Apparatus and method with mobile relocation
First Claim
1. An apparatus for relocating a robot, the apparatus comprising:
- a particle generating unit configured to generate a plurality of particles and arrange the plurality of particles on a map;
a first distance obtaining unit configured to obtain a first distance according to respective distances between each particle of the plurality of particles and a wireless communication apparatus performing wireless communication with the robot, the respective distances being based on a position of the wireless communication apparatus and respective positions of each particle on the map;
a second distance obtaining unit configured to obtain a second distance according to a determined distance between the wireless communication apparatus and the robot, the determined distance being based on a strength measure of an electromagnetic signal received by the robot from the wireless communication apparatus or based on an arrival time or time of flight of the electromagnetic signal; and
a position estimating unit configured to estimate a position of the robot by use of the first distance and the second distance.
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Accused Products
Abstract
An apparatus and method relocating a robot. The apparatus may include a particle generating unit, a first distance obtaining unit, a second distance obtaining unit, and a position estimating unit. A plurality of particles may be generated on a map, a first distance may be obtained according to respective distances between each particle of the plurality of particles and a wireless communication apparatus, based on a position of the wireless communication apparatus and respective positions of each particle on the map, a second distance may be obtained according to respective determined distances between the wireless communication apparatus and the robot, based on a strength measure of the electromagnetic signal received by the robot from the wireless communication apparatus or based on an arrival time or time of flight of the electromagnetic signal, and a position of the robot may be estimated by comparing the first distance and the second distance.
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Citations
21 Claims
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1. An apparatus for relocating a robot, the apparatus comprising:
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a particle generating unit configured to generate a plurality of particles and arrange the plurality of particles on a map; a first distance obtaining unit configured to obtain a first distance according to respective distances between each particle of the plurality of particles and a wireless communication apparatus performing wireless communication with the robot, the respective distances being based on a position of the wireless communication apparatus and respective positions of each particle on the map; a second distance obtaining unit configured to obtain a second distance according to a determined distance between the wireless communication apparatus and the robot, the determined distance being based on a strength measure of an electromagnetic signal received by the robot from the wireless communication apparatus or based on an arrival time or time of flight of the electromagnetic signal; and a position estimating unit configured to estimate a position of the robot by use of the first distance and the second distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of relocating a robot, the method comprising:
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generating a plurality of particles and arranging the plurality of particles on a map; obtaining a first distance according to respective distances between each particle of the plurality of particles and a wireless communication apparatus performing wireless communication with the robot, the respective distances being based on a position of the wireless communication apparatus and respective positions of each particle on the map; obtaining a second distance according to a determined distance between the wireless communication apparatus and the robot, the determined distance being based on a strength measure of an electromagnetic signal received from the wireless communication apparatus or based on an arrival time or time of flight of the electromagnetic signal; and estimating a position of the robot by use of the first distance and the second distance. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification