SURROUNDINGS MAPPING APPARATUS CAPABLE OF APPLYING QUICKLY CHANGED SURROUNDINGS INFORMATION IN MOBILE ROBOT AND METHOD THEREOF

• US 20100049366A1
• Filed: 11/30/2007
• Published: 02/25/2010
• Est. Priority Date: 12/08/2006
• Status: Abandoned Application

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: Ahn, Hyo Sung, Lee, Yu Cheol, Yu, Won Pil, Na, Sang Ik
• Application Number:
  US12/518,245
• Publication Number:
  US 20100049366A1
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method of responding to environmental change to build an environment map of a mobile apparatus and an apparatus thereof are disclosed. The apparatus includes a traveling unit traveling a mobile apparatus according to a command, a distance measuring unit measuring a distance from the mobile apparatus to a moving object, an environment map-generating unit generating an environment map based on a measured distance, a moving object detecting unit detecting the moving object moved after generating the environment map by comparing a distance from the mobile apparatus to the moving object with the newly measured distance, and a controlling unit updating the environment map according to the command by selectively applying changed environment information containing the moving object to the built environment map when the moving object is detected. Thus, the changed environmental information can be rapidly and precisely applied to build the environment map.

Claims

1. An apparatus for building an environment map of a mobile apparatus comprising:

a traveling unit for traveling a mobile apparatus in accordance with an inputted command;

a distance measuring unit for measuring a distance between the mobile apparatus unit and a moving object located in the surroundings of the mobile apparatus;

an environment map-building unit for building an environment map based on a distance value measured by the distance measuring unit;

a moving object detecting unit for detecting a moving object moved after building the environment map by comparing a distance between the mobile apparatus and the moving object in the building environment map with the distance value newly measure by the distance measuring unit; and

a controlling unit for selectively applying changed environment information containing the moving object to the building environment map when the moving object is detected to update the environment map in accordance with the inputted command.

2. An apparatus for building an environment map of a mobile apparatus according to claim 1, further comprising an object movement detecting unit for detecting the movement of the moving object in an area of the environment map, wherein the controlling unit selectively applies the changed environment information containing the movement of the moving object to the building environment map when the movement of the moving object is detected to update the environment map.

3. An apparatus for building an environment map of a mobile apparatus according to claim 2, further comprising a mobile apparatus position detecting unit measuring reference position information of the mobile apparatus in an area of the environment map, wherein

the environment map-generating unit builds the environment map adjusting the distance value measured by the distance measuring unit according to the measured reference position information.

4. An apparatus for building an environment map of a mobile apparatus according to claim 1, wherein the distance measuring unit comprises at least one of an ultrasonic sensor, an infrared sensor, and a laser sensor.

5. An apparatus for building an environment map of a mobile apparatus according to claim 1, wherein the object movement estimating unit comprises a radio detector.

6. An apparatus for building an environment map of a mobile apparatus according to claim 3, wherein the mobile apparatus position measuring unit comprises an artificial landmark detector.

7. An apparatus for building an environment map of a mobile apparatus according to claim 4, wherein at least any one of ultrasonic sensors and infrared sensors are disposed at an outer side of the mobile apparatus at a predetermined interval.

8. An apparatus for building an environment map of a mobile apparatus according to claim 4, wherein the laser sensor is disposed on an upper surface of the mobile apparatus.

9. An apparatus for building an environment map of a mobile apparatus according to claim 1, wherein the mobile apparatus is an autonomous mobile robot.

10. A method for building an environment map comprising:

measuring a distance between a mobile apparatus and a moving object positioned in the surroundings of the mobile apparatus while the mobile apparatus travels in accordance with inputted command for building an environment map;

building a environment map based on the measured distance;

detecting a moving object moved by comparing a distance between the mobile apparatus and the moving object in the environment map with the distance newly measured after building the environment map; and

updating the environment map by applying the changed environment information containing the moving object to the building environment map if the moving object is detected.

11. A method for building an environment map according to claim 10, further comprising carrying out a corresponding operation based on the environment map if the moving object is not detected.

12. A method for building an environment map according to claim 10, wherein the updating the environment map comprises:

determining whether an updating command of the environment map is inputted by a user when the moving object is detected; and

updating the environment map in accordance with the updating command inputted by the user when it is determined that the updating command is inputted.

13. A method of building an environment map according to claim 12, wherein the updating the environment map further comprises

updating the environment map by applying changed environment information containing the moving object to the environment map when it is determined that the updating command is not inputted.

14. A method of building an environment map according to claim 10, further comprising:

determining whether the moving object is moved within an area of the environment map, to which the changed environment information containing the moving object is applied and updated; and

updating the environment map by applying environment information indicating that the moving object is moved to the environment map based on whether the moving object is moved or not.

15. A method of building an environment map according to claim 10, further comprising measuring reference position information of the mobile apparatus in a space where the environment map is built, wherein

the environment map is built by the distance measurement of the distance measuring sensors based on with reference to the measured reference position information of the mobile apparatus.