System for detecting and controlling the position of a mobile robot

• US 5,737,217 A
• Filed: 12/23/1994
• Issued: 04/07/1998
• Est. Priority Date: 12/30/1993
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Nishikawa, Masao, Ozawa, Nobuaki
• Primary Examiner(s): Elmore, Reba I.
• Assistant Examiner(s): Garland, Steven R.
• Application Number:
  US08/363,497
• Time in Patent Office: 1,201 Days
• Field of Search: 364/167.01, 364/424.02, 364/424.01, 395/80, 395/90, 395/93, 395/94, 901/1, 901/9, 901/46, 901/47, 318/568.12, 318/568.16, 318/568.11, 180/8.1, 180/8.6, 180/8.2
• US Class Current: 700/56
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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

Abstract

A system for controlling locomotion of a legged mobile robot walking in a working space. The system is provided with optical detects which are disposed in a line array at the both sides of a foot member of the robot. On the other hand, a landmark is provided in the working space. The landmark comprises of a line or an arc which divides the space into two regions with different attributes, i.e. different in brightness. The optical detectors generate different signals depending on the brightness. With the generated signals, a relative position of the robot to the landmark is detected. Moreover, when the landmark is an arc, its center is located in line with a work for the robot. a relative direction of the robot to the landmark or the work is detected. Based on the detection, locomotion of the robot is controlled in such a manner that the robot can stably ascend/descent stairs or spiral staircases.

Claims

1. A system for controlling locomotion of a legged mobile robot walking in a space, with the robot having a foot member having first and second sides, comprising:

detecting means for detecting at least one of position and direction of the legged mobile robot with respect to the space;

said detecting means including a plurality of non-contact detectors in an array at least at the first side of the foot member of the robot;

error determining means for determining an error between a desired value and the detected position/direction of the robot;

correcting means for correcting a gait or a desired value relative to a gait in response to the determined error; and

a space divider in the space for dividing the space into at least two regions with different attributes, with said non-contact detectors generating different signals in response to the attributes of the regions.

2. The system according to claim 1 wherein said non-contact detectors are disposed in line arrays at both sides of the foot member of the robot.

3. The system according to claim 1, wherein said space divider has a depth substantially equal to that of the array of non-contact detectors.

4. The system according to claim 1 wherein the robot has front and a back, and the first side of the foot is adjacent to the front or back of the robot.

5. The system according to claim 1 wherein the robot has a left side and a right side, and the first side of the foot is adjacent to the left or right side of the robot.

6. The system according to claim 1 wherein said non-contact detectors are optical detectors.

7. The system according to claim 1 wherein the robot is a legged mobile robot having a controllable stride in a direction of advance which is controlled so as not to exceed substantially twice the dimension of the space divider in the direction of advance.

8. A system for controlling locomotion of a legged mobile robot walking in a space, comprising;

detecting means for detecting at least one of position and direction of the legged mobile robot with respect to the space;

said detecting means including a plurality of non-contact detectors on a foot member of the robot;

a space divider in the space for dividing the space into at least two regions with different attributes at least by one of a line and an arc;

said plurality of detectors generating different signals in response to the attributes of the regions; and

with said detecting means receiving the signals of said plurality of detectors to detect a relative position of the mobile robot with respect to the space divider;

error determining means for determining an error between a desired value and the detected position/direction of the robot; and

correcting means for correcting a gait or a desired value relative to a gait in response to the determined error.

9. The system according to claim 8 wherein said detectors are disposed at least in two line arrays on the foot member and said detecting means detects at least one of relative position and relative direction of the mobile robot with respect to the space divider.

10. The system according to claim 9 wherein said space divider includes an arc having a center of curvature, and said detecting means detects at least one of relative position and relative direction of the mobile robot with respect to the center of the arc of said space divider.

11. The system according to claim 10 wherein the center of the arc is located at a work station for the mobile robot.

12. The system according to claim 8 wherein the mobile robot moves in a direction of advance and said detectors are disposed in a line array in parallel with the direction of advance.

13. The system according to claim 12 wherein the space divider has a width D and the legged mobile robot moves with a stride controlled to be no more than about 2D.

14. The system according to claim 12 wherein the detectors are positioned in a first line array at a first side of the foot and in a second line array, on a second side of the foot, with the second line array parallel to the first line array.

