Apparatus and method for recognizing self-position in robot system

• US 6,834,118 B2
• Filed: 07/30/2001
• Issued: 12/21/2004
• Est. Priority Date: 07/28/2000
• Status: Expired due to Fees

• Current Assignee: In-Gwang Kim
• Original Assignee: In-Gwang Kim
• Inventors: Kim, In-Gwang
• Primary Examiner(s): Mehta, Bhavesh M.
• Assistant Examiner(s): STREGE, JOHN B
• Application Number:
  US09/916,340
• Publication Number:
  US 20020015521A1
• Time in Patent Office: 1,240 Days
• Field of Search: 382/153, 382/106, 382/291, 901/46, 901/47, 701/200, 701/207, 701/208, 701/210, 701/28, 340/988, 340/990, 340/995.25, 348/113, 348/116, 348/118
• US Class Current: 382/153
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

The present invention relates to an apparatus and method for recognizing self-position employing a virtual map divided into directional reflex distance data and cell unit, and a computer-readable recording medium for recording a program containing the method of the invention. The apparatus for recognizing self-position in a robot system includes: a reflex distance detecting unit for outputting a designated signal to each direction obtained by equally dividing 360° as designated, detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted, and based on the detection result, detecting the distance to the object in each direction; direction detecting unit for providing information of absolute direction; and, controlling unit for controlling general operation of the reflex distance detecting unit and the direction detecting unit, dividing the region on a virtual map into a cell unit to generate directional reflex distance information per cell, and recognizing the present position by comparing the directional reflex distance information of each cell with the directional reflex distance information from the present position of a detected robot.

Claims

1. An apparatus for recognizing self-position in a robot system, comprising:

reflex distance detecting means for outputting a designated signal to each direction obtained by equally dividing 360°

as designated, detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted, and based on the detection result, detecting the distance to the object in each direction;

direction detecting means for providing information of absolute direction;

saving means for saving information about a cell-unit virtual map and directional reflex distance information of each cell; and

controlling means for controlling general operation of the reflex distance detecting means and the direction detecting means, generating directional reflex distance information per cell and saving the information into the saving means, and recognizing the present position by comparing the directional reflex distance information of each cell with the directional reflex distance information from the present position of a detected robot.

2. The apparatus as recited in claim 1, further comprising shift distance detecting means for providing information on shift distance of the robot, thereby enabling the controller to calculate shift direction and distance of the robot by using the absolute direction information and the distance information the robot shifted, and comparing directional reflex distance information of substitute cells that are expected within the range calculated with that of a robot at the present position detected.

3. A method for recognizing self-position in a robot system, comprising the steps of:

a) forming a virtual map consisting of a plurality of cells;

b) outputting a designated signal to each direction obtained by equally dividing 360°

as designated, and detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted;

c) detecting distance to the object from each direction based on the detected point from the previous step, and saving the distance in each cell;

d) detecting directional reflex distance information at the present position of the robot; and

e) recognizing the present position of the robot by comparing the directional reflex distance information saved in each cell and the directional reflex distance information at the present position of the robot.

4. The method as recited in claim 3, wherein said step e) recognizing includes the steps of:

e1) calculating shift direction and distance by using information on shift distance and absolute direction of the robot;

e2) selecting substitute cells within a range calculated from the calculating step among other directional reflex distance information saved according to each cell; and

e3) recognizing a present self-position of a robot by comparing the directional reflex distance information corresponding to selected substitute cells in the selecting step with directional reflex distance information at the present position of the robot detected in the detecting step.

5. A computer-readable recording medium storing instructions for executing a method for recognizing self-position in a robot system, the method comprising the steps of:

a) forming a virtual map consisting of a plurality of cells;

b) outputting a designated signal to each direction obtained by equally dividing 360°

as designated, and detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted;

c) detecting distance to the object from each direction based on the detected point from the previous step, and saving the distance in each cell;

d) detecting directional reflex distance information at the present position of the robot; and

e) recognizing the present position of the robot by comparing the directional reflex distance information saved in each cell and the directional reflex distance information at the present position of the robot.

6. The recording medium as recited in claim 5, wherein said step e) recognizing includes the steps of:

e1) calculating shift direction and distance by using information on shift distance and absolute direction of the robot;

e2) selecting substitute cells within a range calculated from the calculating step among other directional reflex distance information saved according to each cell; and

e3) recognizing a present self-position of a robot by comparing the directional reflex distance information corresponding to selected substitute cells in the selecting step with directional reflex distance information at the present position of the robot detected in the detecting step.