Spatial data collection apparatus and method

• US 20030176986A1
• Filed: 03/14/2003
• Published: 09/18/2003
• Est. Priority Date: 03/14/2002
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: MobileRobots, Inc. (Omron Corporation)
• Inventors: Kennedy, William, Dietsch, Jeanne, LaFary, Matthew
• Granted Patent: US 6,917,893 B2
• Time in Patent Office: Days
• US Class Current: 702/150
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105

Abstract

A spatial data collection apparatus collects and correlates spatial data for use in creating floor plans, maps and models of existing spaces. The apparatus includes a mobile platform with wheels to allow movement around a space. One or more positional sensors on the platform generate positional data related to a position of the platform. The positional data can include odometry data and optionally gyroscopic data for correcting the odometry data. One or more range-finding devices on the platform measure and calculate range data (e.g., 2-D or 3-D) relating to distances and angles between the platform and objects in the space. The apparatus collects, fuses and correlates the positional data and range data to produce spatial data and stores the spatial data for transfer to a PC for use in creating, viewing and/or editing a map of the space. The apparatus can also record media files (e.g., audio, video, or images) to be associated with locations within the map.

Claims

1. A spatial data collection apparatus comprising:

a mobile platform;

at least one wheel coupled to said mobile platform;

at least one positional sensor located on said mobile platform for generating positional data related to a position of said mobile platform;

at least one range-finding device located on said mobile platform for measuring and calculating range data relating to distances and angles between said mobile platform and objects; and

a computational device for collecting and correlating said positional data and said range data to produce spatial data; and

a storage system connected to said computational device for storing said spatial data.

2. The spatial data collection apparatus of claim 1 further comprising a computer connection for connecting to a personal computer to allow transfer of said data.

3. The spatial data collection apparatus of claim 1 further comprising a handle coupled to said mobile platform for moving and directing said mobile platform.

4. The spatial data collection apparatus of claim 1 further comprising additional wheels for maintaining said platform level.

5. The spatial data collection apparatus of claim 1 wherein said positional sensor includes at least one shaft encoder on said at least one wheel for generating odometry data.

6. The spatial data collection apparatus of claim 5 wherein said positional sensor further includes an inertial measurement unit (IMU) for measuring radial motion of said mobile platform and generating IMU data used to correct said odometry data.

7. The spatial data collection apparatus of claim of claim 1 wherein said positional sensor further includes an inertial measurement unit (IMU) for measuring radial motion of said mobile platform and generating IMU data.

8. The spatial data collection apparatus of claim 1 further comprising a height adjustment mechanism for adjusting a height of said range-finding device.

9. The spatial data collection apparatus of claim 1 further comprising a power source for supplying power to said computational device and other electronics.

10. The spatial data collection apparatus of claim 9 further comprising a power control device for controlling power supplied by said power source.

11. The spatial data collection apparatus of claim 1 further comprising a recording device for recording information in a recorded file to be associated with said spatial data.

12. The spatial data collection apparatus of claim 11 wherein said information is recorded in at least one recorded file selected from the group consisting of an audio file, a video file, and an image file.

13. The spatial data collection apparatus of claim 1 further comprising at least one port for connecting to at least one additional sensor.

14. The spatial data collection apparatus of claim 1 further comprising software drivers for transferring said positional data and said range data to said computational device.

15. The spatial data collection apparatus of claim of claim 14 wherein said computational device includes software for collecting and time stamping said positional data and said range data.

16. The spatial data collection apparatus of claim 15 wherein said computational device includes software for interpolating positions of said mobile platform when said range data was taken to produce said spatial data and for storing said spatial data by logging said range data with said positional data representing said positions when said range data was taken.

17. The spatial data collection apparatus of claim 5 further comprising software for collecting raw encoder data, converting said raw encoder data into an x, y, θ

coordinate system, and for transferring said converted encoder data to said computational device.

18. The spatial data collection apparatus of claim 6 further comprising software for collecting raw encoder data, converting said raw encoder data into an x, y, θ

coordinate system, and for transferring said converted encoder data to said computational device.

19. The spatial data collection apparatus of claim 18 wherein said computational device includes software for correcting discrepancies between said odometry data and said IMU data.

20. The spatial data collection apparatus of claim 19 wherein said computational device includes software for fusing said IMU data with said odometry data, for interpolating from said fused positional data positions of said mobile platform when said range data was taken to produce said spatial data, and for storing said spatial data by logging said range data with said fused positional data representing said positions when said range data was taken.

21. The spatial data collection apparatus of claim 1 wherein said computational device includes an onboard personal computer.

22. The spatial data collection apparatus of claim 1 wherein said at least one range-finding device collects two dimensional range data.

23. The spatial data collection apparatus of claim 1 wherein said at least one range-finding device collects three dimensional range data.

24. The spatial data collection apparatus of claim 1 wherein said at least one range-finding device is a laser rangefinder that measures to multiple points on said objects nearly simultaneously.

25. The spatial data collection apparatus of claim 1 wherein said at least one range-finding device is a distance-measuring device that measures to corner vertices within said space.

26. A spatial data collection apparatus comprising:

a mobile platform;

at least one wheel coupled to said mobile platform;

means for generating positional data related to a position of said mobile platform;

means for measuring and calculating range data relating to distances between said mobile platform and objects; and

means for collecting said positional data and said range data;

means for correlating said positional data and said range data to produce spatial data;

means for storing said spatial data; and

means for transferring said spatial data to a personal computer.

27. The spatial data collection apparatus of claim 26 further comprising means for recording at least one of audio data and visual data to be associated with said positional data.

33. The method of claim 27 further comprising transferring said spatial data to an external computer.

34. The method of claim 33 further comprising creating a graphical representation based on said spatial data.

35. The method of claim 33 further comprising editing said graphical representation.

28. A method of spatial data collection comprising:

moving a spatial data collection apparatus around an area having objects;

generating and collecting positional data as said spatial data collection apparatus is moved, wherein said positional data is related to a position of said spatial data collection apparatus;

measuring and collecting range data as said spatial data collection apparatus is moved, wherein said range data is related to distances and angles from said spatial data collection apparatus to said objects;

correlating said positional data and said range data by interpolating locations of said spatial data collection apparatus when said range data was measured to produce spatial data including said range data together with said positional data representing said locations of said spatial data collection apparatus when said range data was measured; and

storing said spatial data.

29. The method of claim 28 wherein said positional data is generated and collected using shaft encoders.

30. The method of claim 29 wherein said positional data is generated and collected using an inertial measurement unit.

31. The method of claim 30 further comprising correcting discrepancies in said positional data from said shaft encoders using said positional data from said inertial measurement unit.

32. The method of claim 28 further comprising recording information in a recorded file and associating said recorded file with said spatial data representing a position of said spatial data collection apparatus when said information is recorded.

36. The method of claim 28 wherein said range data is three dimensional range data.