GB2353909A - Robot positioning and obstacle sensing - Google Patents

Robot positioning and obstacle sensing Download PDF

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Publication number
GB2353909A
GB2353909A GB9920372A GB9920372A GB2353909A GB 2353909 A GB2353909 A GB 2353909A GB 9920372 A GB9920372 A GB 9920372A GB 9920372 A GB9920372 A GB 9920372A GB 2353909 A GB2353909 A GB 2353909A
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United Kingdom
Prior art keywords
robot
visual
positions
expected
disk
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB9920372A
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GB9920372D0 (en
GB2353909B (en
Inventor
John Alfred Cawkwell
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Individual
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Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to GB9920372A priority Critical patent/GB2353909B/en
Publication of GB9920372D0 publication Critical patent/GB9920372D0/en
Publication of GB2353909A publication Critical patent/GB2353909A/en
Application granted granted Critical
Publication of GB2353909B publication Critical patent/GB2353909B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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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
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The surface(4) on which the robot moves is marked with visual markers(2) painted on the road surface. A moving robot that has dead reckoning capabilities and cameras(1), uses the expected robot position and the positions of the visual markers from a database, to determine the expected position of the markers in the camera. Any difference between the expected and observed view is used to improve the estimate of the robot position. If a disk is wholly visible in the image then a fall safe deduction is that the space(3) between the disk and the camera is free of obstructions. If the disk appears obscured then a working assumption is that the space is obstructed.

Description

2353909 ROBOT POSITIONING AND MOTION MECHANISM This invention relates to
use of computer vision in the positi of a mobile robot and the determination of obstacle free paths for dw robot.
In order to c position, a robot must know its current position, and wh there is a clear path to the new position. Ilwre are many ways of doing this, and not all methods me visual.
The Invention com the folto components:
A number of identical visual m(2) on the s of the road(4). A dat containing:
- the positions of the visual m - the nn topology, so that the robot can determine from one m the identifiers of adjt m. Camens(l) an to the robot capat?le of vie nearby m. A computer system capable of.
- controlling the robot motion - determi the dunge in robot position by dead reckoning - obtaining m from the dat - determiAng wh a m d be visible fl:om a cular camera - detecting visual markiers in the camera image, given a estimated position The operation of the invention will now be bedL The computer system must be initla with the ement location of the robot in relation to the visual m. the robot changes position, the computer estimates the nm position by reek. U this estimated position. the computer ace the dat to find v m that are adjacent to the robot, and a set of m that we in view of the caineras, is determinedL From the robots estimated position, and the position of the nu, the a position of the nu in the camera view Is detem Any slight difference between ffle a and observed position An the camera Image Is used to cox" the estimate of the robots position. In this way the robot Is to corw errors in reeko and to know its position An relation to the v m--- Where a v m Is c In die image view, but is not visible or not completely visible in the image, the 3) between the visual m and the robot is presumed to be blociod by an obstacle. In this way it is possible to determine vd the q to a visual m Is free of obstwles. Miis mecta Is fall sde in that it requires dx positive Identification of a in In the c to detemd= that the q is clew, ratimr than the negative no obstacle is foundL 11Le motion of the robot is ed in term of 1he visual nud=s. For eumple the robot is comm to move to a given m name, and the route from dw cwrmt position to the de position can be rn in terms of ma.
The m positions, may be 2 where die robots -- Is a htd f lat road and will be 3 dimensional where the robots ment is dqplng or undulating.
Z-

Claims (4)

1. 7he use of a databaw of the positions of identical visual m, die estimated position of the rob^ the eq and obmyed positions of m in the camera Image to c enm in the estimated position of the robot
2. 11w use of c visual marker sigh that are missing or incomplete to determine the pmenw of obstacles.
3. Mw use of expe visual marker sightings that are pment in the image to detern-dne the absenw of obstacles.
4. ne use of a database of the positions of Identical v maxims to and calculate a path fl= the currmt robot position to the d robot position
GB9920372A 1999-08-28 1999-08-28 Robot positioning and motion mechanism Expired - Fee Related GB2353909B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB9920372A GB2353909B (en) 1999-08-28 1999-08-28 Robot positioning and motion mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB9920372A GB2353909B (en) 1999-08-28 1999-08-28 Robot positioning and motion mechanism

Publications (3)

Publication Number Publication Date
GB9920372D0 GB9920372D0 (en) 1999-11-03
GB2353909A true GB2353909A (en) 2001-03-07
GB2353909B GB2353909B (en) 2004-03-17

Family

ID=10859961

Family Applications (1)

Application Number Title Priority Date Filing Date
GB9920372A Expired - Fee Related GB2353909B (en) 1999-08-28 1999-08-28 Robot positioning and motion mechanism

Country Status (1)

Country Link
GB (1) GB2353909B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2369511A (en) * 2000-11-17 2002-05-29 Samsung Kwangju Electronics Co Mobile robot location and control
WO2004077341A1 (en) * 2003-02-26 2004-09-10 Silverbrook Research Pty Ltd A robot
ES2428771R1 (en) * 2012-05-07 2013-11-27 Alcay Jose Serrat VEHICLE CONTROL SYSTEM
CN108680182A (en) * 2017-12-01 2018-10-19 深圳市沃特沃德股份有限公司 Measure the method and system of vision sweeping robot odometer penalty coefficient

