| 摘要 |
A robot positioning system having a camera, a processing unit and at least a first line laser. The first line laser is arranged to illuminate a space by projecting vertical laser beams within field of view of the camera. The camera is arranged to record a picture of the space illuminated by the vertical laser beams, and the processing unit is arranged to extract, from the recorded picture, image data representing a line formed by the vertical laser beams being reflected against objects located within the space. The processing unit is further arranged to create, from the extracted line, a representation of the illuminated space along the projected laser lines, in respect of which the robot is positioned. Methods of positioning a robot are also provided. |
| 主权项 |
1. A method of positioning a robot comprising:
illuminating a space with at least a first line laser projecting vertical laser beams within a field of view of a camera; recording with the camera, a recorded picture of the space illuminated by the vertical laser beams; generating an extracted line by extracting, from the recorded picture, image data representing a line formed by the vertical laser beams being reflected against objects located within the space; comparing the image data of the recorded picture with image data of at least one previously recorded picture; generating an adjusted extracted line by adjusting the extracted line on the basis of the comparison of the image data by using dead reckoning; and creating, from the adjusted extracted line, a representation of the illuminated space along the projected laser beams, and an estimate of a position of the robot in relation to the illuminated space. |
