CN104406581B - Robot system and map updating method - Google Patents
Robot system and map updating method Download PDFInfo
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- CN104406581B CN104406581B CN201410698431.XA CN201410698431A CN104406581B CN 104406581 B CN104406581 B CN 104406581B CN 201410698431 A CN201410698431 A CN 201410698431A CN 104406581 B CN104406581 B CN 104406581B
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- 238000000034 method Methods 0.000 title abstract description 17
- 230000007613 environmental effect Effects 0.000 claims abstract description 134
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 230000003716 rejuvenation Effects 0.000 claims abstract description 6
- 238000009825 accumulation Methods 0.000 abstract description 13
- 230000008859 change Effects 0.000 description 16
- 230000007246 mechanism Effects 0.000 description 6
- 230000009467 reduction Effects 0.000 description 5
- 230000003247 decreasing effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000002945 steepest descent method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
The present invention provides a kind of robot system and map updating method.Due to carrying out map rejuvenation, error is produced in the environmental map after past environmental map and renewal.Therefore, when renewal processing is repeated, error accumulation.The robot system possesses：Mobile robot, with the sensor measured to circumferential shape；Storage part, the environmental map of the shape in representation space is at least divided into the shape Variable Area being updated and stored without the shape invariance region of renewal；And map rejuvenation portion, in the case that the position of measured shape is included in the shape Variable Area in the sensor, the environmental map is updated by the shape of the measurement, the mobile robot is moved with reference to the environmental map updated.
Description
It is on October 24th, 2011, Application No. 201110324396.1, entitled " machine the applying date that the application, which is,
The divisional application of the original application of people's system and map updating method ".
Technical field
The present invention relates to the update method and robot system of the environmental map of autonomous mobile robot institute reference.
Background technology
With reference to the path for the mobile order for representing robot, the mobile control from the current location posture of robot is obtained
System, so as to carry out the autonomous of robot.For example, according to patent document 1, by based on set mobile data path
Mobile control, robot can proceed to up to destination untill autonomous elemental motion.In patent document 1, in table
Show existence in space geometry situation environmental map on the movement of generation robot path, according to the present bit of robot
Put posture and move control.Here, by the way that the circumferential shape measured using range sensor etc. is entered with the environmental map
Row geometry is combined, to estimate the posture of robot.
As environmental map, for example, by the space that robot is moved be divided into two dimension clathrate, assign with by grid
It whether there is the information of object in the region in the corresponding space of each cell surrounded.As the generation technique of environmental map,
Patent Document 2 discloses following technology：While mobile laser distance sensor, while generation and/or display sensor movement
Around environmental map be used as image.
Here, in actual application scenario, as a rule, the configuration of the object in space or shape are with the time
Change.Therefore, the environmental map of past generation is different from the state of the existence in current spatial.In this case, it is impossible to carry out
The geometry combination of robot location's pose estimation.Thus, in order to be used under the situation of environment change in shape
Autonomous mobile robot with the configuration of object or the change of shape, it is necessary to update environmental map, to cause actual presence
The state of thing is consistent with environmental map.
As the update method of environmental map, Patent Document 3 discloses prevent by the low precision comprising misrecognition
Map update the technology of environmental map.Also, Patent Document 4 discloses following technology：When eliminating map generation
Ground diagram shape mismatch, and then, local environmental map can be carried out and updated.Specifically, generation represents separate space
A part of region local map, by the local map and past environmental map on the basis of the tie point that operator sets
Connect, so as to update map.
【Patent document 1】Japanese Unexamined Patent Publication 2009-291540
【Patent document 2】Japanese Unexamined Patent Publication 2005-326944
【Patent document 3】Japanese Unexamined Patent Publication 2009-169845
【Patent document 4】Japanese Unexamined Patent Publication 2010-92147
These map rejuvenation means rewrite the shape newly measured on past environmental map, are used as the past ring of benchmark
Included in the shape of condition figure error (below using the difference between true form as environmental map error) can influence
Combine precision during new measurement data.Therefore, new error is produced in environmental map in the updated, thus, be repeated
Renewal is handled, error accumulation, the precision reduction of map.
