Positive and negative obstacle avoidance system and method for a mobile robot

• US 8,688,275 B1
• Filed: 01/25/2013
• Issued: 04/01/2014
• Est. Priority Date: 01/25/2012
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Adept Technology, Inc. (Omron Corporation)
• Inventors: LaFary, Matthew, Paul, George
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Nguyen, Bao Long T
• Application Number:
  US14/001,266
• Publication Number:
  US 20140074287A1
• Time in Patent Office: 431 Days
• Field of Search: None
• US Class Current: 700/255
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/39082 Collision, real time collision avoidance
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device
• CPC Class Codes: Y10S 901/50 Miscellaneous

Abstract

Embodiments of the present invention provide methods and systems for ensuring that mobile robots are able to detect and avoid positive obstacles in a physical environment that are typically hard to detect because the obstacles do not exist in the same plane or planes as the mobile robot'"'"'s horizontally-oriented obstacle detecting lasers. Embodiments of the present invention also help to ensure that mobile robots are able to detect and avoid driving into negative obstacles, such as gaps or holes in the floor, or a flight of stairs. Thus, the invention provides positive and negative obstacle avoidance systems for mobile robots.

Claims

1. In a mobile robot comprising a memory and a propulsion system, a method for avoiding positive obstacles in a physical environment, the method comprising:

a) storing in the memory

(i) a map defining a floor plan representing the physical environment and a two dimensional coordinate system delineating the floor plan,

(ii) a first data structure of two-dimensional coordinates from the floor plan, the two-dimensional coordinates in the first data structure representing locations in the physical environment to be avoided by the mobile robot,

(iii) first laser placement information for a first laser attached to the mobile robot, said first laser being oriented to scan the physical environment in a first plane that is not parallel to the floor of the physical environment, wherein said first laser placement information includes a first laser position and a first laser tilt, and

(iv) a tolerance profile comprising a ceiling offset, a floor offset, a ceiling adjustment angle and a floor adjustment angle,

b) receiving a set of laser readings from said first laser, each laser reading corresponding to a location in the physical environment where said first laser detects a physical obstacle in said first plane, and each laser reading comprising a first plane angle and a first plane distance from a given site on the mobile robot;

c) for each laser reading in said set of laser readings

(i) converting said each laser reading into a three-dimensional coordinate based on said first plane angle, said first plane distance, said first laser position and said first laser tilt, wherein said three-dimensional coordinate comprises an x-component, a y-component and a z-component,

(ii) determining a minimum ceiling height and a maximum floor height for the three dimensional coordinate based on the x-component, the y-component and the tolerance profile, and

(iii) if the z-component is between the minimum ceiling height and the maximum floor height, adding the x-component and the y-component to the first data structure of two-dimensional coordinates to represent a new location in the physical environment to be avoided by the mobile robot; and

d) causing the propulsion system to drive the mobile robot in the physical environment under control of the first data structure, wherein the propulsion system prevents the mobile robot from passing into the locations in the physical environment represented by the two-dimensional coordinates in the first data structure.

2. The method of claim 1, further comprising:

a) receiving on the mobile robot a command to move from a current position to a specified location in the physical environment;

b) calculating on the mobile robot, in accordance with the floor plan, a path between said current position and said specified location, said path avoiding the locations in the physical environment represented by the first data structure of two-dimensional coordinates; and

c) activating the propulsion system to automatically drive the mobile robot along the path.

3. The method of claim 1, wherein said first plane is perpendicular to the floor of the physical environment.

4. The method of claim 1, wherein said maximum floor height is calculated by using the formula:

maximum floor height=floor offset+A*sin(floor adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.

5. The method of claim 1, wherein said minimum ceiling height is calculated according to the formula:

minimum ceiling height=ceiling offset+A*sin(ceiling adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.

6. The method of claim 1, further comprising:

a) storing in the memory

(i) a second data structure of two-dimensional coordinates from the floor plan, the two dimensional coordinates in the second data structure representing locations in the physical environment to be avoided by the mobile robot,

(ii) second laser placement information for a second laser attached to the mobile robot, said second laser being oriented to scan the physical environment in a second plane that is not parallel to the floor of the physical environment, wherein said second laser placement information includes a second laser position and a second laser tilt, and

(iii) receiving a second set of laser readings from said second laser, each laser reading corresponding to a location in the physical environment where said second laser detects a physical obstacle in said second plane, and each laser reading comprising a second plane angle and a second plane distance from a given site on the mobile robot;

b) for each laser reading in said second set of laser readings

(i) converting said each laser reading into a second three-dimensional coordinate based on said second plane angle, said second plane distance, said second laser position and said second laser tilt, wherein said second three-dimensional coordinate comprises a second x-component, a second y-component and a second z-component,

(ii) determining a minimum ceiling height and a maximum floor height for the second three-dimensional coordinate based on the second x-component, the second y-component and the tolerance profile, and

(iii) if the second z-component is between the maximum floor height and the minimum ceiling height, adding the second x-component and the second y-component to the second data structure of two-dimensional coordinates to represent another location in the physical environment to be avoided by the mobile robot; and

c) causing the propulsion system to drive the mobile robot in the physical environment under control of the first data structure and the second data structure, wherein the propulsion system prevents the mobile robot from passing into the locations in the physical environment represented by the two-dimensional coordinates in both the first data structure and the second data structure.

7. The method of claim 6, further comprising:

a) receiving on the mobile robot a command to move from a current position to a specified location in the physical environment;

b) calculating on the mobile robot, in accordance with the floor plan, a path between said current position and said specified location, said path avoiding the locations in the physical environment represented by the first data structure of two-dimensional coordinates and the second data structure of two-dimensional coordinates; and

c) activating the propulsion system to automatically drive the mobile robot along the path.

8. The method of claim 6, wherein said second plane is perpendicular to the floor of the physical environment.

9. In a mobile robot comprising a memory and a propulsion system, a method for avoiding negative obstacles in a physical environment, the method comprising:

a) storing in the memory

(i) a map defining a floor plan representing the physical environment and a two dimensional coordinate system delineating the floor plan,

(ii) a first data structure of two-dimensional coordinates from the floor plan, the two dimensional coordinates in the first data structure representing locations in the physical environment to be avoided by the mobile robot,

(iii) first laser placement information for a first laser attached to the mobile robot, said first laser being oriented to scan the physical environment in a first plane that is not parallel to the floor of the physical environment, wherein said first laser placement information includes a first laser position and a first laser tilt, and

(iv) a tolerance profile comprising a maximum floor offset, a minimum floor offset, a maximum floor adjustment angle, a minimum floor adjustment angle and a maximum allowable floor gap,

b) receiving a set of laser readings from said first laser, each laser reading corresponding to a location in the physical environment within said first plane, and each laser reading comprising a first plane angle and a first plane distance from a given site on the mobile robot;

c) for each laser reading in said set of laser readings

(i) converting said each laser reading into a three-dimensional coordinate based on said first plane angle, said first plane distance, said first laser position and said first laser tilt, wherein said three-dimensional coordinate comprises an x-component, a y-component and a z-component,

(ii) determining a maximum floor height and a minimum floor height for the three-dimensional coordinate based on the x-component, the y-component and the tolerance profile, and

(iii) if the z-component is between the maximum floor height and the minimum floor/height, changing an indicator in the memory to designate the x-component and the y-component of the three-dimensional coordinate as the last good floor reading,

(iv) if the z-component is not between the maximum floor height and the minimum floor height, determining whether the distance G between the last good floor reading and the location in the two-dimensional coordinate system defined by the x-component and the y-component exceeds the maximum allowable floor gap, and

(v) if the distance G exceeds the maximum allowable floor gap, adding the x-component, the y-component and the last good floor reading to the first data structure of two-dimensional coordinates to represent a new location in the physical environment to be avoided by the mobile robot;

d) causing the propulsion system to drive the mobile robot in the physical environment under control of the first data structure, wherein the propulsion system prevents the mobile robot from passing into the locations in the physical environment represented by the two-dimensional coordinates in the first data structure.

10. The method of claim 9, further comprising:

a) receiving on the mobile robot a command to move from a current position to a specified location in the physical environment;

b) calculating on the mobile robot, in accordance with the floor plan, a path between said current position and said specified location, said path avoiding the locations in the physical environment represented by the first data structure of two-dimensional coordinates; and

c) activating the propulsion system to automatically drive the mobile robot along the path.

11. The method of claim 9, wherein said first plane is perpendicular to the floor of the physical environment.

12. The method of claim 9, wherein said maximum floor height is calculated by using the formula:

maximum floor height=floor offset+A*sin(floor adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.

13. The method of claim 9, wherein said minimum floor height is calculated according to the formula:

minimum floor height=−

floor offset−

A*sin(floor adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.

14. A positive obstacle avoidance system for use with a mobile robot in a physical environment,

comprising:

a) a first laser attached to the mobile robot, said first laser being oriented to scan the physical environment in a first plane that is not parallel to the floor of the physical environment;

b) a memory for storing

(i) a map defining a floor plan representing the physical environment and a two dimensional coordinate system delineating the floor plan,

(ii) a first data structure of two-dimensional coordinates from the floor plan, each two dimensional coordinate in the first data structure representing a location in the physical environment to be avoided by the mobile robot,

(iii) first laser placement information for said first laser, said first laser placement information including a first laser position and a first laser tilt, and

(iv) a tolerance profile comprising a ceiling offset, a floor offset, a ceiling adjustment angle and a floor adjustment angle,

c) a laser controller for receiving a set of laser readings from said first laser, each laser reading corresponding to a location in the physical environment where said first laser detects a physical obstacle in said first plane, and each laser reading comprising a first plane angle and a first plane distance from a given site on the mobile robot;

d) a positive obstacle avoidance engine that, for each laser reading in said set of laser readings

(i) converts said each laser reading into a three-dimensional coordinate based on said first plane angle, said first plane distance, said first laser position and said first laser tilt, wherein said three-dimensional coordinate comprises an x-component, a y-component and a z-component,

(ii) determines a minimum ceiling height and a maximum floor height for the three dimensional coordinate based on the x-component, the y-component and the tolerance profile, and

(iii) if the z-component is between the minimum ceiling height and the maximum floor height, adds the x-component and the y-component to the first data structure of two-dimensional coordinates to represent a new location in the physical environment to be avoided by the mobile robot; and

e) a propulsion system that drives the mobile robot in the physical environment under control of the first data structure, the propulsion system being configured to prevent the mobile robot from passing into the locations in the physical environment represented by the two-dimensional coordinates in the first data structure.

15. The system of claim 14, further comprising:

a) a communication interface that receives a command to move from a current position to a specified location in the physical environment; and

b) a path planning engine that calculates, in accordance with the floor plan, a path between said current position and said specified location, said path avoiding the locations in the physical environment represented by the first data structure of two-dimensional coordinates;

c) wherein the propulsion system is further configured to automatically drive the mobile robot along the path.

16. The system of claim 14, wherein said first plane is perpendicular to the floor of the physical environment.

17. The system of claim 14, wherein said positive obstacle avoidance engine calculates the maximum floor height according to the formula:

maximum floor height=floor offset+A*sin(floor adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.

18. The system of claim 14, wherein said positive obstacle avoidance engine calculates the minimum ceiling height according to the formula:

minimum ceiling height=ceiling offset+A*sin(ceiling adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.

19. The system of claim 14, wherein:

a) a second laser is attached to the mobile robot, said second laser being oriented to scan the physical environment in a second plane that is not parallel to the floor of the physical environment;

b) the memory further comprises

(i) a second data structure of two-dimensional coordinates from the floor plan, each two dimensional coordinate in the second data structure representing another location in the physical environment to be avoided by the mobile robot,

(ii) second laser placement information for said second laser, said second laser placement information including a second laser position and a second laser tilt, and

c) the laser controller receives a second set of laser readings from said second laser, each laser reading corresponding to a location in the physical environment where said second laser detects a physical obstacle in said second plane, and each laser reading comprising a second plane angle and a second plane distance from a given site on the mobile robot;

d) the positive obstacle avoidance engine, for each laser reading in said second set of laser readings

(iii) converts said each laser reading into a second three-dimensional coordinate based on said second plane angle, said second plane distance, said second laser position and said second laser tilt, wherein said second three-dimensional coordinate comprises a second x-component, a second y-component and a second z component,

(iv) determines a minimum ceiling height and a maximum floor height for the second three-dimensional coordinate based on the second x-component, the second y component and the tolerance profile, and

(v) if the second z-component is between the maximum floor height and the minimum ceiling height, adds the second x-component and the second y-component to the second data structure of two-dimensional coordinates to represent another location in the physical environment to be avoided by the mobile robot; and

e) the propulsion system drives the mobile robot in the physical environment under control of the first data structure and the second data structure, whereby the propulsion system prevents the mobile robot from passing into the locations in the physical environment represented by the two-dimensional coordinates in both the first data structure and the second data structure.

