Obstacle avoiding apparatus, obstacle avoiding method, obstacle avoiding program, and mobile robot apparatus

• US 7,769,491 B2
• Filed: 02/28/2006
• Issued: 08/03/2010
• Est. Priority Date: 03/04/2005
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Fukuchi, Masaki, Gutmann, Steffen
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Sriraman, Nikhil
• Application Number:
  US11/363,178
• Publication Number:
  US 20060241827A1
• Time in Patent Office: 1,617 Days
• Field of Search: 700 25-255, 700258-259, 701/1, 701300-301, 382/106, 382153-154
• US Class Current: 700/253
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

The present invention provides an obstacle avoiding apparatus, an obstacle avoiding method, an obstacle avoiding program, and a mobile robot apparatus that can accurately model a robot apparatus and plan a highly precise moving route for the robot apparatus that avoids obstacles. The obstacle avoiding apparatus, to be used for a mobile robot apparatus to avoid obstacles, includes an obstacle environment map drawing section that divides the range of height from the reference surface for the mobile robot apparatus to move thereon to the height of the mobile robot apparatus into a plurality of layers corresponding to predetermined respective ranges of height and draws obstacle environment maps, each showing the condition of being occupied by one or more than one obstacles existing in the corresponding layer, and a route planning section that plans a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps as a function of the cross sectional profile of the mobile robot apparatus in each of the layers.

Claims

1. An obstacle avoiding apparatus to be used for a mobile robot apparatus to avoid obstacles, the apparatus comprising:

obstacle environment map drawing means for

dividing a range of height from a reference surface for the mobile robot apparatus to move thereon to a total height of the mobile robot apparatus into a plurality of layers, wherein each layer corresponds to a predetermined respective range of height and

drawing a plurality of obstacle environment maps, wherein each map shows an area occupied by one or more than one obstacles existing in the corresponding layer; and

route planning means for planning a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps, the enlarging of the area occupied being done as a function of the cross sectional profile of the mobile robot apparatus in each of the layers, wherein;

the mobile robot apparatus is modeled by means of a plurality of cylinders that correspond respectively to the predetermined ranges of height and have a length perpendicular to the reference surface so that each cylinder shares a common center axis.

2. The apparatus according to claim 1, wherein the route planning means plans the route by superposing a plurality of enlarged environment maps.

3. The apparatus according to claim 1, wherein the obstacle environment maps of the layer containing the reference surface shows a position lower than the reference surface as obstacle.

4. The apparatus according to claim 1, further comprising:

acquisition means for acquiring three-dimensional position information of the environment containing the obstacle or obstacles; and

obstacle environment map updating means for updating the obstacle environment maps of the predetermined layers according to the height indicated by the three-dimensional position information acquired by the acquisition means.

5. The apparatus according to claim 4, further comprising:

image pickup means for acquiring the three-dimensional position information,

the obstacle environment map updating means being adapted to update predetermined regions in the obstacle environment maps according to the imaged area of each layer picked up by the image pickup means.

11. The apparatus according to claim 1, wherein each of the obstacle environment maps is divided into a plurality of cells, and wherein showing an area occupied by one or more than one obstacles existing in the corresponding layer includes showing in which cell or cells any obstacle or obstacles existing in the corresponding layer is or are located.

12. The apparatus according to claim 1, wherein each of the obstacle environment maps is divided into a plurality of cells and an obstacle is deemed to exist in any given cell if an obstacle occupancy probability in the corresponding layer for that cell exceeds a threshold value.

13. The apparatus according to claim 12, wherein the occupancy probability is updated by an empty process or an occupied process executed on each cell using the Bayes'"'"' update rule, and wherein the empty process reduces the occupancy probability and the occupied process raises the occupancy probability.

14. The apparatus according to claim 12, wherein the occupancy probability is updated statistically without overwriting so as to render the obstacle environment maps robust to noise.

15. The apparatus according to claim 13, wherein a near region and a far region are defined in each of the plurality of layers as a function of the distance from the mobile robot apparatus, and the occupancy probability may not be updated by an empty process in the far region defined in the layer corresponding to the reference surface for the mobile robot apparatus to move thereon.

16. The apparatus according to claim 15, wherein a size of the near region in one layer is different than a size of the near region in a different layer.

17. The apparatus according to claim 16, wherein a size of the far region in one layer is different than a size of the far region in a different layer.

