Apparatus and method with traveling path planning
First Claim
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1. An apparatus planning a traveling path of a mobile robot, the apparatus comprising:
- a pattern extracting unit to extract patterns from an image of a ceiling captured in a ceiling direction, wherein the extracted patterns correspond to structural or decorative features of the ceiling which are not artificial location marks having pre-stored location coordinates, and an extracted pattern is an extracted line, extracted circular object, and/or extracted quadrangle;
a pattern direction extracting unit to extract a pattern direction of the extracted patterns in the image by grouping the extracted patterns according to a determined same direction, when the extracted patterns are extracted lines, and according to a determined repetition direction, when the extracted patterns are determined same extracted circular objects or determined same quadrangles, so as to determine the pattern direction to be the determined same direction of the extracted lines or the determined repetition direction of the circular objects or quadrangles; and
a path generating unit to generate a traveling path of the mobile robot based on the extracted pattern direction.
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Abstract
An apparatus and method of planning a traveling path of a mobile robot, the apparatus and method including a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one pattern from an image of a ceiling captured in a ceiling direction. The pattern direction extracting unit may extract a pattern direction of the image in the form of a line from the at least one extracted pattern. The path generating unit may generate a traveling path of the mobile robot based on the extracted pattern direction.
36 Citations
28 Claims
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1. An apparatus planning a traveling path of a mobile robot, the apparatus comprising:
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a pattern extracting unit to extract patterns from an image of a ceiling captured in a ceiling direction, wherein the extracted patterns correspond to structural or decorative features of the ceiling which are not artificial location marks having pre-stored location coordinates, and an extracted pattern is an extracted line, extracted circular object, and/or extracted quadrangle; a pattern direction extracting unit to extract a pattern direction of the extracted patterns in the image by grouping the extracted patterns according to a determined same direction, when the extracted patterns are extracted lines, and according to a determined repetition direction, when the extracted patterns are determined same extracted circular objects or determined same quadrangles, so as to determine the pattern direction to be the determined same direction of the extracted lines or the determined repetition direction of the circular objects or quadrangles; and a path generating unit to generate a traveling path of the mobile robot based on the extracted pattern direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method planning a traveling path of a mobile robot, the method comprising:
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extracting at least one pattern from an image of a ceiling captured in a ceiling direction; extracting a pattern direction of the image in the form of a line from the at least one extracted pattern; and generating a traveling path of the mobile robot based on the extracted pattern direction, wherein, when the pattern is a line and a plurality of lines are extracted, the extracting of the pattern direction includes disregarding of extracted lines, of the plurality of extracted lines, that are determined to not appear to be in a determined same plane as the ceiling, from consideration for the extraction of the pattern direction of the image, and extracting a direction from extracted lines, of the plurality of extracted lines, that appear to be in the determined same plane as the ceiling, as the pattern direction. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26)
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27. An apparatus planning a traveling path of a mobile robot, the apparatus comprising:
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a pattern extracting unit to extract plural patterns from an image of a ceiling captured in a ceiling direction, each of the plural patterns being an extracted line; a pattern direction extracting unit to extract a pattern direction of the image as a direction of one of the plural extracted lines determined to be in a determined same plane as the ceiling; and a path generating unit to generate a traveling path of the mobile robot based on the extracted pattern direction, wherein the pattern direction extracting unit determines lines, of the plural extracted lines, that extend to but do not pass over a predetermined optical center area to be extracted lines that are not in the determined same plane as the ceiling.
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28. A method planning a traveling path of a mobile robot, the method comprising:
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extracting plural patterns from an image of a ceiling captured in a ceiling direction, each of the plural patterns being an extracted line; extracting a pattern direction of the image as a direction of one of the plural extracted lines determined to be in a determined same plane as the ceiling; and generating a traveling path of the mobile robot based on the extracted pattern direction, wherein the pattern direction extracting includes determining lines, of the plural extracted lines, that extend to but do not pass over a predetermined optical center area to be extracted lines that are not in the determined same plane as the ceiling.
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Specification