Mobile robot, and system and method for autnomous navigation of the same
First Claim
1. A mobile robot, comprising:
- a communications module for transmitting a light source control signal to selectively control flickering of a plurality of light sources of a landmark array provided in a working space;
an image processing module for calculating image coordinates at least one of the plurality of the light sources by detecting the light sources, 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 coordinates of the mobile robot using the calculated image coordinates and previously stored world coordinates of the light sources;
a motion control module for calculating a moving path 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; and
a main control module for controlling interoperations of the modules and general operations of the mobile robot.
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Accused Products
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.
252 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 a plurality of light sources of a landmark array provided in a working space;
an image processing module for calculating image coordinates at least one of the plurality of the light sources by detecting the light sources, 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 coordinates of the mobile robot using the calculated image coordinates and previously stored world coordinates of the light sources;
a motion control module for calculating a moving path 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; and
a main control module for controlling interoperations of the modules and general operations 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 certain area to selectively flicker;
a landmark array control module for controlling the light sources of the landmark array to flicker; and
a mobile robot equipped with a pose calculation module for selectively controlling the light sources of the landmark array to flicker by transmitting a light source control signal to the landmark array control module and recognizing a position of the mobile robot using the flickering light sources. - 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:
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the first step of the mobile robot selectively controlling light sources of a landmark array arranged across a certain working space to flicker;
the second step of extracting image coordinates of a camera by detecting a light source controlled to flicker from an image signal input from the camera; and
the third step of calculating a current pose of the mobile robot with reference to the extracted image coordinates and previously stored world coordinates of the light source. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification