Spatial data collection apparatus and method

• US 6,917,893 B2
• Filed: 03/14/2003
• Issued: 07/12/2005
• Est. Priority Date: 03/14/2002
• Status: Expired due to Term

• Current Assignee: Omron Corporation
• Original Assignee: MobileRobots, Inc. (Omron Corporation)
• Inventors: Kennedy, William, Dietsch, Jeanne, LaFary, Matthew
• Primary Examiner(s): Nghiem, Michael
• Assistant Examiner(s): Walling, Meagan S
• Application Number:
  US10/388,911
• Publication Number:
  US 20030176986A1
• Time in Patent Office: 851 Days
• Field of Search: 702/150, 702/152, 702/153, 702/155
• 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;

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

software drivers for transferring said positional data and said range data to said computational device; and

software for collecting and time stamping said positional data and said range data and 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; and

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

2. 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, said positional sensor further comprising at least one shaft encoder on said at least one wheel for generating odometry data;

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;

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

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; and

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

3. 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, said positional sensor further comprising an inertial measurement unit (IMU) for measuring radial motion of said mobile platform and generating IMU data used to correct said odometry data;

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;

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

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; and

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

4. The spatial data collection apparatus of claim 3 wherein said computational device includes software for correcting discrepancies between said odometry data and said IMU data.

5. The spatial data collection apparatus of claim 4 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.