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Apparatus and method of recognizing position and direction of mobile robot

A mobile robot, current position technology, applied in the field of mobile robots, can solve problems such as slow modification of new position and direction information, accumulation of measurement errors, and increase of overall errors.

Inactive Publication Date: 2004-01-14
SAMSUNG ELECTRONICS CO LTD
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Problems solved by technology

However, the odometry method also has a disadvantage in that since it calculates the position and orientation of the mobile robot by an integral method, it accumulates measurement errors for the walking distance of the mobile robot
However, it increases the overall error when the walking distance of the mobile robot increases
On the other hand, the RFID method has a limited error margin because it does not accumulate errors
But it updates the new position and orientation information rather slowly, because the sampling operation of the position and orientation sensor is performed intermittently

Method used

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  • Apparatus and method of recognizing position and direction of mobile robot
  • Apparatus and method of recognizing position and direction of mobile robot
  • Apparatus and method of recognizing position and direction of mobile robot

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Embodiment Construction

[0036] Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Throughout the drawings, the same reference numerals refer to the same parts.

[0037] Figure 5 is a structural diagram of a control device for a mobile robot according to an embodiment of the present invention. Such as Figure 5 As shown in , an RFID reader 504 and an encoder 506 are connected to an input of the control unit 502 . The RFID reader 504 detects the RFID card, obtains the unique number of the detected RFID card, and transmits the unique number to the control unit 502 . The RFID reader 504 detects the unique numbers of the RFID card and uses them to obtain the RFID coordinates of the mobile robot. The encoder 506 detects a rotational speed and rotational direction of the wheels of the mobile robot and transmits the corresponding detected values ​​to the control unit 502 . The wheel rotation speed a...

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Abstract

An apparatus and method of recognizing a position and direction of a mobile robot includes obtaining absolute coordinates at a current position of the mobile robot and relative coordinates for a moving displacement of the mobile robot. Therefore, the position and direction of the mobile robot are recognized by reflecting the relative coordinates on the absolute coordinates. Accordingly, the present invention operates odometry and RFID coordinate systems in combination with each other, thus obtaining a high sampling rate by the odometry coordinate system while restricting an error range within a predetermined level by the RFID coordinate system.

Description

[0001] Cross References to Related Applications [0002] This application claims priority from Korean Application No. 2002-32714 filed with the Korean Intellectual Property Office on June 12, 2002, the disclosure of which is incorporated herein by reference. technical field [0003] Generally speaking, the present invention relates to mobile robots, and more particularly, the present invention relates to an apparatus and method for identifying the position and orientation of a mobile robot. Background technique [0004] In various industrial applications, robots generally perform various tasks normally performed by humans. For example, in production plants, robots perform operations such as welding operations and assembly operations. Typically, robots use one robotic arm to perform welding and assembly operations. A robotic arm has several joints and is fixedly mounted to perform the task it is instructed to do. The working space of a robot arm can be very limited. [00...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J9/10B25J9/16B25J13/08G01S13/78G05D1/02
CPCB25J9/1664G05B2219/40538B25J9/10
Inventor 朴珊宪高源晙朴基喆
Owner SAMSUNG ELECTRONICS CO LTD
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