Robot system and map updating method

A technology of robot system and update method, which is applied in the field of robot system and map update, can solve problems such as error and error accumulation, and achieve the effect that the accuracy will not be reduced

Active Publication Date: 2012-07-04
HITACHI IND EQUIP SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, each of the two environment maps has an error, so in the updated environment map obtained based on the connection point set on the two environment maps, a new error occurs with respect to the past environment map.
As a result, when updating is repeated, errors accumulate

Method used

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  • Robot system and map updating method
  • Robot system and map updating method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] figure 1 is a conceptual diagram showing the robot system of this embodiment. First, the robot system of the present invention is composed of a mobile robot 10 and an area setting device 11 . The mobile robot 10 has an environment map 120 representing the shapes of objects existing in space, a storage unit 100 that stores a plurality of pairs of area shapes 121 and area attributes 122, a sensor unit 101 that measures surrounding shapes, and a self-position estimation unit. 102. Measurement location calculation unit 103, area attribute reading unit 104, environment map update unit 105, movement control unit 106 and movement mechanism unit 107 that determine the direction and amount of movement based on the position of the robot.

[0042] In addition, in this embodiment, the area attribute 122 indicates an update influence degree which is an influence degree on the environment map at the time of updating, and the area attribute reading unit 104 reads the update influenc...

Embodiment 2

[0074] In the above-described embodiment, a distance sensor for measuring an object existing on a two-dimensional plane has been used as the sensor unit 101 . On the other hand, a distance sensor capable of measuring a three-dimensional shape may be used as the sensor unit 101 . Next, an example using a three-dimensional distance sensor will be described.

[0075] In the case of processing a three-dimensional space, when the space is divided into grids, a huge amount of memory is used. Therefore, a collection of measured points (point group) measured by the distance sensor is directly held in the storage unit 100 . Of course, when a computer equipped with a large number of storage media can be used, grids can also be processed as in the above-described embodiment.

[0076] The sequence of functions / processes mounted on the mobile robot is the same as in the above-described embodiments. Each function is explained below.

[0077] In this method, objects in space are represen...

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Abstract

The present invention provides a robot system and a map updating method. Because of map update, error is generated in previous environment map and an updated environment map. Therefore, when update processing is performed repeatedly, errors are accumulated. A plurality of pairs which are composed of shape information of a preset area in the environment map that is preset and the property of the preset area in the environment map are stored. The environment map is compared with the preset area which is stored in a storage part. The property which corresponds with the preset area is read out. The environment map is updated according to the property in a measuring part.

Description

technical field [0001] The invention relates to an update method and a robot system for an environment map referenced by an autonomous mobile robot. Background technique [0002] The autonomous movement of the robot is performed by calculating the movement control from the current position and posture of the robot with reference to the path indicating the movement sequence of the robot. For example, according to Patent Document 1, a robot can perform a basic movement of autonomous movement until reaching a destination by movement control based on set movement route data. In Patent Document 1, a robot movement path is generated on an environment map representing the geometrical conditions of objects in space, and movement control is performed based on the current position and posture of the robot. Here, the position and posture of the robot are estimated by geometrically combining the surrounding shape measured by a distance sensor and the like with the environment map. [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G09B29/00
CPCG01C21/005G05D1/0272B25J9/1694B25J13/08B25J19/02B60W20/12G01S17/89G05D1/0274
Inventor 藤本敬介木村宣隆守屋俊夫
Owner HITACHI IND EQUIP SYST CO LTD
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