Mobile autonomous updating of GIS maps

• US 7,912,633 B1
• Filed: 11/30/2006
• Issued: 03/22/2011
• Est. Priority Date: 12/01/2005
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Adept MobileRobots LLC (Omron Corporation)
• Inventors: Kennedy, William, Dietsch, Jeanne, LaFary, Matthew
• Primary Examiner(s): Tran; Dalena
• Application Number:
  US11/606,775
• Time in Patent Office: 1,573 Days
• Field of Search: 701/23, 701/25, 701/28, 701/208, 701/223, 702/5, 348/118, 348/119, 318/587, 180167-169
• US Class Current: 701/208
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0261 using magnetic plots
• 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method for mobile autonomous updating of GIS maps is provided. In the method, an autonomous mobile data collecting platform is provided with a map identifying one or more GIS features. The platform has at least one data collecting sensor for collecting data for at least one of the GIS features and patrols at least a portion of a region included in the map while updating its GIS position as it patrols. The autonomous mobile data collecting platform applies the at least one data collecting sensor during patrolling to collect data for at least one of the GIS features and updates the GIS map to reflect differential data collected for at least one GIS feature.

Claims

1. A method for mobile autonomous updating of GIS maps, the method comprising:

a) providing an autonomous mobile data collecting platform with a map identifying one or more GIS features, the platform having at least one data collecting sensor for collecting data for at least one of the GIS features;

b) patrolling at least a portion of a region included in the map by the autonomous mobile data collecting platform, the autonomous mobile data collecting platform updating its GIS position as it patrols;

c) applying of the at least one data collecting sensor during patrolling by the autonomous mobile data collecting platform to collect data for at least one of the GIS features; and

d) updating the GIS map to reflect differential data collected for at least one GIS feature.

2. The method of claim 1, wherein the data collecting sensor is applied at discrete locations on the GIS map during patrolling.

3. The method of claim 1, wherein the data collecting sensor is applied continuously throughout patrolling.

4. The method of claim 1, wherein time delineated routes are provided to the autonomous mobile data collecting platform to patrol.

5. The method of claim 1, wherein the data collected by the at least one data collecting sensor is linked to a time that the data was collected and a location of the mobile autonomous platform.

6. The method of claim 5, wherein the time is determined by a GPS receiver.

7. The method of claim 5, wherein the time is determined by an onboard clock that is calibrated to a global time reference.

8. The method of claim 5, wherein the location is determined by a GPS receiver.

9. The method of claim 5, wherein the location is determined using Monte-Carlo/Markov localization to determine the location of the mobile autonomous platform on the map.

10. The method of claim 1, wherein the at least one GIS feature has one or more attributes, in addition to location, that can be determined by the at least one data collecting sensor.

11. The method of claim 10, wherein the one or more attributes includes a unique identifier.

12. The method of claim 11, wherein updating the GIS map includes noting a change in location of the at least one GIS feature having a unique identifier.

13. The method of claim 11, wherein updating the GIS map includes noting the addition of a new GIS feature having a unique identifier.

14. The method of claim 10, wherein updating the GIS map includes noting the absence of the at least one GIS feature from its location on the map.

15. The method of claim 10, wherein the at least one data collecting sensor includes an RED sensor.

16. The method of claim 15, wherein the attributes of the feature include an identifier from which physical features of the feature can be looked up in a database.

17. The method of claim 10, wherein the at least one data collecting sensor includes an imaging sensor.

18. A method for recording differential data on a map indexed in a uniform universal reference frame, the method comprising:

a) providing an autonomous mobile data collecting platform with a map identifying plurality of features in the reference frame, the platform having at least one data collecting sensor for collecting data for at least one of the features and at least one positioning sensor for determining the autonomous mobile platform'"'"'s location on the map;

b) patrolling at least a portion of a region included in the map by the autonomous mobile data collecting platform, the autonomous mobile data collecting platform applying the at least one positioning sensor to update its position on the map as it patrols;

c) applying of the at least one data collecting sensor during patrolling by the autonomous mobile data collecting platform to collect data for at least one feature; and

d) updating the map to reflect differential data collected for the feature.

19. The method of claim 18, wherein the universal uniform spatial reference frame is GIS with positions recorded using GPS coordinates.

20. The method of claim 18, wherein the differential data reflects a different position for the feature.

21. The method of claim 20, wherein the differential data reflects that the feature has been removed from a prior recorded location.

22. The method of claim 18, wherein the differential data reflects a change in an attribute of the feature.

23. The method of claim 18, wherein updating the map to reflect differential data collected for the feature includes recording the time at which the data collecting sensor was applied to collect the data.

24. The method of claim 23, wherein updating the map to reflect differential data collected for the feature includes recording the location at which the data collecting sensor was applied to collect the data.

25. The method of claim 24, wherein the at least one positioning sensor includes a range finding sensor for determining the location of features relative to the mobile platform.

26. The method of claim 25, wherein the at least one positioning sensor includes an odometry sensor.

27. The method of claim 25, wherein the at least one positioning sensor includes an inertial navigation sensor.

28. The method of claim 24, wherein the at least one positioning sensor includes a GPS sensor.

29. The method of claim 18, wherein the sensor for determining an attribute of the feature is an image sensor.

30. The method of claim 18, wherein the sensor for determining an attribute of the feature is an RFID sensor.