METHOD FOR RECOGNIZING THE SELF POSITION OF A MOBILE ROBOT UNIT USING ARBITRARY CEILING FEATURES ON THE CEILING IMAGE/FEATURE MAP

• Main Authors: SONG, JAE BOK, HWANG, SEO YEON
• Format: Patent
• Language: English; Korean
• Published: 07.03.2013
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROLLING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING; WIRELESS COMMUNICATIONS NETWORKS

PURPOSE: A method for recognizing a mobile robot position using a ceiling arbitrary shape feature is provided to enable accurate and rapid position recognition by using a ceiling image. CONSTITUTION: A method for recognizing a mobile robot position using a ceiling arbitrary shape feature includes the following steps: a step for providing a position recognition mobile robot apparatus using a ceiling arbitrary shape feature including an image input unit, an encoder sensing unit, a calculation unit, a control unit, a storage unit, and a driving unit(S10); a step for extracting features including an arbitrary shape feature from a contour line extracted from inputted image data inputted through the image input unit(S20); a position recognition step for recognizing the position of the mobile robot apparatus by using the extracted feature(S30). [Reference numerals] (AA) Start; (S10) Step of processing image input; (S20) Step of extracting features; (S30) Step of recognizing a position