field of Search: 340/686.1, 340/685, 340/686.6, 340/691.4, 340/691.8, 340679-680, 700/245, 700/258, 700/260, 700/264, 700/44, 700/56, 700/85, 700/91, 318/568.11, 318/568.12, 318/568.1
• US Class Current: 340/686.1
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

Provided are a moving apparatus and an apparatus, method, and medium for compensating position based on a position recognition technology. The moving apparatus which provides a function for correcting a position includes a sensing unit obtaining multiple state information reflecting one or more abnormal movement states generated by movements of the moving apparatus; a state determination unit determining whether or not the abnormal movement state is generated by self-contained navigation, by referring to the obtained multiple state information; and a position information calculation unit calculating final position information of the moving apparatus, by correcting the multiple state information as the abnormal movement state occurs.

Claims

1. A moving apparatus comprising:

a sensing unit to obtain multiple state information generated by movements of the moving apparatus;

a state determiner to determine whether or not an abnormal movement state is generated based on the multiple state information;

a position information calculator to correct the multiple state information when the abnormal movement state occurs, and to calculate final position information of the moving apparatus;

an action controller to generate an action control signal based on the calculated final position information; and

a driver to perform a movement action of the moving apparatus based on the generated action control signal,

wherein the multiple state information comprises acceleration information indicating acceleration components of three axes and gravitational acceleration.

2. A moving apparatus comprising:

a sensing unit to obtain multiple state information generated by movements of the moving apparatus;

a state determiner to determine whether or not an abnormal movement state is generated based on the multiple state information;

a position information calculator to correct the multiple state information when the abnormal movement state occurs, and to calculate final position information of the moving apparatus;

an action controller to generate an action control signal based on the calculated final position information; and

a driver to perform a movement action of the moving apparatus based on the generated action control signal,

wherein the sensing unit comprises;

a position sensor to obtain movement position information, which indicates a distance of movement of the moving apparatus;

a speed sensor to obtain speed information, which indicates a moving speed based on the movement position information;

a rotation angle sensor to sense rotation angle information, which indicates direction and magnitude of a rotation angle of the moving apparatus;

an acceleration sensor to obtain acceleration information, which indicates acceleration components of three (3) axes and gravitational acceleration; and

a contact sensor to obtain contact information, which indicates whether or not the moving apparatus is in contact with the ground,

wherein the multiple state information comprises the movement position information, the speed information, the rotation angle information, the acceleration information, and the contact information.

3. The apparatus of claim 2, wherein the abnormal movement state is a state in which a collision between the moving apparatus and an obstacle occurs.

4. The apparatus of claim 3, wherein the state determiner determines an occurrence of the abnormal movement state if the differential value between the change in the position calculated based on the movement position information and the change in the rotation angle calculated based on the rotation angle information is equal to or greater than a predetermined first threshold.

5. The apparatus of claim 3, wherein the state determiner determines an occurrence of the abnormal movement state if the differential value between the change in the speed calculated based on the speed information and the acceleration component in parallel to the direction of movement calculated based on the acceleration information is equal to or greater than a predetermined second threshold.

6. The apparatus of claim 3, wherein the state determiner determines an occurrence of the abnormal movement state if the magnitude of the acceleration component that is calculated based on the acceleration information and is in parallel with the ground and perpendicular to the direction of movement is equal to or greater than a predetermined third threshold.

7. The apparatus of claim 3, wherein the state determiner determines an occurrence of the abnormal state if the magnitude of the acceleration component perpendicular to the ground calculated based on the acceleration information is different from the magnitude of the gravitational acceleration, and the change in the angle (Δ

φ

_g) in the pitch direction calculated based on the rotation angle information is equal to or greater than a predetermined fourth threshold.

8. The apparatus of claim 3, wherein the state determiner determines an occurrence of the abnormal state if the magnitude of the acceleration component perpendicular to the ground calculated based on the acceleration information is different from the magnitude of the gravitational acceleration, and the change in the rotation angle (Δ

ψ

_g) in the roll direction calculated based on the rotation angle information is equal to or greater than a predetermined fifth threshold.

9. The apparatus of claim 3, wherein the position information calculator corrects the movement position information with respect to direction in which the moving apparatus proceeds and calculates the final position information.

