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公开(公告)号：EP4245474A1
公开(公告)日：2023-09-20
申请号：EP21892362.1
申请日：2021-11-12
发明人： PARK, Seong Ju , KIM, Chang Soo , LEE, Jae Young , KIM, Jin Baek , JEONG, Myung Kyo , JO, Hyun Woo , KWON, In Hwan
摘要： A robot system according to an exemplary embodiment of the present disclosure localizes a robot using a simultaneous localization and mapping (SLAM) technique, edits the 3D SLAM data, and detects and removes a dynamic obstacle while simultaneously performing mapping and localization using the SLAM technique.
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公开(公告)号：EP3570065A3
公开(公告)日：2020-03-11
申请号：EP19174303.8
申请日：2019-05-14
摘要： Disclosed is a LIght Detection And Ranging (LIDAR) sensor which is capable of minimizing a size of a LIDAR sensor which is capable of performing 3D scanning and setting a region of interest for obtaining point cloud data by removing scattering light by separating a transmitter module and a receiver module, disposing a transmitter, a mirror, and a receiver in a specific space so that light emitted from a light source or light reflected from a transmission mirror is reflected from a first reflection region of a moving mirror and is moved to a target object and light reflected from the target object is reflected from a second reflection region of the moving mirror and is moved to the transmission mirror or a photodiode, installing a blocking wall separating movement paths of light, and adjusting a range of a movement of the moving mirror.
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公开(公告)号：EP2979603A1
公开(公告)日：2016-02-03
申请号：EP14775596.1
申请日：2014-03-28
发明人： SHIN, Kyung Chul , PARK, Seong Ju , CHANG, Min , LEE, No Soo , LEE, Jae Young , MOON, Byung Kwon
CPC分类号： A47L9/009 , A47L9/2821 , A47L9/2852 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B62D6/002 , B62D61/00 , Y10S901/01
摘要： Disclosed is a cleaning robot having an expanded cleaning territory. The cleaning robot of the present invention comprises: a platform in which at least one corner of the exterior thereof has an angle of less than 90°; a first driving wheel of which the central axis is attached to the bottom portion of the platform at a predetermined first angle (θ) and a predetermined second angle (-θ) with respect to the forward direction of the platform; and a second driving wheel of which the central axis is attached to the bottom portion of the platform at the predetermined second angle (-θ) with respect to the forward direction of the platform.
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4.发明公开SLIP DETECTION APPARATUS AND METHOD FOR A MOBILE ROBOT 有权SCHLUPFDETEKTOR UND SCHLUPFDETEKTIONSVERFAHRENFÜREINEN MOBILEN ROBOTER
公开(公告)号：EP2495079A1
公开(公告)日：2012-09-05
申请号：EP09850898.9
申请日：2009-10-30
发明人： SHIN, Kyung Chul , PARK, Seong Ju , LEE, Hee Kong , LEE, Jae Young , KIM, Hyung O , DANIEL, James Stonier
CPC分类号： B25J9/1697 , B25J9/162 , G05D1/0253 , G05D1/0272 , G05D2201/0203 , Y10S901/01
摘要： The present invention relates to a slip detection apparatus and method for a mobile robot, and more particularly, to a slip detection apparatus and method for a mobile robot, which not only use a plurality of rotation detection sensors to detect a lateral slip angle and lateral slip direction, but also analyze the amount of change in an image and detect the blocked degree of an image input unit to determine the quality of an input image, and detect the occurrence of a frontal slip to precisely detect the type of slip, direction of the slip, and the rotation angle, and, on the basis of the latter, to enable the mobile robot to move away from and avoid slip regions, and to reassume the precise position thereof.
摘要翻译： 本发明涉及一种移动机器人的滑动检测装置和方法，更具体地，涉及一种用于移动机器人的滑动检测装置和方法，其不仅使用多个旋转检测传感器来检测侧向滑移角和侧向 而且还分析图像中的变化量并检测图像输入单元的被阻塞程度以确定输入图像的质量，并且检测正面滑移的发生以精确地检测滑动的类型，方向 滑移和旋转角度，并且基于后者，以使移动机器人能够远离并避免滑动区域，并且重新确定其精确位置。
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5.发明公开DEVICE AND METHOD FOR RECOGNIZING LOCATION OF MOBILE ROBOT BY MEANS OF EDGE-BASED READJUSTMENT 审中-公开装置和使用EDGE-BASED调整用于检测移动机器人的定位方法
公开(公告)号：EP3159126A1
公开(公告)日：2017-04-26
申请号：EP15810535.3
申请日：2015-06-17
发明人： SHIN, Kyung Chul , PARK, Seong Ju , LEE, Jae Young
CPC分类号： B25J9/1697 , B25J13/08 , B25J19/023 , G05D1/0251 , G05D1/0253 , G05D1/0272 , G05D1/0274 , G06K9/00201 , G06K9/00664 , G06K9/4604 , G06K9/4609 , G06K9/4647 , G06K9/78 , G06T5/002 , G06T7/13 , G06T7/74 , G06T2207/10021 , G06T2207/20021 , G06T2207/30244 , G06T2207/30252 , H04N13/239 , Y10S901/01
摘要： Disclosed are an apparatus for recognizing a position of a mobile robot using edge based refinement and a method thereof. An apparatus for recognizing a position of a mobile robot includes two wide angle cameras which obtain one pair of stereo images on a region of interest including a vertical direction and a horizontal direction in accordance with movement of a mobile robot; and a position recognizing unit which extracts an edge from the obtained stereo images, projects each seed in a given key frame based on the extracted edge, updates a status parameter indicating rotation and movement of an optical camera along a direction in which the calculated cost is increased as the projection result, and estimates a current position using the updated result
摘要翻译： 本发明公开了在装置用于使用基于边缘细化及其方法认识到移动式机器人的位置。 用于识别移动机器人的位置的装置，包括两个广角摄像机哪获得关于感兴趣的包括垂直方向上和在与移动机器人的运动雅舞蹈水平方向上的区域中的一个对立体图像; 和识别单元从所获得的立体图像中的边缘，其提取一个位置，突出在基于所提取的边缘给定的关键帧中的每个种子，更新状态参数沿其中计算的成本是一个方向指示光学摄像机的转动和移动 随着投影结果，并使用更新的结果估计当前位置
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6.发明公开CONTROL METHOD FOR LOCALIZATION AND NAVIGATION OF MOBILE ROBOT AND MOBILE ROBOT USING SAME 审中-公开控制方法用于确定移动机器人及移动机器人的位置和导航THAT
公开(公告)号：EP2460629A1
公开(公告)日：2012-06-06
申请号：EP09847850.6
申请日：2009-07-28
CPC分类号： G05D1/027 , G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： The present invention relates to a control method for the localization and navigation of a mobile robot and a mobile robot using the same. More specifically, the localization and navigation of a mobile robot are controlled using inertial sensors and images, wherein local direction descriptors are employed, the mobile robot is changed in the driving mode thereof according to the conditions of the mobile robot, and errors in localization may be minimized.
