Target recognition and localization methods using a laser sensor for wheeled mobile robots

• US 10,168,160 B2
• Filed: 06/13/2017
• Issued: 01/01/2019
• Est. Priority Date: 06/02/2011
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Wang, Junmin, Govindarajan, Madhu Soodhanan, Post, II, James W., Fox, Andrew John
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Foster, Gerrad A
• Application Number:
  US15/621,091
• Publication Number:
  US 20170276487A1
• Time in Patent Office: 567 Days
• Field of Search: None
• CPC Class Codes: G01B 11/028 by measuring lateral position of a boundary of the object G01B11/022, G01B11/024, G01B11/04 take precedence
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G06T 11/005 Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating

Abstract

A mobile robot target system that includes a mobile robot. The mobile robot target system additionally includes a laser scanner operably connected to the mobile robot. The laser scanner includes a laser sensor that scans an area around the mobile robot to detect a target. The mobile robot is localized based on the detection of the target by the laser sensor.

Claims

1. A mobile robot target system, comprising:

a mobile robot; and

a laser scanner operably connected to the mobile robot, wherein the laser scanner includes a laser sensor that is mounted on a rotary actuator of the mobile robot and unilaterally scans an area around the mobile robot to detect a target, wherein the mobile robot is localized based on the detection of the target by the laser sensor, wherein detecting the target includes detecting edges on the target and recognizing a pattern of the target based on the scanning by the laser sensor, wherein the target is detected by distance measurements performed by the laser sensor scanning a surface of the target unilaterally with a laser beam, and based on uniquely combined depth variations.

2. The mobile robot target system of claim 1, wherein the rotary actuator spans an angular section of the area as it moves, wherein the laser scanner scans the area around the mobile robot as the rotary actuator spans the angular section of the area, wherein the rotary actuator provides the laser scanner with a capability of rotary motion.

3. The mobile robot target system of claim 2, wherein the rotary actuator rotates at a constant speed which is determined based on an effect the speed of the rotary actuator has on an accuracy of the laser sensor as the laser scanner is scanning the area around the mobile robot.

4. The mobile robot target system of claim 1, wherein the mobile robot includes a linear actuator that is used as a guide way to move the laser scanner along a lateral direction with respect to the mobile robot, wherein the linear actuator provides the laser scanner with a capability of linear motion.

5. The mobile robot target system of claim 1, further including generating templates for the target wherein templates for the target include three different templates that are each utilized based on the location of the mobile robot.

6. The mobile robot target system of claim 1, wherein the surface of the target includes the uniquely combined depth variations such that the surface of the target includes at least two edge depth variations.

7. The mobile robot target system of claim 6, wherein the surface of the target is one of:

polished aluminum, unpolished stainless steel, a white coating, a red coating, or an orange coating.

8. The mobile robot target system of claim 6, wherein each depth variation of the surface of the target includes an edge depth to width ratio, wherein the target that is detected taking into account the edge depth to width ratio that is based on a worst angle of the laser sensor.

9. The mobile robot target system of claim 8, wherein the worst angle of the laser sensor includes at least one of:

an angle at which the laser sensor loses a required accuracy to detect the target based on refraction of a laser signal, an angle at which the entire length of the target cannot be detected by the laser sensor, and an angle at which neither of two edges of a slot can be detected by laser sensor measurements.

10. The mobile robot target system of claim 8, wherein a likelihood of detecting the target by the laser sensor is increased when the edge depth to width ratio is greater than or equal to a tangent of the worst angle.