Apparatus, method and medium for simultaneously performing cleaning and creation of map for mobile robot
First Claim
1. An apparatus for simultaneously performing a cleaning process and a map creating process for a mobile robot, comprising:
- a feature-map-creating unit to create a feature map for recognizing position of the mobile robot;
a path-map-creating unit to create a path map including a plurality of cells, each cell having information about whether an obstacle exists and path information, on the basis of information on pose of the mobile robot that is obtained from the feature map, and to display path information and whether the obstacle exists in each cell; and
a motion control unit to move the mobile robot on the basis of the information about whether the obstacle exists and the path information,wherein the path-map-creating unit assigns to the cell one of a first indicator indicating that the obstacle exists, a second indicator indicating whether the cell is completely cleaned, and a third indicator indicating whether current line including the cell and a line underneath the current line are completely cleaned.
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Accused Products
Abstract
Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information.
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Citations
16 Claims
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1. An apparatus for simultaneously performing a cleaning process and a map creating process for a mobile robot, comprising:
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a feature-map-creating unit to create a feature map for recognizing position of the mobile robot; a path-map-creating unit to create a path map including a plurality of cells, each cell having information about whether an obstacle exists and path information, on the basis of information on pose of the mobile robot that is obtained from the feature map, and to display path information and whether the obstacle exists in each cell; and a motion control unit to move the mobile robot on the basis of the information about whether the obstacle exists and the path information, wherein the path-map-creating unit assigns to the cell one of a first indicator indicating that the obstacle exists, a second indicator indicating whether the cell is completely cleaned, and a third indicator indicating whether current line including the cell and a line underneath the current line are completely cleaned. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for simultaneously performing cleaning and creating a map for a mobile robot, comprising:
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creating a feature map for recognizing position of the mobile robot; creating a path map including a plurality of cells, each cell having information about whether an obstacle exists and path information, on the basis of information on pose of the mobile robot that is obtained from the feature map, and displaying path information and whether the obstacle exists in each cell; moving the mobile robot on the basis of the information about whether the obstacle exists and the path information, wherein; the creating of the path map comprises; moving the mobile robot to one of a plurality of cells included in a line which the mobile robot has not passed through, until both ends of the line are blocked by obstacles; when both ends of the line are blocked by the obstacles, moving the mobile robot to the next line; and repeatedly performing the processes until a looped curve is formed by the obstacles; and assigning, to each of the cells forming the path map, one of a first indicator indicating that obstacle exists, a second indicator indicating whether the cell is completely cleaned, and a third indicator indicating whether current line including the cell and a line underneath the current line have been completely cleaned. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification