TRAVELLING CONTROL METHOD OF MOVING ROBOT USING TRAVELLING BOTTOM PLANE IMAGE INFORMATION, ESPECIALLY CORRECTING TRAVELLING PATH BY CORRECTING ATTITUDE OF MOVING ROBOT

摘要

PURPOSE: A travelling control method of a moving robot using travelling bottom plane image information is provided to recognize the travelling direction of the moving robot accurately and then to perform work rapidly and accurately and also to improve travelling performance. CONSTITUTION: According to the travelling control method of a moving robot, information of a bottom plane applied to the moving robot is image-processed. A travelling path of the moving robot is set according to the information of the bottom plane. Information of the travelling bottom plane is obtained through a fish eye lens and a camera unit(10) by driving the moving robot according to the travelling path set(20). A distorted part of the obtained image is corrected in real time(30), and specific elements of the image are expressed(40). The obtained bottom plane image is compared with the specific element expressed in the bottom plane image(50). And the travelling path is corrected by correcting the attitude of the moving robot according to an error value due to the comparison of the specific element.