Mobile robot and a method for calculating position and posture thereof

• US 20060293810A1
• Filed: 04/04/2006
• Published: 12/28/2006
• Est. Priority Date: 06/13/2005
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Nakamoto, Hideichi
• Application Number:
  US11/396,471
• Publication Number:
  US 20060293810A1
• Time in Patent Office: Days
• US Class Current: 701/28
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A map data memory stores map data of a movement region, position data of a marker at a predetermined place in the movement region, identification data of the marker, and position data of a boundary line near the marker in the movement region. A marker detection unit detects the marker in an image, based on the position data of the marker and the identification data. A boundary line detection unit detects the boundary line near the marker from the image. A parameter calculation unit calculates a parameter of the boundary line in the image. A position posture calculation unit calculates a position and a posture of the mobile robot in the movement region, based on the parameter and the position data of the boundary line.

Claims

1. A mobile robot comprising:

a map data memory configured to store map data of a movement region, position data of a marker at a predetermined place in the movement region, identification data of the marker, and position data of a boundary line near the marker in the movement region;

a marker detection unit configured to detect the marker from an image, based on the position data of the marker and the identification data;

a boundary line detection unit configured to detect the boundary line near the marker from the image;

a parameter calculation unit configured to calculate a parameter of the boundary line in the image; and

a position posture calculation unit configured to calculate a position and a posture of the mobile robot in the movement region, based on the parameter and the position data of the boundary line.

2. The mobile robot according to claim 1,

wherein said boundary line calculation unit extracts an area of the marker from the image, and extracts the longest line passing through the area from the image as the boundary line, the longest line dividing the image into a plurality of areas.

3. The mobile robot according to claim 1,

wherein said position posture calculation unit calculates a rotation angle of the mobile robot centered around an axis perpendicular to a plane of the movement region, based on a slope of the boundary line in the parameter, and calculates a relative position of the mobile robot from the maker, based on the rotation angle and a height of the marker in the position data of the marker.

4. The mobile robot according to claim 1,

further comprising a plurality of cameras;

wherein said marker detection unit calculates a distance from the mobile robot to the marker, based on a stereo image captured by the plurality of cameras, and

wherein said position posture calculation unit calculates a rotation angle of the mobile robot centering around an axis perpendicular to a plane of the moving region, based on a slope of the boundary line in the parameter, and calculates a relative position of the mobile robot from the maker, based on the rotation angle and the distance.

5. The mobile robot according to claim 1, further comprising:

a display operation unit configured to display the map data, and to receive an input of position data of a marker on the map data; and

a map data creation unit configured to extract a boundary line neighbored with the marker from the map data when said display operation unit receives the input of the position data of the marker, and correspondingly store the boundary line and the position data of the marker in said map data memory.

6. The mobile robot according to claim 1, further comprising:

a moving control unit configured to calculates a path to a destination, based on the map data and the position and the posture of the mobile robot, and to control the mobile robot to move to the destination along the path.

7. The mobile robot according to claim 1, further comprising:

a camera; and

a camera control unit configured to calculate a position of the marker, based on the map data and the position and the posture of the mobile robot, and to point the camera toward the marker.

8. The mobile robot according to claim 7,

wherein said camera control unit centers the marker in the image.

9. The mobile robot according to claim 1,

wherein the identification data of the marker is an interval of light emission or an order of light emission of a plurality of light emitting elements in the marker.

10. A method for calculating a position and a posture of a mobile robot, comprising:

storing map data of a movement region, position data of a marker at a predetermined place in the movement region, identification data of the marker, and position data of a boundary line near the marker in the movement region;

detecting the marker from an image, based on the position data of the marker and the identification data;

detecting the boundary line near the marker from the image;

calculating a parameter of the boundary line in the image; and

calculating a position and a posture of the mobile robot in the movement region, based on the parameter and the position data of the boundary line.

11. The method according to claim 10,

wherein detecting the boundary line comprises,

extracting an area of the marker from the image;

and

extracting the longest line passing through the area from the image as the boundary line, the longest line dividing the image into a plurality of areas.

12. The method according to claim 10,

wherein calculating a position and a posture comprises,

calculating a rotation angle of the mobile robot centering around an axis perpendicular to a plane of the movement region, based on a slope of the boundary line in the parameter;

and

calculating a relative position of the mobile robot from the maker, based on the rotation angle and a height of the marker in the position data of the marker.

13. The method according to claim 10,

wherein detecting the marker comprises,

calculating a distance from the mobile robot to the marker, based on a stereo image;

wherein calculating a position and a posture comprises,

calculating a rotation angle of the mobile robot centering around an axis perpendicular to a plane of the moving region, based on a slope of the boundary line in the parameter; and

calculating a relative position of the mobile robot from the maker, based on the rotation angle and the distance.

14. The method according to claim 10, further comprising:

displaying the map data;

receiving an input of position data of a marker on the map data;

extracting a boundary line near the marker from the map data when the input of the position data of the marker is received; and

storing the boundary line and the position data of the marker in correspondence.

15. The method according to claim 10, further comprising:

calculating a path to a destination, based on the map data the position and the posture of the mobile robot; and

moving the mobile robot to the destination along the path.

16. The method according to claim 10, further comprising:

calculating a position of the marker, based on the map data and the position and the posture of the mobile robot; and

pointing a camera toward the marker.

17. The method according to claim 16, further comprising:

centering the marker in the image.

18. The method according to claim 10,

wherein the identification data of the marker is an interval of light emission or an order of light emission of a plurality of light emitting elements in the marker.

19. A marker located in a movement region of a robot, the marker being detected by the robot and used for calculating a position and a posture of the robot, comprising:

a plurality of light emitting elements; and

a drive unit configured to drive the plurality of light emitting elements to emit at a predetermined interval or in predetermined order as identification data of the marker.

20. The marker according to claim 19,

wherein the light emitting element is an infrared ray emitting element.