Robot System

• US 20090093907A1
• Filed: 07/28/2008
• Published: 04/09/2009
• Est. Priority Date: 10/05/2007
• Status: Abandoned Application

• Current Assignee: Hitachi Industrial Equipment Systems Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Industrial Equipment Systems Company Limited (Hitachi, Ltd.)
• Inventors: Taniguchi, Motoya, Masaki, Ryoso, Matsumoto, Kosei, Moriya, Toshio, Tamamoto, Junichi
• Application Number:
  US12/180,755
• Publication Number:
  US 20090093907A1
• Time in Patent Office: Days
• US Class Current: 700/248
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

In a robot system constructed by a superior controller and a robot, it is necessary to carry out a high-speed computation in a system which simultaneously generate a map together with identifying a posture of the robot, there is a problem that the robot system becomes expensive because a computing load becomes enlarged, and it is an object to reduce the computing load. In order to achieve the object, there is provided a robot system constructed by a controller having a map data and a mobile robot, in which the robot is provided with a distance sensor measuring a plurality of distances with respect to a peripheral object, and an identifying apparatus identifying a position and an angle of the robot by collating with the map data, and the controller is provided with a map generating apparatus generating or updating the map data on the basis of the position and the angle of the robot, and the measured distance with respect to the object. Accordingly, it is possible to reduce the computing load of the controller and the robot, and it is possible to achieve a comparatively inexpensive robot system.

Claims

1. A robot system constructed by a controller having a map data and a mobile robot, wherein said robot comprises:

a distance sensor measuring a plurality of distances with respect to a peripheral object; and

an identifying apparatus identifying a position and an angle of said robot by collating with said map data, and

wherein said controller comprises;

a map generating apparatus generating or updating said map data on the basis of the position and the angle of said robot, and the measured distance with respect to said object.

5. A robot system as claimed in claim 1, wherein said distance sensor is constituted by a laser distance meter.

9. A robot system as claimed in claim 1, wherein said robot moves in a self-sustaining manner on the basis of said position and the angle of said robot and a motion instruction from said controller, after identifying the position and the angle of the robot.

2. A robot system constructed by a controller having a map data and a plurality of mobile robots, wherein said robot identifies a position and an angle of said robot by measuring a plurality of distances with respect to a peripheral object, and collating the map data input from said controller, and said controller generates or updates said map data on the basis of the distance with respect said object measured by said plurality of robots and said position and angle.

6. A robot system as claimed in claim 2, wherein said distance sensor is constituted by a laser distance meter.

10. A robot system as claimed in claim 2, wherein said robot moves in a self-sustaining manner on the basis of said position and the angle of said robot and a motion instruction from said controller, after identifying the position and the angle of the robot.

13. A robot system as claimed in claim 2, wherein said plurality of robots mutually identify the positions of the robots.

16. A robot system as claimed in claim 13, wherein said region map data is changed at a time when the position of said robot is moved at a predetermined distance or more from the position of the robot at a time of selecting or storing said region map data.

3. A robot system constructed by a controller having a map data and a mobile robot, wherein said robot comprises:

a distance sensor measuring a plurality of distances with respect to a peripheral object;

a data selecting apparatus selecting a region map data near the robot in said map data; and

an identifying apparatus identifying a position and an angle of said robot by collating said region map with said distance, and

wherein said controller comprises;

a map generating apparatus generating or updating said map data on the basis of the position and the angle of said robot, and the measured distance with respect to said object.

7. A robot system as claimed in claim 3, wherein said distance sensor is constituted by a laser distance meter.

11. A robot system as claimed in claim 3, wherein said robot moves in a self-sustaining manner on the basis of said position and the angle of said robot and a motion instruction from said controller, after identifying the position and the angle of the robot.

14. A robot system as claimed in claim 3, wherein said region map data is changed on the basis of the identified position of the robot.

4. A robot system constructed by a controller having a map data and a mobile robot, wherein said robot comprises:

a distance sensor measuring a plurality of distances with respect to a peripheral object;

a memory apparatus storing a region map data near the robot in said map data; and

an identifying apparatus identifying a position and an angle of said robot by collating said region map with said distance, and

wherein said controller comprises;

a map generating apparatus generating or updating said map data on the basis of the position and the angle of said robot, and the measured distance with respect to said object.

8. A robot system as claimed in claim 4, wherein said distance sensor is constituted by a laser distance meter.

12. A robot system as claimed in claim 4, wherein said robot moves in a self-sustaining manner on the basis of said position and the angle of said robot and a motion instruction from said controller, after identifying the position and the angle of the robot.

15. A robot system as claimed in claim 4, wherein said region map data is changed on the basis of the identified position of the robot.