6. An obstacle avoiding method to be used for a mobile robot apparatus to avoid obstacles, the method comprising:

by a CPU,

dividing a range of height from a reference surface for the mobile robot apparatus to move thereon to a total height of the mobile robot apparatus into a plurality of layers, wherein each layer corresponds to a predetermined respective range of height and

drawing a plurality of obstacle environment maps, wherein each map shows an area occupied by one or more than one obstacles existing in the corresponding layer; and

by a CPU, planning a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps, the enlarging of the area occupied being done as a function of the cross sectional profile of the mobile robot apparatus in each of the layers, wherein;

the mobile robot apparatus is modeled by means of a plurality of cylinders that correspond respectively to the predetermined ranges of height and have a length perpendicular to the reference surface so that each cylinder shares a common center axis.

18. The method according to claim 6, further comprising dividing, by a CPU, the obstacle environment maps into a plurality of cells, and wherein showing an area occupied by one or more than one obstacles existing in the corresponding layer includes showing in which cell or cells any obstacle or obstacles existing in the corresponding layer is or are located.

7. A non-transitory computer-readable medium storing an obstacle avoiding program to be used for a mobile robot apparatus to avoid obstacles, the non-transitory computer-readable medium comprising instructions for instructing a computer to:

divide, by a CPU, a range of height from a reference surface for the mobile robot apparatus to move thereon to a total height of the mobile robot apparatus into a plurality of layers, wherein each layer corresponds to a predetermined respective range of height and

drawing, by a CPU, a plurality of obstacle environment maps, wherein each map shows an area occupied by one or more than one obstacles existing in the corresponding layer; and

plan, by a CPU, a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps, the enlarging of the area occupied being done as a function of the cross sectional profile of the mobile robot apparatus in each of the layers, wherein;

the mobile robot apparatus is modeled by means of a plurality of cylinders that correspond respectively to the predetermined ranges of height and have a length perpendicular to the reference surface so that each cylinder shares a common center axis.

8. A mobile robot apparatus adapted to avoid obstacles, the robot apparatus comprising:

obstacle environment map drawing means for

dividing a range of height from a reference surface for the mobile robot apparatus to move thereon to a total height of the mobile robot apparatus into a plurality of layers, wherein each layer corresponds to a predetermined respective range of height and

drawing a plurality of obstacle environment maps, wherein each map shows an area occupied by one or more than one obstacles existing in the corresponding layer; and

route planning means for planning a route for the mobile robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps, the enlarging of the area occupied being done as a function of the cross sectional profile of the mobile robot apparatus in each of the layers, wherein;

the mobile robot apparatus is modeled by means of a plurality of cylinders that correspond respectively to the predetermined ranges of height and have a length perpendicular to the reference surface so that each cylinder shares a common center axis.

19. The apparatus according to claim 8, wherein each of the obstacle environment maps is divided into a plurality of cells, and wherein showing an area occupied by one or more than one obstacles existing in the corresponding layer includes showing in which cell or cells any obstacle or obstacles existing in the corresponding layer is or are located.

9. An obstacle avoiding apparatus to be used for a mobile robot apparatus to avoid obstacles, the apparatus comprising:

an obstacle environment map drawing section that, by CPU,

divides a range of height from a reference surface for the mobile robot apparatus to move thereon to a total height of the mobile robot apparatus into a plurality of layers, wherein each layer corresponds to a predetermined respective range of height and

draws a plurality of obstacle environment maps, wherein each map shows an area occupied by one or more than one obstacles existing in the corresponding layer; and

a route planning section that, by CPU, plans a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps, the enlarging of the area occupied being done as a function of the cross sectional profile of the mobile robot apparatus in each of the layers, wherein;

the mobile robot apparatus is modeled by means of a plurality of cylinders that correspond respectively to the predetermined ranges of height and have a length perpendicular to the reference surface so that each cylinder shares a common center axis.

10. A mobile robot apparatus adapted to avoid obstacles, the robot apparatus comprising:

an obstacle environment map drawing section that, by CPU,

divides a range of height from a reference surface for the mobile robot apparatus to move thereon to a total height of the mobile robot apparatus into a plurality of layers, wherein each layer corresponds to a predetermined respective range of height and

draws a plurality of obstacle environment maps, wherein each map shows an area occupied by one or more than one obstacles existing in the corresponding layer; and

a route planning section that, by CPU, plans a route for the mobile robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps, the enlarging of the area occupied being done as a function of the cross sectional profile of the mobile robot apparatus in each of the layers, wherein;

the mobile robot apparatus is modeled by means of a plurality of cylinders that correspond respectively to the predetermined ranges of height and have a length perpendicular to the reference surface so that each cylinder shares a common center axis.