公开(公告)号：US20210402599A1

公开(公告)日：2021-12-30

申请号：US17362072

申请日：2021-06-29

Applicant: Korea Advanced Institute of Science and Technology

Inventor： Sungho Jo ,  Soohwan Song

IPC: B25J9/16 ,  G06T7/55 ,  G06T17/10

Abstract: A mobile robot control apparatus includes an online 3D modeler and a path planner. The online 3D modeler is configured to receive an image sequence from a mobile robot and to generate a first map and a second map different from the first map based on the image sequence. The path planner is configured to generate a global path based on the first map, to extract a target surface based on the second map and to generate a local inspection path having a movement unit smaller than a movement unit of the global path based on the global path and the target surface.

公开(公告)号：US11992950B2

公开(公告)日：2024-05-28

申请号：US17362072

申请日：2021-06-29

Applicant: Korea Advanced Institute of Science and Technology

Inventor： Sungho Jo ,  Soohwan Song

IPC: B25J9/16 ,  G06T7/55 ,  G06T17/10

CPC classification number: B25J9/1664 ,  B25J9/162 ,  B25J9/1679 ,  B25J9/1697 ,  G06T7/55 ,  G06T17/10

Abstract: A mobile robot control apparatus includes an online 3D modeler and a path planner. The online 3D modeler is configured to receive an image sequence from a mobile robot and to generate a first map and a second map different from the first map based on the image sequence. The path planner is configured to generate a global path based on the first map, to extract a target surface based on the second map and to generate a local inspection path having a movement unit smaller than a movement unit of the global path based on the global path and the target surface.