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US5684695A
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Method and apparatus for constructing an environment map of a self-propelled, mobile unit
Assignee: Siemens AG
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Filing: 1995-03-10
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Granted: 1997-11-04
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Expires: 2015-03-10
Abstract
Abstract An improved method and apparatus for constructing a cellularly structured environment map of a self-propelled, mobile unit is provided. Examples of such self-propelled, mobile units are household robots, self-propelled vacuum cleaners and industrial transport vehicles. To this end, a higher increment for the occupancy degree of a currently evaluated cell is selected for near objects. Further, the occupancy degree is also incremented dependent on a velocity. As an additional measure given standstill of the unit, all cells of the environment map that are located within the aperture cone of a wavefront that emanates from the sensor of the mobile unit are modified in terms of their occupancy degree values. Additionally, a blind zone in which grid cells of the environment map experience no modification of the occupancy degree is defined around the mobile unit.
Inventors
- 👤 Rudolf Bauer
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 18:23
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/88; G01S13/89; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0268; G05D1/0274; G01S13/881; G01S15/00; G01S15/88; G01S15/89; G01S17/00; G01S17/88; G01S17/89
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
183 words
Method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of: measuring a distance using a sensor in at least one measuring cycle, said distance being between the sensor and an environmental object and a position thereof being defined in a number of first cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor; arbitrarily selecting one of the first cells; positively incrementing the occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on the respective measuring cycle; and negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of at least one second cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment.
Claim 2
Dependent Claim
183 words
Method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of: measuring a distance using a sensor in at least one measuring cycle, said distance being between the sensor and an environmental object and a position thereof being defined in a number of first cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor; arbitrarily selecting one of the first cells; positively incrementing the occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on the respective measuring cycle; and negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of at least one second cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment.
Claim 3
Dependent Claim
57 words
Method according to claim 1, further comprising the steps of: defining a blind zone that adjoins the sensor in the measuring direction of at least one sensor dependent on a measuring imprecision of the sensor such that the occupancy degree of a cell of the environment map which is located within the blind zone is not modified.
Claim 4
Dependent Claim
28 words
Method according to claim 1, wherein the increment with which the occupancy degree is incremented is dependent on the distance of the environmental object from the mobile unit.
Claim 5
Dependent Claim
24 words
Method according to claim 3, further comprising the step of: selecting a greater increment for a relatively small distance than for a greater distance.
Claim 6
Dependent Claim
19 words
Method according to claim 1, whereby the increment is dependent on a locomotion velocity of the serf-propelled, mobile unit.
Claim 7
Dependent Claim
26 words
Method according to claim 5, further comprising the step of: selecting a greater increment for a relatively high locomotion velocity than for a lower locomotion velocity.
Claim 8
Dependent Claim
29 words
Method according to claim 1, further comprising the step of: producing at least two cellularly structured environment maps representing the environment at different heights of the self-propelled, mobile unit.
Claim 9
Independent Claim
197 words
A method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of: measuring a distance using a sensor in at least one measuring cycle of a plurality of measuring cycles, said distance being between the sensor and an environmental object and a position thereof being defined in a plurality of cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor; arbitrarily selecting one of the first cells; positively incrementing an occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on a respective measuring cycle of the plurality of measuring cycles; and negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of cells other than the selected first cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment.
Claim 10
Independent Claim
197 words
A method for producing a cellularly structured environment map of a self-propelled, mobile unit which orients itself in the environment with the assistance of sensors based on wave reflection, said method comprising the steps of: measuring a distance using a sensor in at least one measuring cycle of a plurality of measuring cycles, said distance being between the sensor and an environmental object and a position thereof being defined in a plurality of cells located on a circular arc segment with the sensor as mid-point of the arc and the distance as radius, whereby the circular arc segment is limited by the aperture angle of a conical wavefront emanating from the sensor; arbitrarily selecting one of the first cells; positively incrementing an occupancy degree of the selected first cell, when an environmental object is present, lying on the circular arc segment dependent on a respective measuring cycle of the plurality of measuring cycles; and negatively incrementing the occupancy degree, insofar as such an occupancy degree is present, of cells other than the selected first cell that is located within the circular sector that is defined by the aperture angle of the wavefront and the circular arc segment.
Claim 11
Dependent Claim
20 words
The method according to claim 8, wherein the increment is dependent on a locomotion velocity of the self-propelled, mobile unit.
Claim 12
Dependent Claim
27 words
The method according to claim 9, further comprising the step of: selecting a greater increment for a relatively high locomotion velocity than for a lower locomotion velocity.
Claim 13
Dependent Claim
30 words
The method according to claim 9, further comprising the step of: producing at least two cellularly structured environment maps representing the environment at different heights of the self-propelled, mobile unit.
Claim 14
Dependent Claim
58 words
The method according to claim 8, further comprising the steps of: defining a blind zone that adjoins the sensor in the measuring direction of at least one sensor dependent on a measuring imprecision of the sensor such that the occupancy degree of a cell of the environment map which is located within the blind zone is not modified.
Claim 15
Dependent Claim
29 words
The method according to claim 8, wherein the increment with which the occupancy degree is incremented is dependent on the distance of the environmental object from the mobile unit.
Claim 16
Dependent Claim
25 words
The method according to claim 13, further comprising the step of: selecting a greater increment for a relatively small distance than for a greater distance.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2000-11-03 | 2001-05-05 | 2001-11-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-11-03 | 2005-05-05 | 2005-11-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-11-03 | 2009-05-05 | 2009-11-04 | $7700.00 | Window Closed / Lapsed |