In patent document 3, robot is measured into the shape of surrounding and environmental map carries out geometry and combined, in environment
In map there is the measured region of change in reflection, so as to carry out the renewal of environmental map.Now, the shape showed in environmental map
Shape is not quite identical with true form, so, produce combined error.Due to the influence, after the rewriting in environmental map updates
Region in produce new error.Thus, when above-mentioned renewal is repeated, the error accumulation of environmental map.
In patent document 4, combine past environmental map and be newly measured from new environmental map when, with
On the basis of the tie point set in the shared region of two environmental maps, environmental map is updated.But, two environmental map difference
With error, so, the environmental map after being updated obtained from the basis of the tie point to be set on two environmental maps
In, new error is produced relative to past environmental map.As a result, when renewal is repeated, error accumulation.
The content of the invention
On the other hand, according to the purpose of the present invention, there is provided can be in the state of the precision of past environmental map is ensured
It is updated mobile robot, robot system, map updating method of the processing without accumulating error in environmental map.
As one of the feature of the invention for solving above-mentioned problem, the mobile robot that can be moved in space
Or robot system has：Storage part, storage represents the environmental map of the space geometry information of past tense point；Detecting means, can
The shape of existence around robot measurement；And measuring point calculating part, the position that the detecting means are measured is calculated, its
It is characterised by, the storage part has following function：By multiple predetermined regions by the environmental map set in advance
The attribute of shape information and the predetermined region on the environmental map stores multiple in couples, the mobile robot or machine
People's system also has：Attribute reading unit, is compared to the environmental map and the predetermined region that is stored in the storage part,
Read the attribute corresponding with the predetermined region；And environmental map update section, calculated according to the measuring point calculating part
The attribute read by the attribute reading unit in the measuring point gone out, updates the environmental map.
The accumulation that the renewal of environmental map is handled without causing error can be carried out.Thus, even if renewal is repeated
Processing, the precision of environmental map will not also be reduced.
Brief description of the drawings
Fig. 1 is the figure for all structures for showing robot system.
Fig. 2 is the figure for the action flow chart for showing robot system.
Fig. 3 is the figure for the action for showing robot.
Fig. 4 is the figure for the measurement for being shown with range sensor.
Fig. 5 is the figure of range data for showing to measure.
Fig. 6 is the figure for the state for showing the grid in environmental map.
Fig. 7 is to show the figure that range data is combined for the geometry of environmental map.
Fig. 8 is the figure for the renewal for showing environmental map.
Fig. 9 is the figure for showing to be directed to the registration of map from the data that range sensor is obtained.
Figure 10 is the figure for showing the flow chart that environmental map updates.
Figure 11 is the figure for the setting for showing region shape and updating disturbance degree.
Figure 12 is the figure for the storage form for showing region shape and updating disturbance degree.
Figure 13 is the figure of the renewal for the state for showing the grid in set each region.
Figure 14 is the figure for the setting for showing the map before updating and invariant region.
Figure 15 is the figure of the measurement of shape when showing existence change in shape.
Figure 16 is the figure for showing the renewal result beyond invariant region.
Figure 17 is the figure of mathematical expression for showing to use in embodiment.
Label declaration
10：Mobile robot；101：Detecting means；101：Oneself location estimation portion；103：Measuring point calculating part；104：Category
Property reading unit；105：Environmental map update section；106：Mobile control division；107：Drive division；11：Zone setting device；110：Area
Domain configuration part；111：Update disturbance degree configuration part；113；Storage unit；112；Display part；120：Environmental map；121：Region shape
Shape；122：Area attribute；13：Existence in real space；600：Environmental map；610：The existence showed on map；
620：Detailed grid in environmental map；630：There is no the grid in the region of object；640：There is the grid in the region of object；
800：The position that shape does not change due to renewal；810：The position being eliminated by renewal；820：Chased after by renewal
Plus position；900：Measure the grid in the place of distance；910：In the absence of any object in the space that laser passes through
Grid in region；1100：Update the high region of disturbance degree；1110：Update the low region of disturbance degree；1120：Without updating
Region；1130：The high object of mobile frequency；1140：The few object of mobile frequency；1150：Without mobile object；
1200：Represent the grid of region shape；1210：The holding form of renewal disturbance degree in storage part；1300：Laser is by updating
The renewal of grid state during the high region of disturbance degree；1310：Measured in updating the high region of disturbance degree apart from when lattice
The renewal of sub- state；1320：Laser is by updating the renewal of grid state during the low region of disturbance degree；1330：Updating shadow
Measured in the low region of loudness apart from when grid state renewal；1340：Laser is by during region without renewal
The renewal of grid state；1350：Measured in the region without renewal apart from when grid state renewal；1400：Cross
The environmental map gone；1410：Without the region of renewal；1420：Constant shape；1430：Shape before movement；1500：Move
Shape after dynamic.
