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    Apparatus and method for building map used in mobile robot
    211.
    发明公开
    Apparatus and method for building map used in mobile robot 有权
    用于在移动机器人中使用的地图的装置和方法

    公开(公告)号：KR20100031878A

    公开(公告)日：2010-03-25

    申请号：KR20080090727

    申请日：2008-09-16

    Applicant: SAMSUNG ELECTRONICS CO LTD

    Inventor： KONG DONG GEON ,  LEE HYOUNG KI

    IPC: B25J13/08 ,  B25J9/16

    CPC classification number: G05D1/0274 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0207

    Abstract: PURPOSE: An apparatus and a method for building the map of a mobile robot are provided to build a precise map by driving the mobile robot along a route which is selected based on the uncertain landmark and location. CONSTITUTION: An apparatus for building the map of a mobile robot(100) includes a obstacle map building unit(140), a control unit(150), a route generation unit(160) and a driving control unit(170). The obstacle map building unit builds an obstacle map based on obstacle information. The control unit builds a landmark map and recognizes the location of a mobile robot. The route generation unit generates the driving route based on the uncertainty of the landmark. A driving control unit controls the mobile robot.

    Abstract translation: 目的：提供一种用于构建移动机器人的地图的装置和方法，以通过沿着基于不确定的地标和位置选择的路线来驱动移动机器人来建立精确的地图。 构成：用于构建移动机器人（100）的地图的装置包括障碍图生成单元（140），控制单元（150），路线生成单元（160）和驱动控制单元（170）。 障碍图构建单元基于障碍物信息构建障碍物图。 控制单元构建地标地图并识别移动机器人的位置。 路线生成单元基于地标的不确定性生成驾驶路线。 驱动控制单元控制移动机器人。

    주변 환경 변화에 신속하게 적응하여 환경 지도를 작성할수 있는 이동체의 환경 지도 작성 장치 및 그 방법
    212.
    发明授权
    주변 환경 변화에 신속하게 적응하여 환경 지도를 작성할수 있는 이동체의 환경 지도 작성 장치 및 그 방법 有权
    能够在移动机器人中应用快速变化的环境的环境映射设备及其方法

    公开(公告)号：KR100823739B1

    公开(公告)日：2008-04-21

    申请号：KR1020060124884

    申请日：2006-12-08

    Applicant: 한국전자통신연구원

    Inventor： 이유철 ,  유원필 ,  나상익 ,  안효성

    IPC: B25J19/00 ,  B25J9/16

    CPC classification number: G05D1/0274 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0207

    Abstract: A mapping apparatus and method in a mobile robot are provided to reflect change of surrounding conditions on the map by using a mobile robot to collect surrounding information. A conveyance part(120) conveys a mobile robot according to an input command. A distance measurement part(140) measures a distance from the mobile robot to an object positioned in the vicinity of the mobile robot. A mapping part(180) makes a map based on the measured distance. A mobile robot detector(150) compares a distance to an object of the map from the mobile robot, which is measured after mapping, with the measured distance of the distance measurement part after the map is made. The moving device detector detects the object based on the comparison result. An object movement detector(160) detects the movement state of the object in the area of the map. A controller(110) reflects changed information about surroundings to update the map.

    Abstract translation: 提供了一种移动机器人中的映射设备和方法，以通过使用移动机器人来收集周围信息来反映地图上的周围条件的变化。 输送部（120）根据输入指令传送移动机器人。 距离测量部件（140）测量从移动机器人到位于移动机器人附近的物体的距离。 映射部分（180）基于测量的距离制作地图。 移动机器人检测器（150）将映射之后测量的来自移动机器人的地图的距离与测绘地图之后的测量距离进行比较。 移动装置检测器基于比较结果来检测物体。 物体运动检测器（160）检测物体在地图区域中的移动状态。 控制器（110）反映关于周围环境的改变的信息以更新地图。

    정보 수집 로봇
    213.
    发明公开
    정보 수집 로봇 失效
    信息收集机器人在下一个路线上的圆满的事件

    公开(公告)号：KR1020050020951A

    公开(公告)日：2005-03-04

    申请号：KR1020040065048

    申请日：2004-08-18

    Applicant: 혼다 기켄 고교 가부시키가이샤

    Inventor： 사카가미요시아키 ,  사이토요코 ,  가와베고지 ,  시마다다카미치 ,  히가키노부오

    IPC: G06Q50/10 ,  B25J9/22 ,  H04L12/28

    CPC classification number: H04W4/02 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  H04L67/12

    Abstract: PURPOSE: An information collecting robot for rounding an event hall following a route is provided to enable a visitor to find out an interesting point and receive a status of diverse remote places without wasting time/effort even if the visitor is incapable of sweeping entire event hall. CONSTITUTION: A driving unit(12) enables the robot(1) to round within a predetermined area. An information acquiring means acquires audio and/or image information. A mobile transceiver(15) transmits the acquired information to a data server. The information acquiring means includes a camera(2) for acquiring the image information, a face recognizer recognizing a face from the acquired image information, an image cropping means for cropping a face image of a recognized person, and a crowdedness information acquiring part for acquiring crowdedness information of the point by counting the cropped face images.

