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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 PDF

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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
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.)
Ceased
Application number
PCT/KR2012/005307
Other languages
English (en)
French (fr)
Other versions
WO2013012189A2 (ko
Inventor
박진형
이재용
이시열
김병철
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Heavy Industries Co Ltd
Original Assignee
Samsung Heavy Industries Co Ltd
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 Samsung Heavy Industries Co Ltd filed Critical Samsung Heavy Industries Co Ltd
Priority to US14/232,875 priority Critical patent/US20140163732A1/en
Priority to JP2014521545A priority patent/JP5885003B2/ja
Priority to EP12814854.1A priority patent/EP2732935B1/en
Priority to NO12814854A priority patent/NO2732935T3/no
Publication of WO2013012189A2 publication Critical patent/WO2013012189A2/ko
Publication of WO2013012189A3 publication Critical patent/WO2013012189A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • 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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Ocean & Marine Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Instructional Devices (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

로봇의 주행면 주행 가능 영역 확인 방법이 제공된다. 본 발명의 일 실시예에 따른 로봇의 주행면 주행 가능 영역 확인 방법은, a) 주행면의 기하 모델을 형성하는 단계; b) 상기 기하 모델을 이용하여 주행면의 곡면에 대한 삼각화를 통해 삼각 메쉬를 생성하는 단계; c) 상기 삼각 메쉬의 내부에 위치된 복수의 삼각형 중 어느 하나의 삼각형과 그와 이웃하는 삼각형 사이의 각도를 계산하는 단계 및 d) 상기 어느 하나의 삼각형과 그와 이웃하는 삼각형 사이의 각도가 로봇이 주행할 수 있는 허용 범위 내인지를 판단하여 로봇의 주행 가능 영역을 확인하는 1차 로봇 주행 가능 영역 확인 단계를 포함한다.
PCT/KR2012/005307 2011-07-15 2012-07-04 로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 Ceased WO2013012189A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
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
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
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

Applications Claiming Priority (2)

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

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 Ceased 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)

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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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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
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Also Published As

Publication number Publication date
US20140163732A1 (en) 2014-06-12
NO2732935T3 (ko) 2018-03-24
KR101247761B1 (ko) 2013-04-01
KR20130009453A (ko) 2013-01-23
JP5885003B2 (ja) 2016-03-15
EP2732935A2 (en) 2014-05-21
JP2014521181A (ja) 2014-08-25
EP2732935B1 (en) 2017-10-25
WO2013012189A2 (ko) 2013-01-24
EP2732935A4 (en) 2015-11-25

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