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公开(公告)号：US09644474B2
公开(公告)日：2017-05-09
申请号：US14680297
申请日：2015-04-07
Inventor： Hyeon Myeong , Byeol Teo Park , Taek Jun Oh , Su Young Choi
CPC classification number: E21B47/09 , E21B47/024 , E21B47/04 , G01C21/12
Abstract: An underground localization method and a system therefor are provided. The underground localization method includes computing location information of a dead reckoning using a gyro sensor and a distance movement sensor of moving equipment, measuring physical information according to the computed location information of the dead reckoning and searching for the physical information which is determined as being matched with the location information of the dead reckoning, and optimizing a location by reflecting location information of the physical information which is determined as being matched with the location information of the dead reckoning.
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公开(公告)号：US09164509B2
公开(公告)日：2015-10-20
申请号：US14190761
申请日：2014-02-26
Inventor： In Joo Kim , Seung Mok Lee , Shin Kim , Hyeon Myeong , Byeol Teo Park , Ji Eun Park , Jong Dae Jung
IPC: G05D1/02
CPC classification number: G05D1/021 , G05D1/0272
Abstract: A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.
Abstract translation: 移动机器人的定位和映射的方法可以减少使用多个矢量场传感器的定位和映射中的位置误差。 该方法包括使用编码器获取移动空间中的相对坐标，通过使用矢量场传感器检测信号的强度和方向来获取移动空间中的绝对坐标，在移动空间的表面上定义多个虚拟单元， 每个小区具有多个具有预定位置的节点，并且基于通过编码器获取的相对坐标和通过矢量场传感器获取的绝对坐标来更新关于小区的节点的位置信息，并且在 在确定了前一节点的位置信息的同时估计新节点的位置信息的方式的移动空间。
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公开(公告)号：US20140244094A1
公开(公告)日：2014-08-28
申请号：US14190761
申请日：2014-02-26
Inventor： In Joo KIM , Seung Mok Lee , Shin Kim , Hyeon Myeong , Byeol Teo Park , Ji Eun Park , Jong Dae Jung
IPC: G05D1/02
CPC classification number: G05D1/021 , G05D1/0272
Abstract: A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.
Abstract translation: 移动机器人的定位和映射的方法可以减少使用多个矢量场传感器的定位和映射中的位置误差。 该方法包括使用编码器获取移动空间中的相对坐标，通过使用矢量场传感器检测信号的强度和方向来获取移动空间中的绝对坐标，在移动空间的表面上定义多个虚拟单元， 每个小区具有多个具有预定位置的节点，并且基于通过编码器获取的相对坐标和通过矢量场传感器获取的绝对坐标来更新关于小区的节点的位置信息，并且在 在确定了前一节点的位置信息的同时估计新节点的位置信息的方式的移动空间。
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