Subdivision of maps for robot navigation
AssigneeRobArt GmbH
InventorsHarold Artes, Michael Schahpar, Dominik Seethaler, Reinhard Vogel
Life of this patent
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Abstract
An optical triangulation sensor for distance measurement is described herein. In accordance with one embodiment, the apparatus comprises a light source for the generation of structured light, an optical reception device, at least one attachment element and a carrier with a first groove on a lateral surface of the carrier, wherein the light source and/or optical reception device is at least partially arranged in the first groove and is held in place on the carrier by the attachment element.
Claims22
A method for an automatic sectoring of a map of an area of robot operation of an autonomous mobile robot, the method comprising:
- detecting, by sensors arranged on the autonomous mobile robot, obstacles;
- determining, by the sensors arranged on the autonomous mobile robot, a size and position of the obstacles on the map;
- sectoring, by a processor, of the area of robot operation into numerous rooms or sub-areas according to predetermined rules, and modifying, by the processor, the sectoring, based on the detected obstacles;
- displaying the map, including the rooms or sub-areas on a human machine interface;
- enabling, by the processor, a user interaction with rooms and sub-areas of the map displayed on the human machine interface, wherein the human machine interface receives input of the user regarding the sectoring of the area of robot operation into rooms or sub-areas, position of doors, designation of functions of recognized rooms or sub-areas, or a combination thereof;
- altering, by the processor, the sectoring of the area of robot operation in dependency on the user input;
- generating, by the processor and based on sensor data, hypotheses concerning zone borders or a function of individual detected obstacles, wherein the sectoring of the area of robot operation into numerous rooms or sub-areas is based on the generated hypotheses;
- and
- wherein a specifiable criterion for the generation of hypotheses comprises a distance between two boundary lines lies within a specified interval, two boundary lines lie on one straight line, function designations of the area of robot operation specified by the user, or a combination thereof.
A method for an automatic sectoring of a map of an area of robot operation of an autonomous mobile robot, the method comprising:
- detecting, by sensors arranged on the autonomous mobile robot, obstacles;
- determining, by the sensors arranged on the autonomous mobile robot, a size and position of the obstacles on the map;
- sectoring, by a processor, of the area of robot operation into numerous rooms or sub-areas, based at least on the detected obstacles, wherein the rooms or sub-areas each include at least a part of an area that could be traversed by the robot,
- displaying the map, including the rooms or sub-areas on a human machine interface;
- enabling, by the processor, a user interaction with rooms and sub-areas of the map displayed on the human machine interface, wherein the human machine interface receives input of the user regarding the sectoring of the area of robot operation into rooms or sub-areas, position of doors, designation of functions of recognized rooms or sub-areas, or a combination thereof, wherein the user input offers the possibility of further sectoring the room or sub-areas;
- altering, by the processor, the sectoring of the area of robot operation in dependency on the user input;
- generating, by the processor and based on sensor data, hypotheses concerning zone borders or a function of individual detected obstacles, wherein the sectoring of the area of robot operation into numerous rooms or sub-areas is based on the generated hypotheses;
- and
- wherein a specifiable criterion for the generation of hypotheses comprises a distance between two boundary lines lies within a specified interval, two boundary lines lie on one straight line, function designations of the area of robot operation specified by the user, or a combination thereof.
Dependencies are inferred from the claim text.