APPARATUS AND METHOD FOR PROVIDING ACCURACY OF ROBOT LOCATION INFORMATION BY USING SENSOR

• US 20160375583A1
• Filed: 06/22/2016
• Published: 12/29/2016
• Est. Priority Date: 06/23/2015
• Status: Abandoned Application

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: SEO, Beom Su, LEE, Ji Sung, ROH, Myung Chan, JEONG, Young Sook
• Application Number:
  US15/190,064
• Publication Number:
  US 20160375583A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Abstract

An apparatus and method for providing an accuracy of robot location information. The apparatus may include a robot location information generator and a robot location accuracy calculator, through which the accuracy of location information of itself that the robot recognizes is provided so as to prevent crashes and negligent accident, which are caused by a difference between a robot'"'"'s actual location and movement path and a location and movement path of itself that the robot recognizes

Claims

1. An apparatus of providing an accuracy of robot location information by using a sensor, the apparatus comprising:

a robot location information generator configured to generate external location information, internal location information, and integrated location information that includes the external location information and the internal location information,

wherein the external location information is generated by calculating a robot location and a sensor zero value by using one or more sensors being located outside of the robot, and modifying the robot location by using the calculated robot location and the calculated sensor zero value, and

wherein the internal location information is generated by receiving map information from database, and comprises the calculated robot location on the map by using one or more sensors included in the robot; and

a calculator configured to receive the integrated location information, match the received integrated location information to the map information, and calculate accuracy of the robot location based on a similarity of the robot location between the received integrated location information and the map information.

2. The apparatus of claim 1, wherein the robot location information generator further comprises:

an external location information generator configured to generate the external location information by performing first and second amendments of the robot location,

wherein the first amendment of the robot location is performed by acquiring a distance measurement value, obtained by measuring a distance between the robot and the one or more sensors located outside of the robot, to calculate the robot location, and rotating a coordinate axis of the calculated robot location so that the coordinate axis of the calculated robot location is matched to a coordinate axis on the map, and

wherein the second amendment is performed by defining an error between origin coordinates on the map and zero coordinates of the one or more sensors as a sensor zero value so as to generate the sensor zero value, and applying the sensor zero value to the robot location, where the first amendment has been performed;

an internal location information generator configured to acquire a current location value of the robot by using the one or more sensors included in the robot, and calculate a current location of the robot on the received map information by using the acquired current location value; and

an integrated location information generator configured to generate the integrated location information including the generated external location information and the generated internal location information.

3. The apparatus of claim 2, wherein the external location information generator further comprises:

a distance measurement value acquirer configured to acquire the distance measurement value, which is obtained by measuring a distance between the robot and the one or more sensors being located outside of the robot;

a robot location calculator configured to calculate the robot location on the map by using a separation distance between a location of the one or more sensors on the map and the robot being spaced apart from each other by the acquired distance measurement value;

a coordinate axis amender configured to perform a first amendment of the robot location by rotating a coordinate axis of the calculated robot location so that the coordinate axis of the calculated robot location is matched to a coordinate axis on the received map information;

a sensor zero value generator configured to define an error between origin coordinates on the received map information and origin coordinates of the one or more sensors as a sensor zero value so as to generate the sensor zero value; and

a robot location amender configured to perform a second amendment of the robot location by applying the generated sensor zero value to the robot location, where the first amendment has been performed, so as to generate the external location information.

4. The apparatus of claim 3, wherein the robot location calculator is configured to calculate the robot location based on the location of each of the one or more sensors on the received map information by acquiring a plurality of distance measurement values acquired from the one or more sensors and integrating the plurality of acquired distance measurement values.

5. The apparatus of claim 1, wherein the robot location accuracy calculator is configured to determine each coordinate on the map corresponding to external and internal location information that are included in the received integrated location information, define a coordinate on the map corresponding to the internal location information as origin coordinates, and calculate the accuracy of the robot location based on a similarity between the origin coordinates and a coordinate on the map corresponding to the external location information.

6. A method of providing an accuracy of robot location information by using a sensor, the method comprising:

generating external location information, internal location information, and integrated location information that includes the external location information and the internal location information,

wherein the external location information is generated by calculating a robot location and a sensor zero value by using one or more sensors being located outside of the robot, and modifying the robot location by using the calculated robot location and the calculated sensor zero value, and

wherein the internal location information is generated by receiving map information from database, and comprises the calculated robot location on the map by using one or more sensors included in the robot; and

receiving the integrated location information, matching the received integrated location information to the map information, and calculating accuracy of the robot location based on a similarity of the robot location between the received integrated location information and the map information.

7. The method of claim 6, wherein the generating of the integrated location information further comprises:

generating the external location information by performing first and second amendments of the robot location,

wherein the first amendment of the robot location is performed by acquiring a distance measurement value, obtained by measuring a distance between the robot and the one or more sensors located outside of the robot, to calculate the robot location, and rotating a coordinate axis of the calculated robot location so that coordinate axis of the calculated robot location is matched to a coordinate axis on the map, and

wherein the second amendment is performed by defining an error between origin coordinates on the map and zero coordinates of the one or more sensors as a sensor zero value so as to generate the sensor zero value, and applying the sensor zero value to the robot location, where the first amendment has been performed;

acquiring a current location value of the robot by using the one or more sensors included in the robot, and calculating a current location of the robot on the received map information by using the acquired current location value; and

generating the integrated location information including the generated external location information and the generated internal location information.

8. The method of claim 7, wherein the generating of the external location information further comprises:

acquiring the distance measurement value, which is obtained by measuring a distance between the robot and the one or more sensors being located outside of the robot;

calculating the robot location on the map by using a separation distance between a location of the one or more sensors on the map and the robot being spaced apart from each other by the acquired distance measurement value;

performing a first amendment of the robot location by rotating a coordinate axis of the calculated robot location so that the coordinate axis of the calculated robot location is matched to a coordinate axis on the received map information;

generating an error between origin coordinates on the received map information and origin coordinates of the one or more sensors as a sensor zero value so as to generate the sensor zero value; and

performing a second amendment of the robot location by applying the generated sensor zero value to the robot location, where the first amendment has been performed, so as to generate the external location information.

9. The method of claim 8, wherein the calculating of the robot location on the map comprises:

calculating the robot location based on the location of each of the one or more sensors on the received map information by acquiring a plurality of distance measurement values acquired from the one or more sensors and by integrating the plurality of acquired distance measurement values.

10. The method of claim 6, wherein the calculating of the accuracy of the robot location comprises:

determining each coordinate on the map corresponding to external and internal location information that are included in the received integrated location information, defining a coordinate on the map corresponding to the internal location information as origin coordinates, and calculating the accuracy of the robot location based on a similarity between the origin coordinates and a coordinate on the map corresponding to the external location information.