Method for simultaneous location and map creation

A map construction and ground technology, applied in the directions of positioning, applications, home appliances, etc., can solve the problems of low particle weighting and impossible positioning, and achieve the effect of reducing expenses, effective positioning, and reducing computing expenses

Active Publication Date: 2012-07-25
VORWERK & CO INTERHOLDING GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Impossible particles are thus under-weighted and located with little or no possibility

Method used

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  • Method for simultaneous location and map creation
  • Method for simultaneous location and map creation
  • Method for simultaneous location and map creation

Examples

Experimental program
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Embodiment Construction

[0020] first with the help of figure 1 The device 1 is shown and described in the form of a vacuuming and / or sweeping machine, further in the form of a self-moving household vacuuming robot. The device has a chassis with motorized travel wheels 3 on its underside facing the floor 2 to be cleaned and likewise motorized brushes preferably protruding from the lower edge of the underside of the chassis. A device cover 4 is snapped over the chassis, wherein the device has a circular plan view. With regard to the design of the device 1 as a vacuum and / or sweeper, see, for example, DE 10 242 257 A1 cited at the outset.

[0021] Furthermore, although not shown, the device 1 has a suction opening in addition to or instead of a brush. In this case, an electric suction motor is also arranged in the device 1 .

[0022] The power supply of the individual electric components of the device 1 (such as the electric motors of the moving wheels 3, the motors of the brushes, the fan if necessa...

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PUM

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Abstract

The invention refers to a method for simultaneous location and map creation. The method can be used for automatic positioning of a self-moving device, especially for a self-moving ground dust collecting device. The device is preferentially provided with a plurality of moving wheels driven by a motor, wherein the device is provided with an obstacle recognition device composed of an optical emitting and receiving unit, wherein a plurality of possible positions and directions (mass point 6) are further calculated from a beforehand calculated an assumed first position; and according to a second position occupied by the device after movement, by means of measurement results of the optical unit, one of the mass points is assumed as a new position of the device according to a predetermined selection algorithm considering probability. In order to further improve the method of this type, it is suggested that the calculation of the mass point is limited from the aspects of a solid angle and a distance range determined by a predetermined moving direction and moving distance or a moving speed.

Description

technical field [0001] The present invention relates to a method for Simultaneous Localization and Mapping-SLAM, which is used for self-moving equipment, especially self-moving ground dust collection equipment, preferably with motorized moving parts wheel, wherein the device has an obstacle recognition device consisting of an optical transmitting and receiving unit, wherein a plurality of possible positions and orientations (mass points) are further calculated from a pre-calculated assumed first position of the device and placed on the device After a corresponding movement, one of the previously generated mass points is assumed as the new position of the device according to a pre-defined selection algorithm taking into account the probabilities based on the second position occupied at the time by means of the measurement results of the optical unit. Background technique [0002] Methods of this type are known, for example, in relation to self-propelled vacuuming and / or clean...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/88G01S17/02G01S17/89G01S5/16A47L9/28G16B45/00
CPCA47L9/009G05D1/0238G05D1/0274A47L2201/04G05D2201/0215
Inventor M·梅格尔A·索尔沃尔德M·沃尔迈耶
Owner VORWERK & CO INTERHOLDING GMBH
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