Embodiment
In the present invention, it is on environmental map that the attribute of multiple arbitrary region shapes and each predetermined region is paired
Ground setting is multiple, and processing is updated according to the attribute.Come more using the shape that surrounding is obtained in the movement of robot
During new environment map, environmental map is updated according to the attribute in part is updated.
For example, setting attribute as shape invariance for the constant region of true form (below as invariant region).
On invariant region, updated without described, the shape on the environmental map included in the region is not updated.
Thus, even if renewal processing is repeated for environmental map, also the region is not updated, mistake will not be accumulated
Difference.When carrying out optimal geometry combination using the environmental map, matching is obtained with the region of no accumulation error.
The matching between the shape in a part and the region for measurement data is obtained during combination, thus, will not be produced in combination
The influence of error accumulation.Environmental map is updated according to the result, so, the accumulation of error will not be produced in environmental map.
Thus, even if renewal is repeated, it can also ensure that the precision of the shape beyond invariant region.These combined treatments
Automatic execution is able to renewal processing, so, if presetting the attribute, also can in the movement of robot
It is last state to automatically ensure that map.In accordance with the invention it is possible to which the renewal for carrying out environmental map is handled without causing error
Accumulation.Thus, even if renewal processing is repeated, the precision of environmental map will not also be reduced.
Below, embodiments of the invention are described in detail using accompanying drawing.
【Embodiment 1】
Fig. 1 is the concept map for the robot system for showing the present embodiment.First, robot system of the invention is by moving machine
Device people 10 and zone setting device 11 are constituted.Mobile robot 10 has：Represent the ring of the shape of the object existed in space
Condition Figure 120, multiple pairs of storage part 100 of storage region shape 121 and area attribute 122, the biography of the shape of measurement surrounding
Sense portion 101, oneself location estimation portion 102, measuring point calculating part 103, area attribute reading unit 104, environmental map update section
105th, mobile direction and mobile control division 106, the portion of travel mechanism 107 of amount are determined according to the position of robot.
In addition, in the present embodiment, the disturbance degree for the environmental map when area attribute 122 represents to update
Disturbance degree is updated, the area attribute reading unit 104 reads the renewal disturbance degree.Also, zone setting device 11 has
Region setting part 110, renewal disturbance degree configuration part 111, display part 112, display part 113.
Here, mobile robot 10 can also be configured to, detecting means 101 and movement at least with the shape around measurement
Mechanism part 107, environmental map 120, storage part 100 in addition etc. are stored in the device (examples different from mobile robot 10
Such as zone setting device 11) in, wired or wireless communication unit etc. is set, is controlled suitably to send these information
To mobile robot.
Detecting means 101 are measured and the object positioned at the periphery of robot 10 by laser distance sensor or sonar sensor etc.
The distance between 13, so as to obtain the shape of measurement object.As long as in addition, the sensor can measure the shape of surrounding
, it is not limited to the example of the sensor.
In oneself location estimation portion 102, by the shape and storage part around the robot 10 obtained by measurement
100 environmental maps 120 kept carry out geometry combination, the posture of robot during estimation measurement.In measuring point
In calculating part 103, oneself position according to estimating, according to the data measured, is obtained measured on environmental map
The position coordinates of point.
The selection from the region shape 121 being stored in storage part 100 of disturbance degree reading unit 104 is updated to be tested comprising described
The region of the position of point is measured, renewal disturbance degree 122 corresponding with the region is obtained.In addition, being influenceed on region shape with updating
Correspondence between degree, the advance any setting regions of operator, disturbance degree is updated according to predetermined region setting.Environmental map updates
Portion 105 updates the position on environmental map corresponding with the measuring point according to the renewal disturbance degree.Mobile control division
Oneself position of 106 robots estimated according to oneself location estimation portion 102, moving direction and speed are determined along path
Mobile control.The mobile control that portion of travel mechanism 107 is determined according to mobile control division 106 moves robot.