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1985005474A1 (en) * 1984-05-16 1985-12-05 The General Electric Company, P.L.C. Vehicle control and guidance system
EP0236614A2 (en) * 1986-03-10 1987-09-16 Si Handling Systems, Inc. Automatic guided vehicle systems
WO1988004081A1 (en) * 1986-11-28 1988-06-02 Denning Mobile Robotics, Inc. Node map system and method for vehicle
US4811228A (en) * 1985-09-17 1989-03-07 Inik Instrument Och Elektronik Method of navigating an automated guided vehicle
WO1989003075A1 (en) * 1987-09-23 1989-04-06 The Secretary Of State For Trade And Industry In H Automatic vehicle guidance systems
EP0364353A1 (en) * 1988-10-12 1990-04-18 Commissariat A L'energie Atomique Method of measuring the evolution of the position of a vehicle relative to a plane
GB2236261A (en) * 1989-08-30 1991-04-03 Delco Electronic Overseas Corp Filter nozzle assembly
EP0423026A1 (en) * 1989-10-10 1991-04-17 Micromaine A.S.I. Method for the simultaneous evaluation of the relative positions of a plurality of beacons
US5235513A (en) * 1988-11-02 1993-08-10 Mordekhai Velger Aircraft automatic landing system
US5258822A (en) * 1991-04-11 1993-11-02 Honda Giken Kogyo Kabushiki Kaisha System for detecting the position of a moving body
WO1995029380A1 (en) * 1994-04-20 1995-11-02 Siman Sensors & Intelligent Machines Ltd. Navigation system for fast automated vehicles and mobile robots
GB2316484A (en) * 1995-05-26 1998-02-25 Komatsu Mfg Co Ltd Device for detecting moving body deviating from course
GB2325578A (en) * 1997-04-04 1998-11-25 Evans & Sutherland Computer Co Camera/lens calibration

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1985005474A1 (en) * 1984-05-16 1985-12-05 The General Electric Company, P.L.C. Vehicle control and guidance system
US4811228A (en) * 1985-09-17 1989-03-07 Inik Instrument Och Elektronik Method of navigating an automated guided vehicle
EP0236614A2 (en) * 1986-03-10 1987-09-16 Si Handling Systems, Inc. Automatic guided vehicle systems
WO1988004081A1 (en) * 1986-11-28 1988-06-02 Denning Mobile Robotics, Inc. Node map system and method for vehicle
WO1989003075A1 (en) * 1987-09-23 1989-04-06 The Secretary Of State For Trade And Industry In H Automatic vehicle guidance systems
EP0364353A1 (en) * 1988-10-12 1990-04-18 Commissariat A L'energie Atomique Method of measuring the evolution of the position of a vehicle relative to a plane
US5235513A (en) * 1988-11-02 1993-08-10 Mordekhai Velger Aircraft automatic landing system
GB2236261A (en) * 1989-08-30 1991-04-03 Delco Electronic Overseas Corp Filter nozzle assembly
EP0423026A1 (en) * 1989-10-10 1991-04-17 Micromaine A.S.I. Method for the simultaneous evaluation of the relative positions of a plurality of beacons
US5258822A (en) * 1991-04-11 1993-11-02 Honda Giken Kogyo Kabushiki Kaisha System for detecting the position of a moving body
WO1995029380A1 (en) * 1994-04-20 1995-11-02 Siman Sensors & Intelligent Machines Ltd. Navigation system for fast automated vehicles and mobile robots
GB2316484A (en) * 1995-05-26 1998-02-25 Komatsu Mfg Co Ltd Device for detecting moving body deviating from course
GB2325578A (en) * 1997-04-04 1998-11-25 Evans & Sutherland Computer Co Camera/lens calibration

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2369511A (en) * 2000-11-17 2002-05-29 Samsung Kwangju Electronics Co Mobile robot location and control
US6496754B2 (en) 2000-11-17 2002-12-17 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
GB2369511B (en) * 2000-11-17 2003-09-03 Samsung Kwangju Electronics Co Mobile robot
WO2004077341A1 (en) * 2003-02-26 2004-09-10 Silverbrook Research Pty Ltd A robot
AU2004214902B2 (en) * 2003-02-26 2007-04-19 Silverbrook Research Pty Ltd A robot
US7289882B2 (en) 2003-02-26 2007-10-30 Silverbrook Research Pty Ltd Robot operating in association with interface surface
ES2428771R1 (en) * 2012-05-07 2013-11-27 Alcay Jose Serrat VEHICLE CONTROL SYSTEM
CN108680182A (en) * 2017-12-01 2018-10-19 深圳市沃特沃德股份有限公司 Measure the method and system of vision sweeping robot odometer penalty coefficient

Also Published As

Publication number Publication date
GB9920372D0 (en) 1999-11-03
GB2353909B (en) 2004-03-17

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PCNP Patent ceased through non-payment of renewal fee

Effective date: 20050828