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Patent Agency Ranking
公开(公告)号：KR101153221B1
公开(公告)日：2012-06-05
申请号：KR1020090067983
申请日：2009-07-24
Applicant: 전북대학교산학협력단
Abstract: 본발명은로봇작업장의천장이나바닥이일정한간격으로격자형반복무늬를갖는경우, 로봇의이동중에에러의누적없이로봇의방향과위치를정확히계산하는방법에관한것이다. 본발명에서의로봇의방향은영상으로부터검출된직선과로봇사이의각도를이용하여계산하고, 로봇의위치는반복되는직선의교차점이작업장의원점으로부터의반복회수와교차점으로부터로봇중심까지의백터를이용하여계산한다. 직선이나교차점등이검출되지않는영상프레임에서는화소간의이동벡터인 Optical Flow 벡터들을영상프레임마다누적한합 벡터의부의값을이전의영상방향이나위치에더하여사용한다. 그러다, 영상에서직선이나교차점들이검출되면, 검출된직선이나교차점정보에의해로봇의방향과위치정보를교정함으로써에러가누적되는것을피한다. 더구체적으로는이동로봇의중심에천정을향하여카메라를설치하여격자형천정무늬중 반복되는직선성분들에대해로봇작업장의원점을기준으로각도집합을구하여준비하고, 격자형천정무늬에서의모든교차점에대한위치집합을준비한다. 이동중인로봇의방향은영상에서직선을검출하여이 직선과로봇의현재방향간의각도를계산한 후, 미리준비한작업장의원점기준직선들에대한개별각도에더하여이들중, 이전 영상에서의로봇방향과가장가까운방향을현재의로봇각도로결정한다. 로봇의위치를계산하기위해서는작업장의교차점들의위치집합중, 로봇의이전위치점을중심으로그 주변의교차점들의위치좌표들을취한다. 또, 현재의영상에서가장뚜렷한교차점을선택하여영상중심의위치를상기교차점에대한상대벡터로표현하고이를기준원점의좌표로변환한후, 이전영상에서의로봇위치와가장가까운위치를실제로봇위치로결정한다. 만약, 직선이나교차점들이하나도검출되지않는영상의경우에는화소간의이동벡터 (Optical Flow)를계산하고, 직선이나교차점이없는영상이계속되면이 이동벡터들간의합 벡타를구하여로봇의방향과위치를예측하여사용하며, 직선이나교차점이검출되는영상을얻으면, 예측하여사용한로봇의방향과위치를예측한다. 이발명은로봇의위치나방향을검출하기위해서천정의규칙적인반복무늬만을이용하므로영상장치이외의다른장치가필요하지않는것을특징으로한다.
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公开(公告)号：KR1020110010422A
公开(公告)日：2011-02-01
申请号：KR1020090067983
申请日：2009-07-24
Applicant: 전북대학교산학협력단
Abstract: PURPOSE: A method for computing location and orientation of a robot by using repeated patterns of the ceiling and optical flow vectors is provided to reduce error accumulated on the location or direction information using the straight line or intersecting points of lattice-shaped repeated patterns. CONSTITUTION: A method for computing location and orientation of a robot by using repeated patterns of the ceiling and optical flow vectors comprises following steps. If initial direction and location are set, the location and direction of the robot is gradually calculated through the recognition of straight lines and latticed points. Every time the robot finds out each intersecting point of patterns of the ceiling, small errors are corrected and not accumulated, so the robot can continuously move.
