Method and device for determining a path around a defined reference position

• US 6,463,368 B1
• Filed: 02/12/2001
• Issued: 10/08/2002
• Est. Priority Date: 08/10/1998
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Neubauer, Werner, Illmann, Jörg, Feiten, Wendelin
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US09/762,743
• Time in Patent Office: 603 Days
• Field of Search: 701/1, 701/2, 701/23, 701/200, 701/205, 701/300
• US Class Current: 701/23
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A path is determined in the following iterative way: An arcuate path around the reference position having a predetermined spacing is determined step-by-step. The existence of an obstacle along the arcuate path is checked. The arcuate path is lengthened as long as no obstacle is found. When an obstacle is found, the spacing is enlarged by a prescribable value and the method is continued in a new iteration with the enlarged spacing.

Claims

1. A method for computer-supported determination of a path in a proximity of a predetermined reference position, comprising the iteratively repeated steps of:

determining step-by-step an arcuate path in a proximity of said reference position having a predetermined spacing;

checking for an existence of an obstacle along said arcuate path;

lengthening said arcuate path if no obstacle is found;

enlarging said spacing, when an obstacle is found, by a prescribable value; and

continuing said method in a new iteration with said enlarged spacing.

2. The method according to claim 1, further comprising the steps of:

storing an electronic map of said path; and

entering every identified obstacle into said electronic map.

3. The method according to claim 2, wherein said map describes an identified path in the form of a progression.

4. The method according to claim 1, further comprising the steps of:

checking, in every iteration after detecting an obstacle, as to whether an already-contained path that is already contained in an identified path would be determined given a shortening of an interval;

determining an increased-interval path with an increased interval if said determined path is already contained; and

determining a shortened-interval path with a shortened interval if said determination path is not already contained in a new iteration.

5. The method according to claim 1, wherein said obstacle is a wall of said determined path.

6. The method according to claim 1, further comprising the step of determining an obstacle path along said obstacle given a lengthening of an interval.

7. The method according to claim 1, wherein said reference position is an electrical terminal.

8. The method according to claim 7, further comprising the step of:

steering an arrangement along an identified path.

9. The method according to claim 8, wherein said arrangement is connected to said electrical terminal via a cable.

10. The method according to claim 9, wherein said cable length is designed to be variable and an interval is determined based on said cable length.

11. A robot that utilizes the method according to claim 8.

12. A vacuum cleaner that utilizes the method according to claim 8.

13. An arrangement for determining a path in a proximity of a predetermined reference position, comprising:

a processor that is configured to implement the following steps in an iterative manner;

determining step-by-step an arcuate path in a proximity of said reference position having a predetermined spacing;

checking for an existence of an obstacle along the arcuate path is checked;

lengthening said arcuate path if no obstacle is found;

enlarging said spacing, when an obstacle is found, by a prescribable value; and

implementing a continuation of said steps in a new iteration with said enlarged spacing.

14. The arrangement according to claim 13 comprising at least one sensor for determining an obstacle.

15. The arrangement according to claim 13, comprising a memory in which an electronic map of a path can be stored, every identified obstacle being entered within said map.

16. The arrangement according to claim 15, wherein said processor is configured to implement said map describing an identified path in a form of a progression.

17. The arrangement according to claim 13 wherein said processor is configured to:

check, in every iteration after detecting an obstacle, as to whether an already contained path that is already contained in an identified path would be determined given a shortening of an interval;

determine an increased-interval path with an increased interval if said determined path is already contained; and

determine a shortened-interval path with a shortened interval if said determination path is not already contained in a new iteration.

18. The arrangement according to claim 13, wherein said obstacle is a wall of said identified path.

19. The arrangement according to claim 13 wherein said processor is configured to determine a path along an obstacle given a lengthening of an interval.

20. The arrangement according to claim 13, wherein said reference position is an electrical terminal.

21. The arrangement according to claim 20, further comprising a steering mechanism with which said arrangement is steered along an identified path.

22. The arrangement according to claim 21, further comprising a cable by which said arrangement is connected to said electrical terminal.

23. The arrangement according to claim 22, wherein said cable length is designed variable and said interval can be determined based on said cable length.

24. The arrangement according to claim 21, wherein said arrangement is a robot.

25. The arrangement according claim 21, wherein said arrangement is a vacuum cleaner.