    Abstract translation: 目的：提供一种信息收集机器人，用于沿着路线舍入事件大厅，以使访问者能够找出有趣的点，并且在不浪费时间/精力的情况下接收不同偏远地点的状态，即使访客不能扫过整个活动大厅 。 构成：驱动单元（12）使机器人（1）在预定区域内圆整。 信息获取装置获取音频和/或图像信息。 移动收发器（15）将所获取的信息发送到数据服务器。 信息获取装置包括用于获取图像信息的照相机（2），从所获取的图像信息中识别脸部的面部识别器，用于裁剪被识别人物的脸部图像的图像裁剪装置和用于获取的拥挤信息获取部件 通过计算裁剪的脸部图像来计算点的拥挤信息。

    3D SURVEYING OF A SURFACE BY MOBILE VEHICLES
    217.
    发明公开
    3D SURVEYING OF A SURFACE BY MOBILE VEHICLES 审中-公开
    移动车辆对表面的3D测量

    公开(公告)号：EP3168704A1

    公开(公告)日：2017-05-17

    申请号：EP15194351.1

    申请日：2015-11-12

    Applicant: Hexagon Technology Center GmbH

    Inventor： PETTERSSON, Bo ,  SIERCKS, Knut

    IPC: G05D1/00

    CPC classification number: G01C11/00 ,  B64C39/024 ,  B64C2201/123 ,  G01B11/25 ,  G05D1/0022 ,  G05D1/0094 ,  G05D2201/0207 ,  H04N7/181 ,  H04N13/254

    Abstract: The present invention relates to a system and method for three dimensional surveying of a surface. It comprises at least a first mobile vehicle with at least one camera unit having its field of view at least partially directed towards the surface for imaging the surface. It also comprises a computer-vision unit built to execute a visual surveying algorithm based on images from the camera unit for determining a topology of the surface and/or a location relative to the surface.
    There is also at least a second mobile vehicle, comprising a light projection unit built to emit a structured light pattern onto the surface. The camera unit of the first mobile vehicle at least partially images the structured light pattern projected from the second mobile vehicle onto the surface and the computer-vision unit executes the visual surveying algorithm at least partially with an evaluation of the first mobile vehicle's images taken with the structured light pattern emitted from the second mobile vehicle.

    Abstract translation: 本发明涉及用于表面的三维测量的系统和方法。 它至少包括具有至少一个照相机单元的第一移动车辆，该照相机单元的视场至少部分地指向用于对表面成像的表面。 它还包括计算机视觉单元，所述计算机视觉单元被构建为基于来自相机单元的图像执行视觉测量算法，用于确定表面的拓扑结构和/或相对于表面的位置。 还有至少一个第二移动车辆，其包括被构造为将结构化光图案发射到表面上的光投射单元。 第一移动车辆的照相机单元至少部分地将从第二移动车辆投影的结构化光图案成像到表面上，并且计算机视觉单元至少部分地利用对第一移动车辆拍摄的图像的评估来执行视觉测量算法 从第二移动车辆发射的结构化光图案。

    POSE ESTIMATION
    219.
    发明公开
    POSE ESTIMATION 审中-公开
    HALTUNGSMESSUNG

    公开(公告)号：EP2856273A4

    公开(公告)日：2016-07-06

    申请号：EP13837760

    申请日：2013-05-29

    Applicant: INTERNAT ELECTRONICS MACHINES CORP ,  CSX TRANSPORTATION INC

    Inventor： MIAN ZAHID F ,  VONACHEN WILLIAM G

    IPC: G05D1/00 ,  G05D3/00

    CPC classification number: G01C21/00 ,  G01C21/165 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207

    Abstract: A solution for estimating the pose of a platform, such as a vehicle, is provided. Data from a plurality of types of sensing devices located on the platform can be used to independently calculate a plurality of preliminary estimates corresponding to the pose. A plurality of estimates corresponding to the pose can be generated using the preliminary estimates and at least one covariance matrix. One or more entries in the covariance matrix are adjusted based on an uncertainty for the corresponding preliminary estimate. The uncertainty can vary based on time, distance, and/or velocity of the platform.

    Abstract translation: 提供了一种用于估计诸如车辆的平台姿态的解决方案。 可以使用来自位于平台上的多种类型的感测装置的数据来独立地计算与姿势相对应的多个初步估计。 可以使用初步估计和至少一个协方差矩阵来生成对应于姿态的多个估计。 协方差矩阵中的一个或多个条目根据相应初步估计的不确定性进行调整。 不确定性可以根据平台的时间，距离和/或速度而变化。

    AUTONOMOUS MOVING BODY
    220.
    发明公开
    AUTONOMOUS MOVING BODY 审中-公开
    自主移动体

    公开(公告)号：EP2993544A1

    公开(公告)日：2016-03-09

    申请号：EP14791873.4

    申请日：2014-04-11

    Applicant: Murata Machinery, Ltd.

    Inventor： NAKANO, Tsuyoshi ,  TANAKA, Shoji

    IPC: G05D1/02

    CPC classification number: G05D1/0221 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207

    Abstract: An autonomous moving body whereby annular route issues in environment maps can be solved and division of environment maps can be automated. In a teaching travel mode, the autonomous moving body: outputs a motor control amount from travel commands input by an operator; estimates the position of the autonomous moving body on the environment map; obtains position information for obstructions in the vicinity of the autonomous moving body; associates position information for obstructions to the time the position information for obstructions was obtained; stores same in the storage unit as data for environment map reconstruction; creates a travel schedule; and stores same in the storage unit. In a reproduction travel mode, the autonomous moving body: estimates the position of the autonomous moving body on the environment map; obtains position information for obstructions in the vicinity of the autonomous moving body; reads data for environment map reconstruction that corresponds to the estimated position of the autonomous moving body; updates the environment map; creates a control amount for the motor, so as to travel on the updated environment map in accordance with the schedule; and inputs same to the travel unit.

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