In addition, in the present note, for simplicity, by the system accommodating in robot, still, storage part 100, oneself
Location estimation portion 102, measuring point calculating part 103, renewal disturbance degree reading unit 104, environmental map update section 105 can also be set
Put in computer outside robot etc., via communication equipment, according to their result of calculation tele-manipulator.
By the way that there are these positions by outer computer, multiple robot cooperated operations for updating a map can be applied to.
Fig. 2 is the processing sequence of the present embodiment.Mobile robot 10 is according to path and oneself position estimated, by moving
Dynamic control unit 106 determines direction and the speed (mobile control) of movement, and processing is moved by portion of travel mechanism 107
(S200).Then, the shape (S210) on the periphery of the robot measurement 10 of detecting means 101 is passed through.By the shape measured and environment
Map carries out geometry combination, so as to estimate oneself position (S220) of robot.Finally, according to obtaining from detecting means 101
Shape updates environmental map, so as to be updated (S230) to environmental map.Before measurement terminates, it is repeated at these
Reason.
Fig. 3 is that robot avoids existence 13 spatially and the situation moved along path.Robot along in advance refer to
Path that is fixed or automatically generating is moved.If making what robot system 10 was moved with double-legged legged or crawler type etc.
Mechanism, then the portion of travel mechanism 107 in robot system 10 be not limited to the form of the use wheel shown in Fig. 2.
Concept map when Fig. 4 is the distance between object 13 that the measurement of detecting means 101 exists with surrounding.Here, in order to enter
Row explanation, it is assumed that using measurement apparatus of the range sensor as detecting means 101.Depositing around the laser touching of detecting means irradiation
In thing 13, detecting means carry out light to its reflected light, thus according to from the time of light is irradiated to measure with existence 13 it
Between distance.The measurement is carried out for omnirange around, so as to measure the shape of surrounding.
Fig. 5 is shown with measurement example when range sensor measures the shape on periphery.Range sensor is red to circumfusion
Outer line laser, to touched the laser after object present on all directions reflected light carry out light, according to from be irradiated to by
The time difference of light the distance between is measured with object.Range sensor is while make measurement direction φ gradually angle changing resolution ratio
δ φ, measure n data simultaneously on one side.If the measurement direction of ith measurement data is φi, the distance measured be ri.Now
Distance and the combination (r in directioni, φi) turn into measurement object object centered on range sensor by relative polar coordinate system table
The position shown.In addition, dash-dot arrows represent measurement result, the terminal of arrow turns into the position of measured point.The dot-dash of closure
Object on line representation space, the dash-dot arrows for touching the object are the successful data of measurement.The chain-dotted line of closure is not touched
Dash-dot arrows represent that any object can not be measured.By the mathematical expression (mathematical expression 1) shown in Figure 17, from by polar coordinate system table
Position (the r showni, φi) be converted to rectangular coordinate system (sxi, syi)。
Fig. 6 is the concept map of environmental map 600.In figure 6, in order to illustrate, show only to indicate whether there is object
2 value performance.The technique of expression with the presence or absence of object for considering the renewal disturbance degree in the present embodiment is described in detail below.
It is used as the form of expression of environmental map, it is assumed that be divided into grid tiny as 620.But, by all shape graphs in space
When being shown as grid, the token of grid is too small, so, when being illustrated using grid, amplify as 620 and a part is shown.
In the following description, difference representative ring condition Figure 60 0 and grid 620, still, they are that magnifying power is different,
Internal structure is identical.The reference axis and existence of environmental map are shown on environmental map 600.Here, the coordinate of environmental map
System sets the center of map as (0,0), if right direction is the positive direction of x-axis, if upper direction is the positive direction of y-axis.In addition, environment
The coordinate system not limited to this of figure.The shape existed in space is showed as black line as existence 610.Here the presence showed
Thing 610 is to be measured and recorded in the existence on environmental map 600 in past time point.
