公开(公告)号：WO2009014332A3

公开(公告)日：2009-03-19

申请号：PCT/KR2008004090

申请日：2008-07-11

Applicant: KOREA ELECTRONICS TELECOMM ,  LEE YU-CHEOL ,  NA SANG IK ,  YU WON PIL ,  HAN KYU SEO

Inventor： LEE YU-CHEOL ,  NA SANG IK ,  YU WON PIL ,  HAN KYU SEO

IPC: G01S13/06

CPC classification number: G05D1/0274 ,  G01C21/32 ,  G05D1/0231 ,  G05D1/024 ,  G05D1/0272 ,  G05D2201/0203

Abstract: A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the estimated position of the mobile unit if the estimated position is matched with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

Abstract translation: 创建室内环境地图的方法包括：当移动单元使用编码器行进时，通过检测车轮的转数来获取编码位置信息，以基于编码的位置信息来预测移动单元的位置，获取从移动单元到 使用距离测量传感器存在于周围环境中的物体，预测移动单元的移动位置，估计在移动单元的预测位置处从移动单元到物体的距离，确定估计距离是否与 测量距离，如果估计位置与测量位置匹配，则校正移动单元的估计位置，以及使用校正位置和测量距离创建室内环境地图。

公开(公告)号：EP1957243A4

公开(公告)日：2013-12-18

申请号：EP06783412

申请日：2006-07-26

Applicant: KOREA ELECTRONICS TELECOMM

Inventor： DOH NAKJU ,  YU WON PIL ,  NA SANG IK

IPC: B25J9/16 ,  G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0255 ,  G05D2201/0203

Abstract: A method of mapping and navigating a mobile robot by an artificial landmark and a local coordinate is provided. The method of creating a map includes: a) recognizing an artificial landmark in a target space and defining the recognized artificial landmark as a predetermined node; b) defining an adjacent artificial landmark as a destination node while traveling to the adjacent artificial landmark; c) defining the recognized artificial landmark as an origin of a local coordinate, defining a coordinate axis provided from the predetermined artificial landmark as a coordinate axis of the origin, obtaining and storing information about the predetermined node, the destination node, and an edge connecting the predetermined node and the destination node; and d) creating a map by storing information about edges between each of nodes to an adjacent node for all of the artificial landmarks through repeatedly performing the steps b) and c).

公开(公告)号：EP2094452A4

公开(公告)日：2012-01-11

申请号：EP07860633

申请日：2007-11-30

Applicant: KOREA ELECTRONICS TELECOMM

Inventor： LEE YU CHEOL ,  YU WON PIL ,  NA SANG IK ,  AHN HYO-SUNG

IPC: B25J19/00 ,  G05D1/02

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