Robot controller

• US 20060095160A1
• Filed: 10/31/2005
• Published: 05/04/2006
• Est. Priority Date: 11/02/2004
• Status: Abandoned Application

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Orita, Atsuo, Sumida, Naoaki
• Application Number:
  US11/261,775
• Publication Number:
  US 20060095160A1
• Time in Patent Office: Days
• US Class Current: 700/248
• CPC Class Codes: G05B 2219/39082 Collision, real time collision avoidance
• 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
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

Disclosed is a robot controller which includes a map acquisition unit for obtaining map data on an active area where the routes are formed, a current location acquisition unit for obtaining current location data on current locations of the robots, a sub-goal acquisition unit for obtaining sub-goal data on sub-goals created on the routes, a collision possibility determination unit for determining whether two robots are likely to collide, a moving route change instruction unit for generating a moving route changing instruction signal, the moving route changing instruction signal for allowing at least one of the two robots to change its route, and a sending device for transmitting the moving route changing instruction signal to the corresponding one of the two robots. In this controller, the robots are controlled such that they move around without causing collisions.

Claims

1. A robot controller for communicating with a plurality of mobile robots moving on their routes, comprising:

a map acquisition unit for obtaining map data on an active area where the routes are formed;

a current location acquisition unit for obtaining current location data on current locations of the robots;

a sub-goal acquisition unit for obtaining one or more pieces of sub-goal data on one or more sub-goals created on each of the routes;

a collision possibility determination unit for determining whether or not two robots out of the robots are likely to collide with each other, based on the sub-goal data;

a moving route change instruction unit for generating a moving route changing instruction signal, based on the map data, the current location data and the sub-goal data, the moving route changing instruction signal for allowing at least one of the two robots to change its route; and

a sending device for transmitting the moving route changing instruction signal to the corresponding one of the two robots,

wherein the robots are controlled such that they move around without causing collisions.

2. The robot controller according to claim 1, further comprising:

a moving speed acquisition unit for obtaining moving speed data on moving speeds of the robots; and

an approaching determination unit for determining whether or not two robots out of the plurality of robots are approaching each other, based on the current location data and the moving speed data,

wherein if the approaching determination unit determines that two robots out of the plurality of robots are approaching, then the collision possibility determination unit determines whether or not the two robots are likely to collide with each other.

3. The robot controller according to claim 2, further comprising a robot selection unit for selecting two robots from the plurality of robots,

wherein the current location acquisition unit obtains the current location data on the selected two robots,

wherein the moving speed acquisition unit obtains the moving speed data on the two robots, and

wherein the approaching determination unit determines whether or not the selected two robots are approaching each other, based on the current location data and the moving speed data.

4. The robot controller according to claim 2,

wherein if the approaching determination unit determines two robots out of the plurality of the robots are approaching each other, then the sub-goal acquisition unit obtains the sub-goal data on the two robots.

5. The robot controller according to claim 2,

wherein the collision possibility determination unit comprises:

a sub-goal selection sub-unit for selecting one piece from the pieces of sub-goal data on each of two robots;

a sub-goal interval computing sub-unit for estimating a distance between the selected pieces of the sub-goal data;

a sub-goal interval determination sub-unit for determining whether or not the estimated distance exceeds a predetermined distance;

an arrival time computing sub-unit for estimating time periods until the two robots reach their sub-goals, respectively, based on the selected pieces of sub-goal data;

an arrival time determination sub-unit for determining whether or not a difference between the estimated time periods fall within a predetermined time period; and

a collision possibility examination sub-unit for determining that the two robots are likely to collide with each other, if the sub-goal interval determination sub-unit determines that the estimated distance is equal to/less than the predetermined distance and the arrival time determination sub-unit determines that the difference is equal to/less than the predetermined time period.

6. The robot controller according to claim 5,

wherein if the sub-goal interval determination sub-unit determines that the estimated distance is equal to/less than the predetermined distance, then the arrival time computing sub-unit calculates time periods until the two robots reach the sub-goals, respectively.

7. The robot controller according to claim 5,

wherein the collision possibility determination unit further comprises a sub-goal interpolation sub-unit for creating one or more new pieces of sub-goal data between the adjacent pieces of sub-goals, based on the sub-goal data obtained by the sub-goal acquisition unit, and for outputting the new pieces of sub-goals to the sub-goal selection sub-unit.

