ULTRASONIC PROBE - SAMSUNG MEDISON CO LTD

Title:

ULTRASONIC PROBE

Document Type and Number:

WIPO Patent Application WO/2017/195983

Kind Code:

A1

Abstract:

The present invention comprises: a photographing unit for capturing a three-dimensional image of the surrounding of a moving robot and extracting depth image information on the captured three-dimensional image; an obstacle detection unit for detecting an obstacle by using the three-dimensional image captured by the photographing unit; a position estimation unit for estimating first position information of the moving robot by using an inertial sensor (IMU) and odometry in the region excluding the region of the obstacle recognized by the obstacle detection unit; and a control unit for obtaining second position information of the moving robot by correcting the estimated first position information of the moving robot on the basis of the extracted depth image information, creating a map excluding the region of the obstacle recognized by the obstacle detection unit, and planning the moving route of the robot on the basis of the second position of the robot and the created map. The present invention can recognize the obstacle without a separate obstacle sensor and can perform simultaneous localization and mapping (SLAM) more quickly and accurately because the region determined to be the obstacle is not used in SLAM.

Inventors:

KIM YONG JAE (KR)
KO JONG-SUN (KR)
KIM JAE-YK (KR)

Application Number:

PCT/KR2017/003686

Publication Date:

November 16, 2017

Filing Date:

April 04, 2017

Export Citation:

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Assignee:

SAMSUNG MEDISON CO LTD (KR)

International Classes:

A61B8/00; B06B1/06; H01L41/113

Foreign References:

US20150018687A1	2015-01-15
JP2001276060A	2001-10-09
JP2013176537A	2013-09-09
KR20100091466A	2010-08-19
US20140350407A1	2014-11-27

Other References: