JP3936356B2 - 移動ロボットの位置補正装置及びその方法 - Google Patents
移動ロボットの位置補正装置及びその方法 Download PDFInfo
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- JP3936356B2 JP3936356B2 JP2004273642A JP2004273642A JP3936356B2 JP 3936356 B2 JP3936356 B2 JP 3936356B2 JP 2004273642 A JP2004273642 A JP 2004273642A JP 2004273642 A JP2004273642 A JP 2004273642A JP 3936356 B2 JP3936356 B2 JP 3936356B2
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- mobile robot
- binary value
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- 238000012937 correction Methods 0.000 title claims description 14
- 238000000034 method Methods 0.000 title claims description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 description 12
- 238000003860 storage Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Suction Cleaners (AREA)
- Numerical Control (AREA)
Description
8 制御部
10 位置信号検出部
11 磁石固定台
12 永久磁石
13 磁気センサ
20 移動ロボット
30 掃除領域
Claims (2)
- 壁に囲まれた特定領域の、壁際の予め定められた位置に装着されて、前記予め定められた位置を知らせるための位置信号を発生する位置知らせ手段と、移動ロボットの予め定められた位置に装着されて、前記位置信号を検出する位置信号検出手段と、前記移動ロボットの予め定められた位置に装着されて、前記検出された位置信号に対応する予め保存された位置情報に基づいて前記移動ロボットの位置を補正する制御手段と、を含む移動ロボットの位置補正装置であって、
前記位置知らせ手段は、複数の磁石を床面に対して垂直方向に固定可能な磁石固定手段と、前記磁石固定手段に少なくとも1つの磁石が、前記予め定められた位置を認識及び区別するために、バイナリパターンで装着されて、バイナリ値に対応する磁界を発生するように構成されており、
前記位置信号検出手段は、前記磁石固定手段の固定位置に対応して前記移動ロボットに装着される各磁気センサにより構成され、前記各磁気センサは、前記バイナリ値に対応する磁界を検出し、前記検出された磁界を電気的な信号に変換するように構成されており、
前記制御手段は、前記バイナリ値と予め保存された前記特定領域のバイナリ値とが一致するとき、一致したバイナリ値に対応する予め保存された位置情報に基づいて、前記移動ロボットの、現在位置及び走行時に発生する位置誤差を補正することを特徴とする移動ロボットの位置補正装置。 - 壁に囲まれた特定領域の、壁際の予め定められた位置に装着された位置知らせ手段が、予め定められた位置を知らせるための位置信号を発生する段階と、移動ロボット側で前記位置信号を検出する段階と、移動ロボット側で前記検出された位置信号に対応する予め保存された位置情報に基づいて、前記移動ロボットの位置を補正する段階とを含むことを特徴とする移動ロボットの位置補正方法において、
前記位置信号を発生する段階では、前記特定領域の予め定められた位置を認識及び区別するために、複数の磁石を床面に対して垂直方向に固定可能な磁石固定手段にバイナリパターンで磁石を配置して、バイナリ値に対応する磁界を発生するようにし、
前記位置信号を検出する段階では、前記磁石固定手段の固定位置に対応して前記移動ロボットに装着した各磁気センサにより、前記バイナリ値に対応する磁界を検出して電気的な信号に変換するようにし、
前記移動ロボットの位置を補正する段階では、前記バイナリ値と予め保存された前記特定領域のバイナリ値とが一致するとき、一致したバイナリ値に対応する予め保存された位置情報に基づいて、前記移動ロボットの、現在位置及び走行時に発生する位置誤差を補正することを特徴とする移動ロボットの位置補正方法。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020030094954A KR20050063543A (ko) | 2003-12-22 | 2003-12-22 | 이동로봇의 위치확인장치 및 방법 |
Publications (2)
Publication Number | Publication Date |
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JP2005182756A JP2005182756A (ja) | 2005-07-07 |
JP3936356B2 true JP3936356B2 (ja) | 2007-06-27 |
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JP2004273642A Active JP3936356B2 (ja) | 2003-12-22 | 2004-09-21 | 移動ロボットの位置補正装置及びその方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7274166B2 (ja) |
EP (1) | EP1548533B1 (ja) |
JP (1) | JP3936356B2 (ja) |
KR (1) | KR20050063543A (ja) |
CN (1) | CN100395088C (ja) |
RU (1) | RU2279343C2 (ja) |
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KR100711559B1 (ko) * | 2006-07-26 | 2007-04-27 | 김승우 | 홈 메스클린업 로봇 시스템 및 구현방법 |
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2003
- 2003-12-22 KR KR1020030094954A patent/KR20050063543A/ko active Search and Examination
-
2004
- 2004-08-17 EP EP04103942A patent/EP1548533B1/en not_active Expired - Fee Related
- 2004-08-20 US US10/921,912 patent/US7274166B2/en active Active
- 2004-09-09 RU RU2004127168/02A patent/RU2279343C2/ru not_active IP Right Cessation
- 2004-09-10 CN CNB2004100770987A patent/CN100395088C/zh not_active Expired - Fee Related
- 2004-09-21 JP JP2004273642A patent/JP3936356B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
EP1548533B1 (en) | 2011-07-13 |
EP1548533A3 (en) | 2005-08-31 |
EP1548533A2 (en) | 2005-06-29 |
JP2005182756A (ja) | 2005-07-07 |
US7274166B2 (en) | 2007-09-25 |
RU2279343C2 (ru) | 2006-07-10 |
CN100395088C (zh) | 2008-06-18 |
CN1636685A (zh) | 2005-07-13 |
KR20050063543A (ko) | 2005-06-28 |
US20050134209A1 (en) | 2005-06-23 |
RU2004127168A (ru) | 2006-02-20 |
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