System and method for determing necessity of map data recreation in robot operation

• US 9,242,378 B2
• Filed: 05/27/2010
• Issued: 01/26/2016
• Est. Priority Date: 06/01/2009
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Matsumoto, Kosei, Moriya, Toshio
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US13/375,669
• Publication Number:
  US 20120083923A1
• Time in Patent Office: 2,070 Days
• Field of Search: 700/258, 700/245, 700/255, 701/23, 701/24, 701/25, 701/26, 701/409, 701/446, 701/450, 701/454, 701/532, 701/447, 701/448
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G05B 2219/40424 Online motion planning, in real time, use vision to detect workspace changes
• CPC Class Codes: G05B 2219/40506 Self motion topology knowledge, configuration mapping
• CPC Class Codes: G05B 2219/40516 Replanning
• 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

Abstract

The invention notifies a robot controller of the need to re-create map data. A robot control system (1) includes a robot (2) that moves along a path while detecting obstacles, and a robot control terminal (3) that records map data (321) and specifies the path of said robot (2), whereby said robot (2) uses lasers to make measurements while in motion and sends the results as sensor data (324) to said robot control terminal (3), which uses said sensor data to generate simulated sensor data (325) along the future path of said robot, and if the proportion of sections for which simulated sensor data and said map data (321) do not coincide exceeds a threshold value, the user is notified of a reconstruction of said map data (321).

Claims

1. A robot control system, comprising;

a robot equipped with a distance measurement sensor to detect a three-dimensional distance to each of points of obstacles, and configured to move on a path while detecting the points of the obstacles with the distance measurement sensor; and

a robot control terminal that stores a map data in a storage part and instructs the robot on which path the robot is to move,

wherein the robot transmits a first measurement result obtained at a first location on a path by the distance measurement sensor, to the robot control terminal, and

wherein the robot control terminal

simulates a simulated measurement result for a second location on the path at which the robot is to arrive after the robot moves, based on the map data and the first measurement result transmitted from the robot,

determines a necessity of a re-creation of the map data if a proportion of a valid portion of the simulated measurement result is less than a preset threshold, and

notifies a user of the necessity of re-creation of the map data.

2. The robot control system according to claim 1,

wherein the robot control terminal

creates the map data based on the first measurement result transmitted from the robot, and

compares the simulated measurement result with the map data to discriminate the valid portion and an invalid portion of the simulated measurement result.

3. The robot control system according to claim 1,

wherein the robot control terminal displays an invalid portion of the simulated measurement result in the display part.

4. The robot control system according to claim 1,

wherein the robot control terminal divides the map data into prescribed sections and sets a threshold for each of the sections.

5. The robot control system according to claim 1, wherein the map data includes a set of grids, and

wherein if the distance measurement sensor detects a new sensor obstacle, the set of grids includes one or more occupancy grids and one or more unknown grids.

6. The robot control system according to claim 5, wherein an invalid portion includes any point of an obstacle wherein a straight line between the point of the obstacle and the second location passes through an unknown grid.

7. A robot control terminal which stores a map data in a storage part and instructs a robot on which path the robot is to move, comprising:

a storage part that store map data indicating a geometric shape of obstacles in an environment where the robot moves around and map data indicating at least a path along which the robot is to move,

a sensor data acquisition part that accepts and holds a first measurement result of a distance measurement sensor carried on the robot which is located at a first location on a path,

an estimation sensor data simulation part that simulates, based on the map data and the first measurement result, a simulated measurement result for a future time at a location at which the robot is to arrive after the robot moves;

and a determination part that determines a necessity of re-creation of the map data if a proportion of a valid portion of the simulated measurement result is less than a preset threshold, and notifies a user of the necessity of re-creation of the map data.

8. The robot control terminal according to claim 7, further comprising a map creation part that creates the map data based on the first measurement result transmitted from the robot,

wherein the determination part compares the simulated measurement result with the map data to discriminate the valid portion and an invalid portion of the simulated measurement result.

9. The robot control terminal according to claim 7, wherein the map data includes a set of grids, and

wherein if the distance measurement sensor detects a new sensor obstacle, the set of grids includes one or more occupancy grids and one or more unknown grids.

10. The robot control terminal according to claim 9, wherein an invalid portion includes any point of an obstacle wherein a straight line between the point of the obstacle and the second location passes through an unknown grid.