Method for producing an environment map for a mobile logistics robot and mobile logistics robot
AssigneeSTILL GmbH
InventorsBengt Abel, Yan Rudall, Mohamed Bakr, Dennis Schüthe
Life of this patent
Estimating the term…
Abstract
A method for the production of an environment map (5) for a mobile logistics robot includes sensing an environment by use of a sensor system (2). The sensor data is evaluated in a processor unit (3), and a virtual grid of the environment is produced using cells. The cells in which objects (1) are detected are labeled as occupied cells and the cells in which no objects (1) are detected are labeled as free cells, as a result of which a representation of the environment is generated. The objects (1) that occupy the cells are identified in the processor unit (3). The mobile logistics robot carries out the method.
Claims19
A method for production of an environment map for a mobile logistics robot, comprising:
- sensing an environment using a sensor system of the mobile logistics robot, to produce sensor data;
- evaluating the sensor data in a processor unit;
- and
- generate an environment map of the environment by, in part, producing a virtual grid of the environment using the processor unit, the virtual grid comprising a plurality of discrete cells that partition the environment into two- or three-dimensional spatial regions, wherein generating the environment map comprises:
- detecting, based on the sensor data, objects in a first set of cells of the plurality of discrete cells;
- labeling cells of the first set of cells as occupied;
- identifying the objects that occupy the first set of cells;
- classifying, based on identifying the objects, each object that occupies the first set of cells as belonging to one of three categories, the three categories comprising static objects, manipulable objects that are movable by the mobile logistics robot, and dynamic objects that move in the environment not by the mobile logistics robot;
- detecting, based on the sensor data, no objects in a second set of cells of the plurality of discrete cells;
- and
- labeling cells of the second set of cells as free;
- and
- navigating the mobile logistics robot in the environment using the environment map.
A mobile logistics robot to carry out a production of an environment map comprising:
- a device for generation of the environment map for the mobile logistics robot, the device comprising:
- a sensor system for sensing of an environment of the mobile logistics robot;
- and
- a processor unit for evaluation of sensor data,
- wherein the processor unit is designed to:
- generate the environment map of the environment by, in part, producing a virtual grid of the environment, the virtual grid comprising a plurality of discrete cells that partition the environment into two- or three-dimensional spatial regions, wherein, when generating the environment map, the processor unit is designed to:
- detect, based on the sensor data, objects in a first set of cells of the plurality of discrete cells;
- identify the objects that occupy the first set of cells;
- classify, based on identifying the objects, each object that occupies the first set of cells as belonging to one of three categories, the three categories comprising static objects, manipulable objects that are movable by the mobile logistics robot, and dynamic objects that move in the environment not by the mobile logistics robot;
- label cells of the first set of cells as occupied;
- detect, based on the sensor data, no objects in a second set of cells of the plurality of discrete cells;
- and
- label cells of the second set of cells as free;
- and
- navigate the mobile logistics robot in the environment using the environment map.
Dependencies are inferred from the claim text.