Robotic device workspace mapping
AssigneeIntel Corporation
InventorsLeobardo Campos Macias, Julio Zamora Esquivel, Paulo Lopez Meyer, Hector Alfonso Cordourier Maruri, Alejandro Ibarra Von Borstel, Edgar Macias Garcia
Life of this patent
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Abstract
System and techniques to map a workspace for a robotic device are described herein. The robotic device has a movable portion with a sensor that is used to capture readings from part of the workspace. These readings are used to map a portion of the workspace and then to plot a new position of the movable portion to get readings for another part of the workspace. As the technique iterates, the robotic device is able to safely and efficiently map the entirety of the workspace.
Claims20
An apparatus for robotic device workspace mapping, the apparatus comprising:
- a memory including instructions;
- and
- processing circuitry that, when in operation, is configured by the instructions to:
- obtain sensor data of a workspace from a sensor of a robotic device, the sensor affixed to a movable portion of the robotic device, the sensor having a field of view that covers a first portion of the workspace that is less than the workspace;
- detect features of the workspace from the sensor data;
- record the features of the workspace in a map of the workspace, wherein the map has three dimensions, and wherein the features of the workspace are represented by voxels, wherein the voxels are stored in the map with a bitwise representation in which a first set of bits represents a depth dimension, a second set of bits represents a width dimension, a third set of bits represents a height dimension, and a fourth set of bits represents a status, and wherein the workspace is represented by a hash map where the bitwise representation is hash to make a hash key for an entry in the hash map that contains the bitwise representation;
- determine a sensor boundary from the sensor data to create a set of bitwise representations of voxels neighboring the sensor boundary;
- store a set of hash keys, created by hashing the set of bitwise representations of the voxels neighboring the sensor boundary, in a visit list;
- and
- move the movable portion of the robotic device based on the sensor boundary to change the field of view of the sensor to cover a second portion of the workspace, wherein to move the movable portion of the robotic device based on the sensor boundary includes to select an entry from the visit list.
At least one non-transitory machine readable medium including instructions for robotic device workspace mapping, the instructions, when executed by processing circuitry, cause the processing circuitry to perform operations comprising:
- obtaining sensor data of a workspace from a sensor of a robotic device, the sensor affixed to a movable portion of the robotic device, the sensor having a field of view that covers a first portion of the workspace that is less than the workspace;
- detecting features of the workspace from the sensor data;
- recording the features of the workspace in a map of the workspace, wherein the map has three dimensions, and wherein the features of the workspace are represented by voxels, wherein the voxels are stored in the map with a bitwise representation in which a first set of bits represents a depth dimension, a second set of bits represents a width dimension, a third set of bits represents a height dimension, and a fourth set of bits represents a status, and wherein the workspace is represented by a hash map where the bitwise representation is hash to make a hash key for an entry in the hash map that contains the bitwise representation;
- determining a sensor boundary from the sensor data to create a set of bitwise representations of voxels neighboring the sensor boundary;
- store a set of hash keys, created by hashing the set of bitwise representations of the voxels neighboring the sensor boundary, in a visit list;
- and
- moving the movable portion of the robotic device based on the sensor boundary to change the field of view of the sensor to cover a second portion of the workspace, wherein moving the movable portion of the robotic device based on the sensor boundary includes to select an entry from the visit list.
Dependencies are inferred from the claim text.