发明名称 |
CLEANING ROBOT NAVIGATIONG METHOD USING THE REPEATING IMAGE PATTERNS OF WORKING ENVIRONMENT |
摘要 |
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
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申请公布号 |
KR20130022918(A) |
申请公布日期 |
2013.03.07 |
申请号 |
KR20110085958 |
申请日期 |
2011.08.26 |
申请人 |
INDUSTRIAL COOPERATION FOUNDATION CHONBUK NATIONAL UNIVERSITY;SENSOFT CO., LTD. |
发明人 |
KIM, HYONG SUK;KIM, SUNG WOO;YANG, CHANG JU;HONGXIN CHEN |
分类号 |
A47L9/28;B25J13/08;G05D1/02 |
主分类号 |
A47L9/28 |
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