20. The system of claim 19, further comprising:

a) a communication interface that receives a command to move from a current position to a specified location in the physical environment; and

b) a path planning engine that calculates, in accordance with the floor plan, a path between said current position and said specified location, said path avoiding the locations in the physical environment represented by the first data structure of two-dimensional coordinates;

c) wherein the propulsion system is further configured to automatically drive the mobile robot along the path.

21. The system of claim 19, wherein said second plane is perpendicular to the floor of the physical environment.

22. A negative obstacle avoidance system for use with a mobile robot in a physical environment, comprising:

a) a first laser attached to the mobile robot, said first laser being oriented to scan the physical environment in a first plane that is not parallel to the floor of the physical environment;

b) a memory for storing

(i) a map defining a floor plan representing the physical environment and a two dimensional coordinate system delineating the floor plan,

(ii) a first data structure of two-dimensional coordinates from the floor plan, the two dimensional coordinates in the first data structure representing locations in the physical environment to be avoided by the mobile robot,

(iii) first laser placement information for said first laser, the first laser placement information including a first laser position and a first laser tilt, and

(iv) a tolerance profile comprising a maximum floor offset, a minimum floor offset, a maximum floor adjustment angle, a minimum floor adjustment angle and a maximum allowable floor gap,

c) a laser controller for receiving a set of laser readings from said first laser, each laser reading corresponding to a location in the physical environment within said first plane, and each laser reading comprising a first plane angle and a first plane distance from a given site on the mobile robot; and

d) a negative obstacle avoidance engine that, for each laser reading in said set of laser readings

(i) converts said each laser reading into a three-dimensional coordinate based on said first plane angle, said first plane distance, said first laser position and said first laser tilt, wherein said three-dimensional coordinate comprises an x-component, a y-component and a z-component,

(ii) determines a maximum floor height and a minimum floor height for the three dimensional coordinate based on the x-component, the y-component and the tolerance profile, and

(iii) if the z-component is between the maximum floor height and the minimum floor height, changes an indicator in the memory to designate the x-component and the y-component of the three-dimensional coordinate as the last good floor reading coordinate,

(iv) if the z-component is not between the maximum floor height and the minimum floor height, determines whether the distance G between the last good floor reading coordinate and the location in the two-dimensional coordinate system defined by the x-component and the y-component exceeds the maximum allowable floor gap, and

(v) if the distance G exceeds the maximum allowable floor gap, adds the x-component, the y-component and the last good floor reading coordinate to the first data structure of two-dimensional coordinates to represent another location in the physical environment to be avoided by the mobile robot; and

e) a propulsion system that drives the mobile robot in the physical environment under control of the first data structure, the propulsion system being configured to prevent the mobile robot from passing into the locations in the physical environment represented by the two-dimensional coordinates in the first data structure.

23. The system of claim 22, further comprising:

a) a communication interface that receives a command to move from a current position to a specified location in the physical environment; and

b) a path planning engine that calculates, in accordance with the floor plan, a path between said current position and said specified location, said path avoiding the locations in the physical environment represented by the first data structure of two-dimensional coordinates;

c) wherein the propulsion system is further configured to automatically drive the mobile robot along the path.

24. The system of claim 22, wherein said first plane is perpendicular to the floor of the physical environment.

25. The system of claim 22, wherein the negative obstacle avoidance engine calculates said maximum floor height by using the formula:

maximum floor height=floor offset+A*sin(floor adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.

26. The system of claim 22, wherein the negative obstacle avoidance engine calculates said minimum floor height according to the formula:

minimum floor height=−

floor offset−

A*sin(floor adjustment angle),

wherein, A=the distance from the current position to the coordinate (x-component, y-component) in the two-dimensional coordinate system.