Method and apparatus for constructing an environment map of a self-propelled, mobile unit
First Claim
1. Method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of:
- measuring a distance using a sensor in at least one measuring cycle, said distance being between the sensor and an environmental object and a position thereof being defined in a number of first cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor;
arbitrarily selecting one of the first cells;
positively incrementing the occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on the respective measuring cycle; and
negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of at least one second cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment.
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Abstract
An improved method and apparatus for constructing a cellularly structured environment map of a self-propelled, mobile unit is provided. Examples of such self-propelled, mobile units are household robots, self-propelled vacuum cleaners and industrial transport vehicles. To this end, a higher increment for the occupancy degree of a currently evaluated cell is selected for near objects. Further, the occupancy degree is also incremented dependent on a velocity. As an additional measure given standstill of the unit, all cells of the environment map that are located within the aperture cone of a wavefront that emanates from the sensor of the mobile unit are modified in terms of their occupancy degree values. Additionally, a blind zone in which grid cells of the environment map experience no modification of the occupancy degree is defined around the mobile unit.
194 Citations
14 Claims
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1. Method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of:
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measuring a distance using a sensor in at least one measuring cycle, said distance being between the sensor and an environmental object and a position thereof being defined in a number of first cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor; arbitrarily selecting one of the first cells; positively incrementing the occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on the respective measuring cycle; and negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of at least one second cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of:
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measuring a distance using a sensor in at least one measuring cycle of a plurality of measuring cycles, said distance being between the sensor and an environmental object and a position thereof being defined in a plurality of cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor; arbitrarily selecting one of the first cells; positively incrementing an occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on a respective measuring cycle of the plurality of measuring cycles; and negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of cells other than the selected first cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification