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公开(公告)号：US08954191B2
公开(公告)日：2015-02-10
申请号：US12718380
申请日：2010-03-05
申请人： Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
发明人： Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
CPC分类号： G05D1/0274 , G05D1/0246 , G05D1/0255 , G05D2201/0203
摘要： Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
摘要翻译： 公开了一种移动机器人及其控制方法。 整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。 然后，将地图补偿为闭合的曲线，从而制作整个地图。 此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及 从清洁过程中捕获的图像中提取特征点。
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公开(公告)号：US08676380B2
公开(公告)日：2014-03-18
申请号：US12594451
申请日：2008-04-03
申请人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
发明人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
CPC分类号： G05D1/0253 , G05D1/0225 , G05D2201/0203
摘要： There are provided a moving robot and a method of operating the same. A bottom surface is photographed to sense a moving distance and a moving direction based on input image data. The amount of light radiated to photograph the bottom surface is sensed to feedback control the light emission degree of a light source unit. The light source unit is controlled when errors are generated in sensing the image data. Therefore, the sensing ratio of the photographed image is improved so that correctness of calculating the position of the moving robot is improved.
摘要翻译： 提供了一种移动机器人及其操作方法。 基于输入图像数据拍摄底面以感测移动距离和移动方向。 检测照射底面的光量，反馈控制光源单元的发光度。 在感测图像数据时产生错误时控制光源单元。 因此，提高了拍摄图像的感测比，从而提高了运动机器人的位置的计算的正确性。
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公开(公告)号：US20100268385A1
公开(公告)日：2010-10-21
申请号：US12594451
申请日：2008-04-03
申请人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
发明人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
IPC分类号： G06F7/00
CPC分类号： G05D1/0253 , G05D1/0225 , G05D2201/0203
摘要： There are provided a moving robot and a method of operating the same. A bottom surface is photographed to sense a moving distance and a moving direction based on input image data. The amount of light radiated to photograph the bottom surface is sensed to feedback control the light emission degree of a light source unit. The light source unit is controlled when errors are generated in sensing the image data. Therefore, the sensing ratio of the photographed image is improved so that correctness of calculating the position of the moving robot is improved.
摘要翻译： 提供了一种移动机器人及其操作方法。 基于输入图像数据拍摄底面以感测移动距离和移动方向。 检测照射底面的光量，反馈控制光源单元的发光度。 在感测图像数据时产生错误时控制光源单元。 因此，提高了拍摄图像的感测比，从而提高了运动机器人的位置的计算的正确性。
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