Abstract translation: 目的：提供一种通过使用天花板和光流向量的重复图案来计算机器人的位置和方位的方法，以减少使用格子状重复图案的直线或相交点在位置或方向信息上积累的误差。 构成：通过使用天花板和光流矢量的重复图案来计算机器人的位置和方向的方法包括以下步骤。 如果设置初始方向和位置，则通过识别直线和网格点来逐步计算机器人的位置和方向。 每当机器人发现天花板图案的每个相交点时，小错误被校正而不被累积，因此机器人可以连续移动。
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公开(公告)号：KR1020130022918A
公开(公告)日：2013-03-07
申请号：KR1020110085958
申请日：2011-08-26
Applicant: 전북대학교산학협력단 , (주)센소프트
CPC classification number: A47L9/2805 , A47L2201/04
Abstract: PURPOSE: A self-control movement method of a cleaning robot using repetitive image patterns around a workplace is provided to predict location information using a sum vector in which an optical flow is accumulated in a video frame. CONSTITUTION: A self-control movement method of a cleaning robot using repetitive image patterns around a workplace comprises; a step of receiving repetitive image patterns by installing a camera to the direction of the repetitive image around a workplace at the center of the cleaning robot and a step of calculating the angle with respect to a Y axis from a standard starting point of the cleaning robot at the workplace and set of angles. [Reference numerals] (AA) Initializing a robot imaging device; (BB) Processing a ceiling image with repetitive patterns; (CC) Straight lines are extracted?; (DD) Calculating the direction of a robot; (EE) Calculating the direction using an optical flow; (FF) Crossing point of the straight lines is extracted?; (GG) Calculating the position of the robot; (HH) Calculating the position using an optical flow; (II) Using the position/direction
Abstract translation: 目的：提供使用工作场所周围的重复图像图案的清洁机器人的自我控制运动方法，以使用在视频帧中积累光流的和矢量来预测位置信息。 构成：在工作场所周围使用重复图像模式的清洁机器人的自我控制运动方法包括： 通过将相机安装在清洁机器人的中心的工作场所周围的重复图像的方向上来接收重复图像图案的步骤，以及从清洁机器人的标准起点计算相对于Y轴的角度的步骤 在工作场所和一套角度。 （附图标记）（AA）初始化机器人成像装置; （BB）用重复图案处理天花板图像; （CC）提取直线？ （DD）计算机器人的方向; （EE）使用光流计算方向; （FF）提取直线的交叉点？ （GG）计算机器人的位置; （HH）使用光流计算位置; （II）使用位置/方向
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公开(公告)号：KR101056524B1
公开(公告)日：2011-08-11
申请号：KR1020080090224
申请日：2008-09-12
Applicant: 전북대학교산학협력단 , 구칠효
Abstract: 코드 지도 및 이를 이용한 이동로봇의 위치 인식 방법이 개시된다. 본 실시예에 따른 코드 지도는 0에서부터 8까지의 9개 숫자를 위치코드로 갖는 랜드마크를 배열하여, 어느 위치 코드에서도 그 위치 코드를 중심으로 한 3×3개의 위치 코드들이 각각 0에서부터 8까지의 서로 다른 숫자에 의해 표시되도록 한다.
이동로봇, 랜드마크, 코드 지도, 카메라, 영상Abstract translation: 公开了使用编码图的移动机器人的代码图和位置识别方法。 根据本实施例的代码图将每个具有从0到8的九个数字的界标布置为位置代码，使得以任何位置代码中的位置代码为中心的3和3位置代码分别为0到8 以不同的数字显示。
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公开(公告)号：KR1020100031234A
公开(公告)日：2010-03-22
申请号：KR1020080090224
申请日：2008-09-12
Applicant: 전북대학교산학협력단 , 구칠효
Abstract: PURPOSE: A code map and a method for detecting the location of a robot using the same are provided to easily calculate a relative position by including peripheral codes which instructs a constant location based on a code. CONSTITUTION: A vector between a location before a mobile robot moves and a location after the mobile robot moves is calculated in order to determine the location of mobile robot after the movement. A code map includes a land mark which is installed on a ceiling. The land mark includes nine numbers of 0 to 8 as location codes. Based on the location codes, 3x3 location codes are displayed with different numbers from 0 to 8.
Abstract translation: 目的：提供用于检测使用其的机器人的位置的代码图和方法，以通过包括基于代码指示恒定位置的外围代码来容易地计算相对位置。 构成：计算移动机器人移动前的位置与移动机器人移动后的位置之间的矢量，以确定移动机器人移动后的位置。 代码图包括安装在天花板上的地标。 地标包含9个数字，0至8位作为位置代码。 根据位置代码，显示3x3位置代码，其数字从0到8不同。
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