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    • 8. 发明授权
    • Obstruction-determining apparatus for preventing mobile robot from becoming obstructed and boundary-estimation method and medium using the obstruction-determining apparatus
    • 用于防止移动机器人被阻挡的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质
    • US08521329B2
    • 2013-08-27
    • US11898060
    • 2007-09-07
    • Ji-young ParkSeok-won BangEun-Young Choi
    • Ji-young ParkSeok-won BangEun-Young Choi
    • G05B19/418G06F19/00
    • G05D1/0227A47L11/4061A47L11/4072A47L2201/04
    • An obstruction-determining apparatus for preventing a mobile robot from being obstructed in a niche and a boundary-estimation method and medium using the obstruction-determining apparatus are disclosed. More particularly, an obstruction-determining apparatus which can determine whether a mobile robot is obstructed in a niche, and enable a mobile robot to easily escape from an obstacle if the mobile robot is determined to be obstructed in the niche, and a boundary-estimation method and medium for estimating the boundaries of an obstacle with a niche using the obstruction-determining apparatus. The obstruction-determining apparatus includes a contact module which collides with an obstacle above the mobile robot, a contact-operating module which rotates or moves linearly as a result of the collision between the contact module and the obstacle, and a sensing module which detects the rotation or the linear movement of the contact-operating module and determines whether the mobile robot is obstructed in a niche.
    • 公开了一种用于防止移动机器人在利基中被阻碍的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质。 更具体地,涉及一种障碍物判定装置,其能够判断移动机器人是否受到利基的阻碍,并且如果移动机器人被确定为在利基中被阻碍,则能够使移动机器人容易地从障碍物逃脱,并且边界估计 方法和介质,用于使用障碍物确定装置估计具有利基的障碍物的边界。 障碍物确定装置包括与移动机器人上方的障碍物相撞的接触模块,由于接触模块与障碍物之间的碰撞而线性旋转或移动的接触操作模块,以及检测模块 旋转或接触操作模块的线性移动,并确定移动机器人是否在利基中被阻挡。