Then, the performance example in grid is illustrated.Grid 630 represents that any thing is not present in corresponding region in space
Body.Also, grid 640 represents there is object in grid.In figure 6, in order to illustrate, simplify and show to whether there is object
2 value, be not 2 values, but carry out manifestation as the Probability Forms of multivalue as described below in the present embodiment still
The presence probability of body.
Describe the technique of expression of the object on the environmental map in the present embodiment in detail.In the present embodiment, by space
The shape of object shown as the presence probability of object on environmental map.In the inside of environmental map, record object
Information is worth as ballot, is converted to when reading and there is probability.First, in the coordinate (x, y) of environmental map coordinate system
Grid cell m (x, y), if the probability that object is present is p (m (x, y)).Here, for example according to p (m (x, y)) value and parameter
Comparative result determines whether to have object.Also, each grid keeps ballot value v (x, y), according to ballot value v (x, y) value come
Calculate Probability p (m (x, y)).
In addition, the technique of expression of these environmental maps is not limited to the above method, as long as technique of expression is it can be considered that update
The shape of disturbance degree.
Fig. 7 shows the position appearance of robot when measuring the shape of surrounding carried out by oneself location estimation portion 102
Gesture estimates example.In oneself location estimation, combined in geometric mode on the environmental map 600 shown in Fig. 6 by detecting means
Range data shown in 101 Fig. 5 measured, thus, on environmental map when robot estimates to measure the shape of surrounding
Posture.If the position of the robot in the coordinate system of environmental map is (x, y, θ).Here, by the robot coordinate system of formula 1
The Coordinate Conversion of shown measurement result is the coordinate system (t of environmental mapxi, tyi) when, mathematical expression (mathematics as shown in figure 17
Formula 2) like that.
The coordinate system of environmental map is obtained by carrying out linear transformation from robot coordinate system.It is converted into above-mentioned environment
Distance results after the coordinate system of map carry out optimum position (x when geometry is combined with environmental map*, y*, θ*) such as Figure 17 institutes
The mathematical expression (mathematical expression 3) shown is obtained like that.
The initial value close to optimum solution is provided in advance, by steepest descent method etc., can solve the solution of formula 3.Hereinafter, if estimating
The position of measured point in the environmental map coordinate system that oneself position after meter is (x, y, θ), measure is (tx, ty) carry out
Explanation.
Fig. 8 shows the renewal example of the environmental map based on the range information obtained from detecting means 101.For recording in the past
Environmental map in the sensing outcome that currently measures of shape record, so as to carry out the renewal of environmental map.Pass through measuring point
Calculating part 103 obtains measured position.The calculating of measuring point calculating part 103 is same with formula 2, obtain oneself position (x,
Y, θ) and the measured position (t putx, ty), and each grid in the region between oneself position and measured point is explored, so that
Obtain position.Shape of the record in environmental map is shown respectively in Fig. 8 and the shape identical shape 800 measured, record exist
In past environmental map but currently without the shape 810 measured and the shape 820 newly measured.First, according to logical
Oneself position (x, y, θ) for the mobile robot 10 crossed the combination and obtained, measured point is converted to the seat of environmental map
Mark system.Then, as shape 800, on shape when constructing past environmental map compared with without change position, survey
The shape measured is consistent with environmental map.On the other hand, as shape 810, disappeared due to the reason such as moving with glove
In the case of, the laser of range sensor irradiation passes through.In this case, by reducing part corresponding with the region that laser passes through
It is described there is probability, shape 810 can be eliminated from environmental map.The calculating that additionally, there are probability is described below.On
The shape 820 for not having record in past environmental map but newly being measured in current measurement, on environmental map
Without record shape in the coordinate of measured point.In this case, there is probability by the described of position of the measured point of increase, newly
Record shape.As described above, environmental map can be updated.
Then, the meter that there is probability in the renewal for the environmental map realized by environmental map update section 105 is illustrated
Calculation method.According to each region, increase and decrease the ballot value of grid using the renewal disturbance degree, so as to be updated.In this implementation
In example, operator's setting and the increase parameter alpha (x, y) in the corresponding region of coordinate (x, y) and the value of reduction parameter beta (x, y) are made
To update disturbance degree.Set renewal disturbance degree is read by updating disturbance degree reading unit 104.It is provided as the lattice for upgating object
Son is grid corresponding with the measured point calculated by measuring point calculating part 103 and the area with not measuring any object
The corresponding grid in domain.
