Apparatus, method and medium for simultaneously performing cleaning and creation of map for mobile robot

• US 8,463,436 B2
• Filed: 06/27/2008
• Issued: 06/11/2013
• Est. Priority Date: 06/28/2007
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Jeong, Woo-yeon, Lee, Su-Jin, Myeong, Hyeon, Bang, Seok-Won
• Primary Examiner(s): BEHNCKE, CHRISTINE M
• Application Number:
  US12/215,400
• Publication Number:
  US 20090055020A1
• Time in Patent Office: 1,810 Days
• Field of Search: 134/113, 134/18, 134/57.R, 701/23, 701/209, 701/208, 701/200, 701/25, 701/28, 340/995.1, 340/995.17, 700/253, 700/245, 700/258, 901/1, 901/50, 318/568.12, 318/568.16, 153/19
• US Class Current: 700/253
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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 1/0272 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 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information.

Claims

1. An apparatus for simultaneously performing a cleaning process and a map creating process for a mobile robot, comprising:

a feature-map-creating unit to create a feature map for recognizing position of the mobile robot;

a path-map-creating unit to create a path map including a plurality of cells, each cell having information about whether an obstacle exists and path information, on the basis of information on pose of the mobile robot that is obtained from the feature map, and to display path information and whether the obstacle exists in each cell; and

a motion control unit to move the mobile robot on the basis of the information about whether the obstacle exists and the path information,

wherein the path-map-creating unit assigns to the cell one of a first indicator indicating that the obstacle exists, a second indicator indicating whether the cell is completely cleaned, and a third indicator indicating whether current line including the cell and a line underneath the current line are completely cleaned.

2. The apparatus of claim 1, further comprising:

an image-capturing unit to capture a peripheral image suitable for extracting feature points; and

a position-measuring unit to measure the position of the mobile robot using a relative-position-recognizing module,

wherein the feature map is created by a method of matching the feature points extracted from the peripheral image with the measured position.

3. The apparatus of claim 2, wherein the relative-position-recognizing module includes at least one of a gyro-sensor, an acceleration sensor, and an encoder.

4. The apparatus of claim 2, wherein the peripheral image is a ceiling image, a wall image, or a floor image.

5. The apparatus of claim 1, wherein the path information comprises information indicating whether a specific cell has been completely cleaned and information indicating whether current line including the specific cell and a line underneath the current line are completely cleaned.

6. The apparatus of claim 1, wherein the path map is created by a wall-fill method.

7. The apparatus of claim 1, wherein, when the second indicator is assigned to the cell and the current line including the cell and a line underneath the current line are completely cleaned, the path-map-creating unit changes the second indicator to the third indicator.

8. The apparatus of claim 1, wherein the creation of the path map is repeatedly performed until a looped curve is formed by obstacles and the third indicators are assigned to all of the cells in the looped curve.

9. A method for simultaneously performing cleaning and creating a map for a mobile robot, comprising:

creating a feature map for recognizing position of the mobile robot;

creating a path map including a plurality of cells, each cell having information about whether an obstacle exists and path information, on the basis of information on pose of the mobile robot that is obtained from the feature map, and displaying path information and whether the obstacle exists in each cell;

moving the mobile robot on the basis of the information about whether the obstacle exists and the path information, wherein;

the creating of the path map comprises;

moving the mobile robot to one of a plurality of cells included in a line which the mobile robot has not passed through, until both ends of the line are blocked by obstacles;

when both ends of the line are blocked by the obstacles, moving the mobile robot to the next line; and

repeatedly performing the processes until a looped curve is formed by the obstacles; and

assigning, to each of the cells forming the path map, one of a first indicator indicating that obstacle exists, a second indicator indicating whether the cell is completely cleaned, and a third indicator indicating whether current line including the cell and a line underneath the current line have been completely cleaned.

10. The method of claim 9, further comprising:

capturing a peripheral image suitable for extracting feature points; and

measuring position of the mobile robot using a relative-position-recognizing module,

wherein the feature map is created by matching the feature points extracted from peripheral image with the measured position.

11. The method of claim 10, wherein the relative-position-recognizing module includes at least one of a gyro-sensor, an acceleration sensor, and an encoder.

12. The method of claim 10, wherein the peripheral image is a ceiling image, a wall image, or a floor image.

13. The method of claim 9, wherein the path information comprises information indicating whether a specific cell has been completely cleaned and information indicating whether current line including the specific cell and a line underneath the current line have been completely cleaned.

14. The method of claim 9, further comprising:

when the second indicator is assigned to cell and the current line including the cell and a line underneath the current line are completely cleaned, changing the second indicator to the third indicator.

15. The method of claim 9, further comprising:

when the mobile robot slips, considering cell in which the slipping has occurred a dangerous area and controlling the mobile robot to avoid the cell.

16. At least one computer-readable recording medium storing instructions that control at least one processing element to implement the method of claim 9.