JP5885003B2 - ロボットの走行面走行可能領域確認方法、ロボット及び記録媒体 - Google Patents
ロボットの走行面走行可能領域確認方法、ロボット及び記録媒体 Download PDFInfo
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- JP5885003B2 JP5885003B2 JP2014521545A JP2014521545A JP5885003B2 JP 5885003 B2 JP5885003 B2 JP 5885003B2 JP 2014521545 A JP2014521545 A JP 2014521545A JP 2014521545 A JP2014521545 A JP 2014521545A JP 5885003 B2 JP5885003 B2 JP 5885003B2
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- 238000000034 method Methods 0.000 title claims description 35
- 238000012790 confirmation Methods 0.000 claims description 15
- 239000013598 vector Substances 0.000 claims description 6
- 238000013461 design Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000007792 addition Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Instructional Devices (AREA)
- Numerical Control (AREA)
Description
Claims (6)
- 曲面の走行面をロボットが自律走行するために、走行可能領域を確認する方法であって、
a)多数の曲面に分割された前記走行面の幾何モデルを生成するステップと、
b)前記幾何モデルを用いて前記多数の曲面を多数の三角形に分割するステップと、
c)前記多数の三角形それぞれと前記多数の三角形と隣り合う三角形との間の角度を計算するステップと、
d)前記角度が前記ロボットの走行許容範囲内であるか否かを判断するステップと、
e)前記角度が前記ロボットの走行許容範囲内である場合、該当する三角形は走行可能領域であると規定する1次走行可能領域確認ステップと、
を含み、
前記ステップb)において、一つの前記曲面内において隣り合う三角形間にエッジ及び頂点を共有するように多数の三角形に分割し、
前記ステップc)において、エッジまたは頂点を共有して隣り合う三角形間に、それぞれの三角形が形成する面の間になす角度を計算することを含むことを特徴とするロボットの走行面走行可能領域確認方法。 - 前記ステップc)において、隣り合う両曲面の境界に隣り合っており、かつ互いに異なる曲面に位置している三角形については、エッジとエッジ、エッジと頂点、または頂点と頂点が遭遇する三角形間の角度を計算することを特徴とする請求項1に記載のロボットの走行面走行可能領域確認方法。
- 前記ステップc)において、前記角度は、隣り合う三角形の法線ベクトル間の角度から計算されることを特徴とする請求項1に記載のロボットの走行面走行可能領域確認方法。
- 前記ステップe)後に、
前記ロボットを所定の大きさを有するものと設定し、前記走行可能領域に前記ロボットを走行させて、前記ロボットが前記走行面と交差されない領域を走行可能領域であると規定する2次走行可能領域確認ステップをさらに含むことを特徴とする請求項1に記載のロボットの走行面走行可能領域確認方法。 - 請求項1〜4のいずれか一項に記載のロボットの走行面走行可能領域確認方法を実行するためのプログラムが内蔵されているか、あるいは、前記プログラムが内蔵されている外部装置によって制御されて走行面を走行するロボット。
- 請求項1〜4のいずれか一項に記載のロボットの走行面走行可能領域確認方法を実行するためのプログラムが記録されてコンピュータにて読み取り可能な記録媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2011-0070586 | 2011-07-15 | ||
KR1020110070586A KR101247761B1 (ko) | 2011-07-15 | 2011-07-15 | 로봇의 선체면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 |
PCT/KR2012/005307 WO2013012189A2 (ko) | 2011-07-15 | 2012-07-04 | 로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014521181A JP2014521181A (ja) | 2014-08-25 |
JP5885003B2 true JP5885003B2 (ja) | 2016-03-15 |
Family
ID=47558568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014521545A Active JP5885003B2 (ja) | 2011-07-15 | 2012-07-04 | ロボットの走行面走行可能領域確認方法、ロボット及び記録媒体 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20140163732A1 (ja) |
EP (1) | EP2732935B1 (ja) |
JP (1) | JP5885003B2 (ja) |
KR (1) | KR101247761B1 (ja) |
NO (1) | NO2732935T3 (ja) |
WO (1) | WO2013012189A2 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101516540B1 (ko) | 2013-10-11 | 2015-05-04 | 삼성중공업 주식회사 | 선박용 로봇 및 로봇 주행구간 설정장치 |
US9701016B1 (en) | 2015-08-10 | 2017-07-11 | X Development Llc | Detection of movable ground areas of a robot's environment using a transducer array |
CN108733065B (zh) * | 2017-09-29 | 2021-06-04 | 北京猎户星空科技有限公司 | 一种机器人的避障方法、装置及机器人 |
KR102178630B1 (ko) * | 2018-12-20 | 2020-11-13 | 한화토탈 주식회사 | 프로필렌 중합용 고체 촉매 및 이를 이용한 블록 공중합체의 제조방법 |
CN111880532B (zh) * | 2020-07-13 | 2022-03-18 | 珠海格力电器股份有限公司 | 自主移动设备及其方法、装置、设备和存储介质 |
CN111959722B (zh) | 2020-08-21 | 2022-05-17 | 广东海洋大学 | 一种基于船舶stl三维模型的rov船底自主巡检方法 |
CN115892378A (zh) * | 2022-12-23 | 2023-04-04 | 广东深蓝水下特种设备科技有限公司 | 基于水下声呐定位的船舶清洗方法、系统及介质 |
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-
2011
- 2011-07-15 KR KR1020110070586A patent/KR101247761B1/ko active IP Right Grant
-
2012
- 2012-07-04 WO PCT/KR2012/005307 patent/WO2013012189A2/ko active Application Filing
- 2012-07-04 EP EP12814854.1A patent/EP2732935B1/en not_active Not-in-force
- 2012-07-04 US US14/232,875 patent/US20140163732A1/en not_active Abandoned
- 2012-07-04 JP JP2014521545A patent/JP5885003B2/ja active Active
- 2012-07-04 NO NO12814854A patent/NO2732935T3/no unknown
Also Published As
Publication number | Publication date |
---|---|
JP2014521181A (ja) | 2014-08-25 |
KR101247761B1 (ko) | 2013-04-01 |
WO2013012189A2 (ko) | 2013-01-24 |
EP2732935A4 (en) | 2015-11-25 |
KR20130009453A (ko) | 2013-01-23 |
NO2732935T3 (ja) | 2018-03-24 |
WO2013012189A3 (ko) | 2013-03-14 |
EP2732935B1 (en) | 2017-10-25 |
US20140163732A1 (en) | 2014-06-12 |
EP2732935A2 (en) | 2014-05-21 |
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