Fig. 9 shows to update the example of grid by increasing ballot value v (x, y) for grid 900.First, illustrate with surveying
Measured apart from when the corresponding grid of measured point renewal.In the case where measuring distance, measuring point calculating part 103 makes
The coordinate of measured point is obtained with formula 2, described in environmental map update section 105 increases and preserved in grid corresponding with the coordinate
Ballot value v (x, y).Thus, the presence probability increase of the object in the position.According to the machine when distance and measurement measured
The position of people, the position (t of grid 900 is obtained by formula 2x, ty).On the change of ballot value, the position (t with grid is usedx,
ty) corresponding increase parameter alpha (tx, ty), mathematical expression (mathematical expression 4) as shown in figure 17 updates like that.
Then, the renewal of grid corresponding with the region for not measuring any object is illustrated.On with not measuring
The corresponding grid 910 in region of any object, grid is updated by reducing ballot value v (x, y).Detecting means 101 will be connected
Position and the line segment of the position of measured point by grid be used as object.On the change of ballot value, using with grid
Position (tx, ty) corresponding reduction parameter beta (tx, ty), mathematical expression (mathematical expression 5) as shown in figure 17 updates like that.
By the increase and decrease of the ballot value of above-mentioned grid, the Probability p (m (x, y)) that there is object in grid can be increased and decreased.
Ballot value is smaller, and Probability p (m (x, y)) is smaller, and ballot value is bigger, and probability is bigger.
Figure 10 shows the processing sequence of the renewal of the present embodiment.First, according to by oneself location estimation portion 102 obtain from
Own position (x, y, θ), is converted to the data from detecting means 101 using formula 2 coordinate (the t on environmental mapx, ty)
(S1000).Then, detect corresponding with the region for not measuring any object that each measurement direction passed through of detecting means 101
Grid (S1010), read be used as it is corresponding with the grid update disturbance degree the reduction parameter beta (tx, ty) (S1020), root
The ballot value v (t of the grid are reduced according to the parameterx, ty), so as to reduce the presence Probability p (m (t of the object in gridx, ty))
(S1030).If detecting shape, grid (S1040) corresponding with the position detected is obtained by formula 2, conduct is read
Increase parameter alpha (the t that updates disturbance degree corresponding with the gridx, ty) (S1050), increase the throwing of the grid according to the parameter
Ticket value v (tx, ty), so as to improve the presence Probability p (m (t of the object in gridx, ty))(S1060)。
Figure 11 is the example of the setting screen of the renewal disturbance degree.In the present embodiment, using zone setting device 11
Setting regions shape 121 is multiple right with renewal disturbance degree 122.First, operator is by the designated environment of region setting part 110
Region on figure, by updating disturbance degree configuration part 111, disturbance degree is updated according to the setting of each region.As establishing method, lead to
The display environment map on picture of display part 113 is crossed, according to shown environmental map, operator utilizes the instruction devices such as mouse
The region shape of set environment map, and then, operator updates disturbance degree for set region setting.The setting side in region
Method has the encirclement based on free curve using the instruction device or encirclement method based on rectangle etc..In addition, the instruction is filled
As long as putting the coordinate that can be indicated on picture, mouse is not limited to.The storage part 10 that storage unit 112 has in robot 10
Region shape 121 and renewal disturbance degree 122 set by middle preservation.Figure 11 sets 3 regions according to disturbance degree is updated.This
In, respectively each region is set as updating the high region 1100 of disturbance degree, updates the low region 1110 of disturbance degree, without updating
Region 1120.In addition, in fig. 11, disturbance degree will be updated it is defined to 3 kinds and illustrate, but not limited to this.Also, also may be used
To be set as continuously change parameter.
