Apparatus, method, and medium for localizing moving robot and transmitter
First Claim
1. An apparatus for localizing a moving robot and a transmitter using a single sensor provided in the moving robot, the apparatus comprising:
- a motion controller to control the moving robot such that the sensor passes a plurality of measurement points by rotating the moving robot;
a distance measuring unit, which includes the sensor that senses predetermined waves generated from the transmitter, to measure distances between the sensor and the transmitter at the plurality of measurement points at each localizing location;
a rotational angle measuring unit to measure rotational angles of the moving robot at the measurement points; and
a location calculator to calculate location of the transmitter relative to the moving robot or location of the moving robot relative to the transmitter using input values including the measured distances, the measured rotational angles, and a radius of a circle determined by the sensor resulting from the rotation of the moving robot,wherein the measurement points are at least three or more points on the circumference of the circle determined by the sensor.
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Accused Products
Abstract
Provided are an apparatus allowing a moving robot to localize a user, or localizing the moving robot from a fixed location, and a method and medium thereof. The apparatus includes a motion controller to control the moving robot such that the sensor passes a plurality of measurement points by rotating the moving robot, a distance measuring unit, which includes the sensor that senses predetermined waves generated from the transmitter, to measure distances between the sensor and the transmitter at the plurality of measurement points, a rotational angle measuring unit to measure rotational angles of the moving robot at the measurement points, and a location calculator to calculate relative locations using input values of the measured distances, the measured rotational angles, and the radius of a circle determined by the sensor resulting from the rotation of the moving robot.
16 Citations
27 Claims
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1. An apparatus for localizing a moving robot and a transmitter using a single sensor provided in the moving robot, the apparatus comprising:
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a motion controller to control the moving robot such that the sensor passes a plurality of measurement points by rotating the moving robot; a distance measuring unit, which includes the sensor that senses predetermined waves generated from the transmitter, to measure distances between the sensor and the transmitter at the plurality of measurement points at each localizing location; a rotational angle measuring unit to measure rotational angles of the moving robot at the measurement points; and a location calculator to calculate location of the transmitter relative to the moving robot or location of the moving robot relative to the transmitter using input values including the measured distances, the measured rotational angles, and a radius of a circle determined by the sensor resulting from the rotation of the moving robot, wherein the measurement points are at least three or more points on the circumference of the circle determined by the sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 25)
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13. A method of localizing a moving robot and a transmitter using a single sensor provided to the moving robot, the method comprising:
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controlling the moving robot such that the sensor passes measurement points by rotating the moving robot; measuring distances between the sensor and the transmitter at the measurement points at each localizing location using the sensor that senses predetermined waves generated from the transmitter; measuring rotational angles of the moving robot at the measurement points; and calculating location of the transmitter relative to the moving robot or location of the moving robot relative to the transmitter using input values including the measured distances, the measured rotational angles, and a radius of a circle determined by the sensor resulting from the rotation of the moving robot, wherein the measurement points are at least three or more points on the circumference of the circle determined by the sensor. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 22, 23, 24, 26, 27)
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21. The method of clam 13, wherein the calculating of the relative locations comprises:
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finding formulas expressing the coordinates of the measurement points into distances between the center of the moving robot and the transmitter, the initial directional angle of the moving robot, and the rotational angles at the measurement points; finding formulas expressing the distances between the measurement points and the transmitter into the coordinates; and calculating the distances between the center of the moving robot and the transmitter and the rotational angles of the moving robot by finding solutions of simultaneous equations of the formulas.
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Specification