15. The system according to claim 8 further comprising a camera on the robot linked to a processor having boundary map information.

16. The system according to claim 8 wherein said space divider comprises black paint or other light absorbing material.

17. The system according to claim 8 wherein the robot has two feet with a pair of parallel line arrays of detectors on each foot.

18. The system according to claim 8 wherein said detectors are optical detectors.

19. A system for controlling locomotion of a legged mobile robot having a body and a plurality of articulated legs each connected to the body through a hip joint and a foot member connected to each leg through an ankle joint, such that the robot walks contacting at least one of the foot members on a ground surface, comprising;

an optical sensor mounted at each of the foot members for detecting reflected light from the ground surface and for generating a first signal indicative of absence/presence of reflected light;

a sensor unit mounted on each leg of the robot;

a first cable connecting the optical sensors with the sensor unit such that the sensor unit receives the first signal and converts it to a second signal;

a control unit mounted on the body of the robot; and

a second cable connecting the sensor unit with the control unit such that the control unit detects a position of a foot member and determines a command for driving the legs based at least in part on the detected position.

20. The system according to claim 19 wherein the first signal is an optical signal and the first cable is an optical fiber cable.

21. The system according to claim 20 wherein the second signal is an electric signal and the second cable is an electric cable.

22. A system for controlling locomotion of a legged mobile robot walking in a space, comprising:

detecting means for detecting at least one of position and direction of the legged mobile robot with respect to the space;

said detecting means including a plurality of non-contact detectors arranged in a line at one side of a foot member of the robot;

error determining means for determining an error between a desired value and a detected position/direction of the robot;

correcting means for correcting a gait or a desired value relative to a gait in response to the determined error;

said legged mobile robot having means for ascending or descending a spiral staircase including;

first means for determining a walking course desired value in terms of a stride of the robot;

second means for detecting relative position of the robot with respect to the spiral staircase in terms of an actual stride; and

third means for comparing the walking course desired stride with the detected actual stride and for correcting the stride in response to an error between said walking course desired stride and actual stride.

23. A system according to claim 22 wherein said third means compares an error between said walking course desired stride and the actual stride with a prescribed value and corrects the next stride in response to a result of the comparison.

24. A system for controlling movement of a legged mobile walking robot having at least a first foot member and a second foot member, with each foot member having a first side, a second side, a front and a back, comprising:

a first array of non-contact detectors arranged in a straight line adjacent to the first side of the first foot member;

a second array of non-contact detectors arranged in a straight line adjacent to the second side of the first foot member and spaced laterally apart from the first array;

a third array of non-contact detectors arranged in a line adjacent to the front or back of the first foot member;

a sensor unit on the robot linked to the first, second and third array;

a processor on the robot linked to the sensor unit;

wherein the robot moves in a direction of advance and the system includes a space divider having a dimension D in the direction of advance, and wherein the controller controls the robot to make a stride no more than about 2D.

25. A system for controlling movement of a legged mobile walking robot having at least a first foot member and a second foot member, with each foot member having a first side, a second side, a front and a back, comprising:

a first array of non-contact detectors arranged in a straight line adjacent to the first side of the first foot member;

a second array of non-contact detectors arranged in a straight line adjacent to the second side of the first foot member and spaced laterally apart from the first array, wherein the non-contact detectors are optical detectors and are positioned on the first foot member with a clear line of sight through or past the foot member to the ground surface supporting the foot member;

a sensor unit on the robot linked to the first array and the second array; and

a processor on the robot linked to the sensor unit.

26. A system for controlling movement of a legged mobile walking robot having at least a first foot member and a second foot member, with each foot member having a first side, a second side, a front and a back, comprising:

a first array of non-contact detectors arranged in a straight line adjacent to the first side of the first foot member;

a second array of non-contact detectors arranged in a straight line adjacent to the second side of the first foot member and spaced laterally apart from the first array;

a sensor unit on the robot linked to the first array and the second array;

a processor on the robot linked to the sensor unit; and

a space divider on a floor surface on which the robot walks, the space divider dividing the floor surface into at least two regions detectable by the first array of non-contact sensors.

27. The system of claim 26 wherein the first array of non-contact sensors has a length substantially equal to that of the space divider.

28. The system of claim 26 wherein the detectors are optical detectors.