WO2013012189A3 - 로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 - Google Patents
로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 Download PDFInfo
- Publication number
- WO2013012189A3 WO2013012189A3 PCT/KR2012/005307 KR2012005307W WO2013012189A3 WO 2013012189 A3 WO2013012189 A3 WO 2013012189A3 KR 2012005307 W KR2012005307 W KR 2012005307W WO 2013012189 A3 WO2013012189 A3 WO 2013012189A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- travel
- plane
- checking
- travelable area
- Prior art date
Links
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)
- Numerical Control (AREA)
- Instructional Devices (AREA)
Abstract
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12814854.1A EP2732935B1 (en) | 2011-07-15 | 2012-07-04 | Method for checking a travelable area of a plane of travel for a robot, robot and recording medium |
NO12814854A NO2732935T3 (ko) | 2011-07-15 | 2012-07-04 | |
JP2014521545A 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 |
US14/232,875 US20140163732A1 (en) | 2011-07-15 | 2012-07-04 | Method for checking a travelable area of a plane of travel for a robot, robot and recording medium |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020110070586A KR101247761B1 (ko) | 2011-07-15 | 2011-07-15 | 로봇의 선체면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 |
KR10-2011-0070586 | 2011-07-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2013012189A2 WO2013012189A2 (ko) | 2013-01-24 |
WO2013012189A3 true WO2013012189A3 (ko) | 2013-03-14 |
Family
ID=47558568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2012/005307 WO2013012189A2 (ko) | 2011-07-15 | 2012-07-04 | 로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20140163732A1 (ko) |
EP (1) | EP2732935B1 (ko) |
JP (1) | JP5885003B2 (ko) |
KR (1) | KR101247761B1 (ko) |
NO (1) | NO2732935T3 (ko) |
WO (1) | WO2013012189A2 (ko) |
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 |
Citations (4)
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JPH07302110A (ja) * | 1994-05-09 | 1995-11-14 | Fanuc Ltd | ロボット動作プログラムの作成方法 |
KR100752782B1 (ko) * | 2006-05-26 | 2007-08-29 | 주식회사 에이티엠 | 로봇 작업위치의 3차원적 현출 시스템 및 방법 |
KR100843085B1 (ko) * | 2006-06-20 | 2008-07-02 | 삼성전자주식회사 | 이동 로봇의 격자지도 작성 방법 및 장치와 이를 이용한영역 분리 방법 및 장치 |
KR20110063346A (ko) * | 2009-12-03 | 2011-06-10 | 가부시키가이샤 히타치세이사쿠쇼 | 이동 로봇 및 그 주행 안정화 방법 |
Family Cites Families (24)
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JP3316092B2 (ja) * | 1993-09-14 | 2002-08-19 | 富士通株式会社 | 最接近点探索装置 |
ZA952853B (en) * | 1994-04-18 | 1995-12-21 | Caterpillar Inc | Method and apparatus for real time monitoring and co-ordination of multiple geography altering machines on a work site |
JPH08320947A (ja) * | 1995-05-25 | 1996-12-03 | Matsushita Electric Ind Co Ltd | 数値解析用メッシュ作成方法及び装置 |
US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
US6124857A (en) * | 1998-08-12 | 2000-09-26 | International Business Machines Corporation | Meshing method and apparatus |
EP1026639A3 (en) * | 1999-02-04 | 2002-09-04 | Canon Kabushiki Kaisha | 3D computer graphics processing apparatus and method |
US6879946B2 (en) * | 1999-11-30 | 2005-04-12 | Pattern Discovery Software Systems Ltd. | Intelligent modeling, transformation and manipulation system |
US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
US7663333B2 (en) * | 2001-06-12 | 2010-02-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
DE10150423A1 (de) * | 2001-10-11 | 2003-04-30 | Siemens Ag | Verfahren und Anordnung sowie Computerprogramm mit Programmcode-Mitteln und Computerprogramm-Produkt zur Zuweisung einer Teilfläche einer in mehrere Teilflächen aufgeteilten Gesamtfläche an eine von mehreren mobilen Einheiten |
US7805220B2 (en) * | 2003-03-14 | 2010-09-28 | Sharper Image Acquisition Llc | Robot vacuum with internal mapping system |
JP2005196273A (ja) | 2003-12-26 | 2005-07-21 | Prometech Software Inc | メッシュ生成システムおよびメッシュ生成プログラム |
JP4392507B2 (ja) * | 2006-11-08 | 2010-01-06 | 国立大学法人東京工業大学 | 3次元サーフェス生成方法 |
US8306659B2 (en) * | 2006-12-06 | 2012-11-06 | F Robotics Acquisitions Ltd. | Autonomous robot |
JP5192868B2 (ja) * | 2008-03-25 | 2013-05-08 | 株式会社Ihi | 移動ロボットの走行領域判別装置及び走行領域判別方法 |
KR100960085B1 (ko) * | 2008-04-29 | 2010-05-31 | 삼성중공업 주식회사 | 선체 자동 메쉬 생성 방법 및 장치 |
US8433128B2 (en) * | 2008-11-04 | 2013-04-30 | Omron Corporation | Method of creating three-dimensional model and object recognizing device |
US9440717B2 (en) * | 2008-11-21 | 2016-09-13 | Raytheon Company | Hull robot |
CN101872488B (zh) * | 2009-04-27 | 2012-05-16 | 鸿富锦精密工业(深圳)有限公司 | 曲面渲染系统及方法 |
KR20110049412A (ko) * | 2009-11-05 | 2011-05-12 | 대우조선해양 주식회사 | 선체 블록의 형상정보 추출 방법 및 장치 |
CN102110305A (zh) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业(深圳)有限公司 | 点云三角网格面构建系统及方法 |
US8676498B2 (en) * | 2010-09-24 | 2014-03-18 | Honeywell International Inc. | Camera and inertial measurement unit integration with navigation data feedback for feature tracking |
US8930019B2 (en) * | 2010-12-30 | 2015-01-06 | Irobot Corporation | Mobile human interface robot |
JP6156067B2 (ja) * | 2013-11-01 | 2017-07-05 | 富士通株式会社 | 移動量推定装置及び移動量推定方法 |
-
2011
- 2011-07-15 KR KR1020110070586A patent/KR101247761B1/ko active IP Right Grant
-
2012
- 2012-07-04 NO NO12814854A patent/NO2732935T3/no unknown
- 2012-07-04 JP JP2014521545A patent/JP5885003B2/ja active Active
- 2012-07-04 EP EP12814854.1A patent/EP2732935B1/en not_active Not-in-force
- 2012-07-04 WO PCT/KR2012/005307 patent/WO2013012189A2/ko active Application Filing
- 2012-07-04 US US14/232,875 patent/US20140163732A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07302110A (ja) * | 1994-05-09 | 1995-11-14 | Fanuc Ltd | ロボット動作プログラムの作成方法 |
KR100752782B1 (ko) * | 2006-05-26 | 2007-08-29 | 주식회사 에이티엠 | 로봇 작업위치의 3차원적 현출 시스템 및 방법 |
KR100843085B1 (ko) * | 2006-06-20 | 2008-07-02 | 삼성전자주식회사 | 이동 로봇의 격자지도 작성 방법 및 장치와 이를 이용한영역 분리 방법 및 장치 |
KR20110063346A (ko) * | 2009-12-03 | 2011-06-10 | 가부시키가이샤 히타치세이사쿠쇼 | 이동 로봇 및 그 주행 안정화 방법 |
Also Published As
Publication number | Publication date |
---|---|
EP2732935A4 (en) | 2015-11-25 |
NO2732935T3 (ko) | 2018-03-24 |
EP2732935B1 (en) | 2017-10-25 |
KR101247761B1 (ko) | 2013-04-01 |
JP5885003B2 (ja) | 2016-03-15 |
US20140163732A1 (en) | 2014-06-12 |
KR20130009453A (ko) | 2013-01-23 |
EP2732935A2 (en) | 2014-05-21 |
WO2013012189A2 (ko) | 2013-01-24 |
JP2014521181A (ja) | 2014-08-25 |
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