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公开(公告)号：EP3549726A2
公开(公告)日：2019-10-09
申请号：EP17876999.8
申请日：2017-11-08
摘要： The present invention proposes a cleaning function control device and method which obtains information on each point of an indoor space as three-dimensional information to determine a state of the floor and controls a cleaning function of the indoor space based on the state of the floor and a cleaning robot including the same. Further, the present invention proposes a multi-channel LiDAR based obstacle detecting device which obtains a surrounding environment using a multi-channel LiDAR as three-dimensional space information and distinguishes a wall, an obstacle, and a vertical environment from the three-dimensional environment information and operates a collision path avoidance algorithm which increases the efficiency of the cleaning robot while avoiding the collision based on the measured obstacle information and a cleaning robot including the same.
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公开(公告)号：EP3447532A3
公开(公告)日：2019-05-29
申请号：EP18189682.0
申请日：2018-08-20
摘要： The present exemplary embodiments provide a hybrid sensor and a moving object which generate composite data by mapping distance information on an obstacle obtained through a Lidar sensor to image information on an obstacle obtained through an image sensor and predict distance information of composite data based on intensity information of a pixel, to generate precise composite data.
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9.发明公开DEVICE AND METHOD FOR RECOGNIZING LOCATION OF MOBILE ROBOT BY MEANS OF SEARCH-BASED CORRELATION MATCHING 审中-公开装置和方法基于移动机器人的位置检测查找相关性的调整，在
公开(公告)号：EP3159122A1
公开(公告)日：2017-04-26
申请号：EP15809568.7
申请日：2015-06-17
发明人： SHIN, Kyung Chul , PARK, Seong Ju , LEE, Jae Young
CPC分类号： B25J9/1697 , B25J9/16 , B25J13/08 , B25J19/023 , G05D1/0251 , G05D1/0253 , G05D1/0272 , G05D1/0274 , G06K9/00201 , G06K9/00664 , G06K9/4604 , G06K9/4647 , G06T7/11 , G06T7/13 , G06T7/174 , G06T7/74 , G06T2207/10012 , G06T2207/10021 , G06T2207/20021 , G06T2207/30244 , G06T2207/30252 , H04N13/239 , Y10S901/01
摘要： Disclosed are an apparatus for recognizing a position of a mobile robot using search based correlative matching and a method thereof. An apparatus for recognizing a position of a mobile robot includes two wide angle cameras which obtain one pair of stereo images on a region of interest including a vertical direction and a horizontal direction in accordance with movement of a mobile robot; and a position recognizing unit which extracts an edge from the received stereo image, forms a virtual space using at least one key frame given based on the extracted edge, divides the virtual area into a plurality of regions, calculates an edge size in each of the plurality of divided regions, and estimates the current position using the calculated edge size calculated.
摘要翻译： 本发明公开了在装置用于识别使用基于搜索相关匹配及其方法的移动机器人的位置。 用于识别移动机器人的位置的装置，包括两个广角摄像机哪获得关于感兴趣的包括垂直方向上和在与移动机器人的运动雅舞蹈水平方向上的区域中的一个对立体图像; 和识别单元从所接收到的立体图像的边缘，其提取一个位置，形成使用给定的至少一个关键帧基于所提取的边缘的虚拟空间，将所述虚拟区域划分成多个区域的复数，计算到边缘尺寸在每个 分割区域的多个，并估计使用计算出的计算的边缘的大小的当前位置。
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公开(公告)号：EP3460395A1
公开(公告)日：2019-03-27
申请号：EP18188264.8
申请日：2018-08-09
IPC分类号： G01C15/00
摘要： The exemplary embodiments provide an artificial landmark which is not visible through naked eyes of a user but is recognized by an apparatus for recognizing an artificial landmark and an artificial landmark recognizing apparatus and a moving object which recognize the artificial landmark by analyzing points scanned during a process of scanning the surroundings without providing a separate camera for recognizing the artificial landmark.
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