EP1517210A3
Apparatus and method for estimating position and orientation of mobile robot
Abstract
Apparatus comprising: a ceiling image grabber for obtaining a ceiling image of a place in which the mobile robot travels; a mark detector for detecting a retro-reflective artificial mark from the ceiling image, the retro-reflective artificial mark comprising a first mark and a second mark, each including a non-reflective portion and an infrared reflective portion; and a position & orientation estimator for estimating a the position and the orientation of the robot using a position of the artificial mark or encoder information according to whether detection of the artificial mark has succeeded or not.
Term
Term ended
Projected expiry passed 14 September 2024, 2 years ago.
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1 sheet
Sheet 1
Every citation, both ways
| Document | Relation | Office | Category | Cited during | Relevant claims |
|---|---|---|---|---|---|
| EP0363339A2 | Cites | European Patent Office (EPO) | A | Search report | 1-20 |
| US2002091466A1 | Cites | United States of America | XAY | Search report | 1 |
| DE4023952A1 | Cites | Germany | X | Search report | 1 |
| US4647784A | Cites | United States of America | A | Search report | 1-20 |
| US4817000A | Cites | United States of America | Y | Search report | 3,5,7,9,10,12,14,20 |
| US4947094A | Cites | United States of America | XA | Search report | 1 |
| US5875408A | Cites | United States of America | X | Search report | 1 |
11 members in 5 offices
Priority claims4
| Document | Office | Kind | Date |
|---|---|---|---|
| 20030064242 | Republic of Korea | A | |
| 2003064242 | Republic of Korea | – | |
| 2003064242 | – | – | – |
| KR20030064242 | – | – | – |
Members11
| Document | Office | Kind | |
|---|---|---|---|
| KR20050027858A | Republic of Korea | A | |
| CN1598610A | China | A | |
| EP1517210A2 | European Patent Office (EPO) | A2 | |
| US2005065655A1 | United States of America | A1 | |
| JP2005121641A | Japan | A | |
| KR100552691B1 | Republic of Korea | B1 | |
| EP1517210A3This record | European Patent Office (EPO) | A3 | |
| US7765027B2 | United States of America | B2 | |
| JP4533065B2 | Japan | B2 | |
| CN1598610B | China | B | |
| EP1517210B1 | European Patent Office (EPO) | B1 |
37 legal events, as 4 offices reported them to INPADOC
Over the term
Point at a mark for the eventEvents
| Event | Code | Office | |
|---|---|---|---|
| Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25 | PG25 | EP | |
| Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25 | PG25 | EP | |
| Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25 | PG25 | EP | |
| Gb: european patent ceased through non-payment of renewal feeCeasedGBPC | GBPC | EP | |
| Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal feeWithdrawnR119 | R119 | DE | |
| Annual fee paid to national office [announced via postgrant information from national office to epo]GrantedPGFP | PGFP | EP | |
| Annual fee paid to national office [announced via postgrant information from national office to epo]GrantedPGFP | PGFP | EP | |
| Annual fee paid to national office [announced via postgrant information from national office to epo]GrantedPGFP | PGFP | EP | |
| Fee paymentPLFP | PLFP | FR | |
| Fee paymentPLFP | PLFP | FR | |
| Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25 | PG25 | EP | |
| Fee paymentPLFP | PLFP | FR | |
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| No opposition filed against granted patent, or epo opposition proceedings concluded without decisionGrantedR097 | R097 | DE | |
| Dpma publication of mentioned ep patent grantGrantedR096 | R096 | DE | |
| Designated contracting statesAK | AK | EP | |
| European patent grantedGrantedFG4D | FG4D | GB | |
| (expected) grantORIGINAL CODE: 0009210GRAA | GRAA | EP | |
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Numbers
- Publication
- 1517210
- Publication, DOCDB
- 1517210
- Publication, EPODOC
- EP1517210
- Application
- 4255550
- Application, DOCDB
- 04255550
- Application, EPODOC
- EP20040255550
Titles3
- German
- Verfahren und Vorrichtung zur Bestimmung der Position und der Orientierung eines mobilen Roboters
- English
- Apparatus and method for estimating position and orientation of mobile robot
- French
- Appareil et procédé pour estimer la position et l'orientation d'un robot mobile
Classification
- CPC, 2
- G05D1/0253
- G05D1/0234
- IPC, 5
- G01C15 06
- G05D1 02
- G01B11 00
- G01C15 00
- G06F17 10
Designated states33
- Contracting states, 28
- Austria
- Belgium
- Bulgaria
- Switzerland
- Cyprus
- Czechia
- Germany
- Denmark
- Estonia
- Spain
- Finland
- France
- United Kingdom
- Greece
- Hungary
- Ireland
- Italy
- Liechtenstein
- Luxembourg
- Monaco
- Netherlands (Kingdom of the)
- Poland
- Portugal
- Romania
and 4 moreShow fewer
- Sweden
- Slovenia
- Slovakia
- Türkiye
- Extension states, 5
- Albania
- Croatia
- Lithuania
- Latvia
- North Macedonia