10. The apparatus of claim 2, wherein the abnormal movement state is a state in which the moving apparatus is inclined in a pitch direction with respect to direction of movement while the moving apparatus passes an obstacle.

11. The apparatus of claim 10, wherein the position information calculator corrects the movement position information with respect to the pitch angle calculated based on the acceleration information, and thus calculates the final position information.

12. The apparatus of claim 2, wherein the abnormal movement state is a state in which the moving apparatus is inclined in a roll direction with respect to direction of movement while the moving apparatus passes an obstacle.

13. The apparatus of claim 12, wherein the position information calculator corrects the movement position information with respect to the roll angle calculated based on the acceleration information and thus calculates the final position information.

14. The apparatus of claim 2, wherein the abnormal state is a state in which the moving apparatus is in a kidnapped state.

15. The apparatus of claim 14, wherein the state determiner determines an occurrence of the abnormal state if the contact state calculated based on the contact information indicates no contact, and the difference between the acceleration component perpendicular to the ground calculated based on the acceleration information and the equal to or greater than a predetermined sixth threshold.

16. The apparatus of claim 14, wherein the position information calculator corrects the movement position information with respect to the movement distance calculated based on the acceleration information and the change in the rotation angle calculated based on the rotation angle information and thus calculates the final position information.

17. A method of correcting a position of a moving apparatus, the method comprising:

obtaining multiple state information generated by movements of the moving apparatus;

determining whether or not the abnormal movement state is generated based on the obtained multiple state information;

correcting the multiple state information when the abnormal movement state occurs, and calculating final position information of the moving apparatus;

generating an action control signal by referring to the calculated final position information; and

performing a movement action of the moving apparatus by referring to the generated action control signal,

wherein the multiple state information comprises acceleration information indicating acceleration components of three axes and gravitational acceleration.

18. At least one medium comprising computer readable instructions to implement the method of claim 17.

19. The method of claim 17, wherein the calculating final position information comprises determining a final position in a direction x according to Δ

x=Δ

x_e*cos φ

_g,

wherein Δ

x is the change in position in the x direction during the abnormal movement state, Δ

x_e is movement position information obtained according to the speed information, and φ

_g is a pitch angle of the moving apparatus during the abnormal movement.

20. The method of claim 17, wherein the calculating final position information comprises determining a final position in a yaw direction of the moving apparaus according to Δ

θ

=Δ

θ

_g/cos ψ

_g , wherein Δ

θ

is a change in yaw position of the moving apparatus during the abnormal movement, Δ

θ

_g is sensed change in the yaw position during the abnormal movement, and ψ

_g is a roll position of the moving apparatus.

21. A method of correcting a position of a moving apparatus, the method comprising:

obtaining multiple state information generated by movements of the moving apparatus;

determining whether or not the abnormal movement state is generated based on the obtained multiple state information;

correcting the multiple state information when the abnormal movement state occurs, and calculating final position information of the moving apparatus;

generating an action control signal by referring to the calculated final position information; and

performing a movement action of the moving apparatus by referring to the generated action control signal,

wherein the obtaining of the multiple state information comprises;

obtaining movement position information, which indicates a distance of movement of the moving apparatus;

obtaining speed information, which indicates a moving speed by referring to the movement position information;

obtaining rotation angle information, which indicates the direction and magnitude of the rotation angle of the moving apparatus;

obtaining acceleration information, which indicates the acceleration components of three (3) axes and gravitational acceleration; and

obtaining contact information, which indicates whether or not the moving apparatus is in contact with the ground,

wherein the multiple state information comprises the movement position information, the speed information, the rotation angle information, the acceleration information and the contact information.

22. A method of correcting a position of a moving apparatus, the method comprising:

obtaining multiple state information generated by movements of the moving apparatus;

determining whether or not the abnormal movement state is generated based on the obtained multiple state information;

correcting the multiple state information when the abnormal movement state occurs, and

calculating final position information of the moving apparatus, comprising determining a final position in a direction x according to Δ

x=∫

∫

a_x dtdt,

wherein Δ

x is the change in position in the x direction during the abnormal movement state, and a_x is the acceleration in the x direction during the abnormal movement state.

23. The method of claim 22, wherein the multiple state information comprises movement position information, speed information, rotation angle information, acceleration information and contact information.

24. At least one medium comprising computer readable instructions to implement the method of claim 22.