8. The robot controller according to claim 1, further comprising a priority setting unit for setting up, among the two robots, one having a higher priority order to a higher priority robot and the other to a lower priority robot,

wherein the moving route change instruction unit generates a moving route changing instruction signal for allowing the lower priority robot to change its route so as not to collide with the higher priority robot.

9. The robot controller according to claim 8,

wherein the priority setting unit assigns the priority orders to the two robots, depending on tasks which the robots will execute.

10. The robot controller according to claim 8,

wherein the moving route change instruction unit comprises:

an escape instruction sub-unit for generating an escape instruction signal for allowing the lower priority robot to change the route so that the lower priority robot moves to an escape location, thereby escaping from the higher priority robot, and the escape instruction signal is included in the moving route changing instruction signal; and

an avoidance instruction unit for generating an avoidance instruction signal for allowing the higher priority robot to change the route so that the higher priority robot moves while avoiding the lower priority robot staying at the escape location, and the avoidance instruction signal is included in the moving route changing instruction signal.

11. The robot controller according to claim 10,

wherein the escape instruction sub-unit comprises:

an escape location generation sub-unit for generating escape location data on the escape location of the lower priority robot, based on the map data and the sub-goal data; and

an escape instruction generation sub-unit for generating the escape instruction signal for allowing the lower priority robot to move to the escape location, based on the escape location data, and

wherein the avoidance instruction unit comprises;

an avoidance location generation sub-unit for generating avoidance location data on an avoidance location where the higher priority robot will escape, based on the escape location data on the escape location, the map data and the sub-goal data, and

an avoidance instruction generation sub-unit for generating the avoidance instruction signal for allowing the higher priority robot to move to the avoidance location, based on the avoidance location data.

12. The robot controller according to claim 11,

wherein the avoidance location generation sub-unit comprises:

an avoidance transit location generator for generating avoidance transit location data on one or more avoidance transit locations where the higher priority robot passes while avoiding lower priority robot staying at the escape location, based on the map data and the escape location data; and

an avoidance end location generator for generating escape end location data on an avoidance end location through which the higher priority robot passes, before returning to the route,

wherein the avoidance instruction generation sub-unit generates the avoidance instruction signal for allowing the higher priority robot to move to the avoidance end location by way of the avoidance transit locations, based on the avoidance transit location data and the escape end location data.

13. The robot controller according to claim 12,

wherein the escape location generation sub-unit comprises:

an escape location candidate generator for generating escape location candidate data on one or more escape location candidates for the sub-goal, based on the current location data, the sub-goal data and the map data, and

an escape location determiner for selecting the escape location from the escape location candidates, based on the escape location candidate data and the current location data.

14. The robot controller according to claim 13,

wherein the avoidance transit location generator selects the avoidance transit locations from the escape location candidates which the escape location determiner has not selected.

15. A robot control system, comprising:

a plurality of mobile robots for moving within an active area;

a base station being connected to the robots through radio communication;

the robot controller according to claim 1 being connected to the base station;

a network; and

one or more terminals connected to the robot controller through the network.

16. A process for controlling a plurality of mobile robots moving on their routes by using a robot controller in such a way that the robots do not collide with one another, the robot controller communicating with the robots, the process comprising:

obtaining map data on an active area where the routes are formed;

obtaining current location data on current locations of the robots;

obtaining one or more pieces of sub-goal data on one or more sub-goals created on each of the routes;

determining whether or not two robots out of the robots are likely to collide with each other, based on the sub-goal data;

generating a moving route changing instruction signal, based on the map data, the current location data and the sub-goal data, the moving route changing instruction signal for allowing at least one of the two robots to change its route; and

transmitting the moving route changing instruction signal to the corresponding one of the two robots.

17. The process according to claim 16, further comprising:

obtaining moving speed data on moving speeds of the robots; and

determining whether or not two robots out of the plurality of robots are approaching each other, based on the current location data and the moving speed data,

wherein the determination whether or not the two robots are likely to collide with each other is made, if two robots out of the plurality of robots are determined to be approaching.

18. The process according to claim 17, further comprising selecting two robots from the plurality of robots,

wherein the obtained current location data concerns the selected two robots,

wherein the obtained moving speed data concerns the selected two robots, and

wherein the robots which are determined by whether to be approaching each other are the selected two robots.