초록 ▼

A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot\s environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to e

A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot\s environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of a object being illuminated. A navigation control system (20) of the robot inputs data from at least the vision system and infers therefrom data relating to the configuration of the environment which lies in front of the robot. The navigation control system generates control signals which drive propulsion and steering motors in order to navigate the robot through the perceived environment.

대표청구항 ▼

A method of generating navigation related information for a mobile robot, comprising the steps of: projecting at least one structured, substantially planar radiation beam into an environment in front of and including a desired path of the robot, said radiation beam forming a linear pattern upon a su

A method of generating navigation related information for a mobile robot, comprising the steps of: projecting at least one structured, substantially planar radiation beam into an environment in front of and including a desired path of the robot, said radiation beam forming a linear pattern upon a surface disposed within the environment; generating a two-dimensional pixel image of the environment, said image including at least an image of said linear pattern which reflects from a surface, if any, within the environment; locating said image of said linear pattern within the two-dimensional pixel image of the environment of said robot; inferring from the located position of the linear pattern, within said image of the environment, a range and a bearing of the surface relative to the robot; generating a geometric map representation that includes a location of the surface, relative to a current location of said robot; and processing said geometric map representation to generate robot motion control signals to accomplish a forward motion of said robot through the environment.