Patent application number | Description | Published |
20090024251 | Method and apparatus for estimating pose of mobile robot using particle filter - A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles. | 01-22-2009 |
20090055020 | Apparatus, method and medium for simultaneously performing cleaning and creation of map for mobile robot - Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information. | 02-26-2009 |
20090182464 | Method and apparatus for planning path of mobile robot - The apparatus includes a coarse map creating unit creating a coarse map which includes path information of the mobile robot; and a virtual door extracting unit extracting virtual doors which divide the coarse map into a plurality of sub regions, where the mobile robot sequentially cleans the sub regions one by one. The method includes creating a coarse map which includes path information of the mobile robot; extracting virtual doors which divide the coarse map into a plurality of sub regions; and sequentially cleaning the sub regions one by one. | 07-16-2009 |
Patent application number | Description | Published |
20080273791 | Apparatus, method, and medium for dividing regions by using feature points and mobile robot using the same - An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pairs of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map. | 11-06-2008 |
20090149990 | Method, medium, and apparatus for performing path planning of mobile robot - A method, medium, and apparatus for performing path planning of a mobile robot is provided. The apparatus for performing path planning of a mobile robot includes a coarse map generation unit to generate a coarse map composed of a plurality of cells; a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided, and a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit. The method of performing path planning of a mobile robot includes generating a coarse map composed of a plurality of cells, generating a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells, which neighbors the cell where an obstacle exists, is divided, generating a moving path whereby the mobile robot can pass a narrow passage by using the fine map, and updating the coarse map by reflecting the moving path. | 06-11-2009 |
20090177320 | Method, Medium, and Apparatus for Docking Mobile Robot - Provided are a method, medium, and apparatus for docking a mobile robot. The method includes: (a) receiving a docking signal, which is transmitted from a signal transmitting unit, by using a signal receiving unit loaded in the mobile robot while the mobile robot is moving; (b) estimating a range of poses of the signal transmitting unit based on the received docking signal; (c) updating estimated poses of the signal transmitting unit by reflecting the estimated range of poses in a pose estimation algorithm when the pose of the signal transmitting unit, which was estimated using the pose estimation algorithm, exists within the estimated range of poses and adding a new pose of the signal transmitting unit, which is to be estimated using the pose estimation algorithm by reflecting the estimated range of poses, when the pose of the signal transmitting unit, which was estimated using the pose estimation algorithm, does not exist within the estimated range of poses; and (d) attempting to return the mobile robot to a charging station by using a plurality of poses of the signal transmitting unit, which were estimated by repeating operations (a) through (c) and using the pose estimation algorithm, in order of accuracy, until the mobile robot is docked in the charging station. | 07-09-2009 |
20110211731 | APPARATUS, METHOD, AND MEDIUM FOR DIVIDING REGIONS BY USING FEATURE POINTS AND MOBILE ROBOT USING THE SAME - An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pair of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map. | 09-01-2011 |
20120029698 | METHOD, APPARATUS, AND MEDIUM FOR ESTIMATING POSE OF MOBILE ROBOT USING PARTICLE FILTER - Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor. | 02-02-2012 |
20130274924 | METHOD, MEDIUM AND APPARATUS CLASSIFYING AND COLLECTING AREA FEATURE INFORMATION ACCORDING TO A ROBOT'S MOVING PATH, AND A ROBOT CONTROLLED BY THE AREA FEATURES - A method of classifying and collecting feature information of an area according to a robot's moving path, a robot controlled by area features, and a method and apparatus for composing a user interface using the area features are disclosed. The robot includes a plurality of sensor modules to collect feature information of a predetermined area along a moving path of the robot, and an analyzer to analyze the collected feature information of the predetermined area according to a predetermined reference range and to classify the collected feature information into a plurality of groups. | 10-17-2013 |
Patent application number | Description | Published |
20090066624 | PRINTED CIRCUIT BOARD, DISPLAY APPARATUS HAVING A PRINTED CIRCUIT BOARD AND METHOD OF MANUFACTURING THE PRINTED CIRCUIT BOARD - A printed circuit board (“PCB”) includes a first pattern structure, a second pattern structure, a third pattern structure, and a fourth pattern structure. The first pattern structure includes a first ground pattern. The second pattern structure includes a first line pattern overlapping the first ground pattern and a second ground pattern electrically insulated from the first line pattern. The third pattern structure includes a third ground pattern overlapping the first line pattern and a second line pattern overlapping the second ground pattern. The fourth pattern structure includes a fourth ground pattern overlapping the second line pattern. Therefore, the PCB may decrease noise. | 03-12-2009 |
20100045583 | LIQUID CRYSTAL DISPLAY AND METHOD OF OPERATING THE SAME - A liquid crystal display and a method of operating the liquid crystal display, in which the liquid crystal display includes a liquid crystal panel, a gate driver, a gamma voltage generator, a data driver, and a gamma voltage compensator. The liquid crystal panel has a plurality of pixels respectively arranged in pixel areas defined by gate lines and data lines. The gate driver drives the gate lines, and the gamma voltage generator generates gamma voltages having different voltage levels from each other. The data driver drives the data lines according to the gamma voltages. The gamma voltage compensator compensates for at least one of the gamma voltages, which are generated from the gamma voltage generator, by using one of a gate-off voltage provided to the gate lines and a storage voltage provided to a storage capacitor included in the pixel. | 02-25-2010 |
20120285009 | PRINTED CIRCUIT BOARD, DISPLAY APPARATUS HAVING A PRINTED CIRCUIT BOARD AND METHOD OF MANUFACTURING THE PRINTED CIRCUIT BOARD - A printed circuit board (“PCB”) includes a first pattern structure, a second pattern structure, a third pattern structure, and a fourth pattern structure. The first pattern structure includes a first ground pattern. The second pattern structure includes a first line pattern overlapping the first ground pattern and a second ground pattern electrically insulated from the first line pattern. The third pattern structure includes a third ground pattern overlapping the first line pattern and a second line pattern overlapping the second ground pattern. The fourth pattern structure includes a fourth ground pattern overlapping the second line pattern. Therefore, the PCB may decrease noise. | 11-15-2012 |