Figure 12 shows region shape and updates the storage form of disturbance degree.Here, the He of region 1100 shown in Figure 11 is enumerated
The example in region 1110 is illustrated.In the present embodiment, the holding of region shape and renewal disturbance degree and the map shown in Fig. 6
Form is same, and space is divided into clathrate as 1200, keeps renewal shadow corresponding with each grid in storage part in advance
The value of loudness.As storage form, as shown in 1210, the corresponding position with (x, y) coordinate value on storage part is stored respectively
Update the value of disturbance degree.Thus, the processing only by reading value corresponding with specified coordinate, it becomes possible to read and update influence
Degree.In addition, as the form of region shape, can also be without using grid, and utilize numerical value to keep being surrounded by polygon or curve
Region.In this case, for each region, respectively correspondingly keeping updating disturbance degree.Read update disturbance degree when, explore with
The corresponding region of specified coordinate, reads value corresponding with the region.
Figure 13 shows to update the example that the environmental map after disturbance degree is updated to setting.In addition, each region is more
New disturbance degree is identical with Figure 11.First, on updating not measuring in the grid that the big region 1100 of disturbance degree is included
The grid 1300 of shape, is greatly decreased ballot value v (tx, ty).Then, the presence Probability p (m (t of the object in the gridx, ty))
Also it is greatly decreased.On the other hand, the grid 1310 for measuring shape in the grid included on region 1100, is significantly increased
Ballot value v (tx, ty).Then, the presence Probability p (m (t of the object in the gridx, ty)) be also significantly increased.As a result, working as
When the change or movement of shape are produced in the region, the presence Probability p (m (t of the object in grid in regionx, ty)) significantly increase
Subtract, reflect shape in environmental map immediately.On updating the grid that the low region 1110 of disturbance degree is included, ballot value v
(tx, ty) increase and decrease diminish.The grid 1320 for not measuring shape somewhat reduces ballot value v (tx, ty).Then, in the grid
Object presence Probability p (m (tx, ty)) slightly reduce.Also, shape is measured in the grid that region 1110 is included
Grid 1330 somewhat increases ballot value v (tx, ty).In this case, similarly, the presence Probability p (m (t of objectx, ty)) also small size
Increase.As a result, in this region, relative to the change or movement of shape, the presence Probability p of the object in grid in region
(m(tx, ty)) increase and decrease diminish, for environmental map influence become relax.The grid included on region 1120 is constant
More ballot value v (tx, ty).Accordingly, with respect to any measurement, the shape in region is constant.In fig. 13, shape is not measured
The grid 1340 of shape does not change ballot value with the grid 1350 for measuring shape.The shape recorded in the invariant region is not
Become, even if renewal is repeated, will not also produce the accumulation of error.
As effect when renewal disturbance degree being divided into a variety of as described above, there is following effect：It can prevent in environment
Misdescription records object on the move in map, and static object can be recorded in environmental map.When the note in environmental map
When having recorded the object moved, the object on the move is not present in oneself location estimation, map and actual environment are not
Unanimously, so causing precision to reduce.It is therefore preferable that recording the object not moved in environmental map.In the present embodiment, pass through
The mobile frequency of object in each region sets renewal disturbance degree, and environmental map can be updated as described above.For example,
In the regions such as the more road of mobile object, will update disturbance degree be set as it is relatively low, thus, it is difficult in environmental map record
It is not intended to reflect the object on the move into environmental map.Also, in the region that there are a large amount of static objects not moved
In, disturbance degree will be updated and be set as higher, thus, even if pendulous frequency is less, can also be immediately reflected in environmental map, hold
The object is easily recorded in environmental map.
Figure 14~Figure 16 shows actual renewal example.Figure 14 is the example for setting 2 kinds of renewal disturbance degrees.One updates influence
Degree is set as higher, and another disturbance degree is set as zero without being updated.Figure 14 by past environmental map 1400, without
The region 1410 of renewal, the constant shape 1420 existed in region 1410 and the shape 1430 in the outer presence in region 1410
Constitute.In addition, it is assumed that region 1410 is that operator is set in advance.Premised on storage part keeps Figure 14 environmental map, such as
Figure 15 is measured like that.Assuming that Figure 15 environment is moved to 1500 position for the shape 1430 on Figure 14 map.Therefore,
In the measurement, any object is not present in the part for the shape 1430 registered in environmental map before this, so, measure position
In a part for its inboard constant shape 1420.Also, newly measure shape 1500.According to the measurement result, in figure 16
Update environmental map.Without updating in region 1410, so, without the change of environmental map.Beyond region 1410
Region in, according to the result newly measured come more new shape.Thus, shape 1430 is eliminated, shape 1500 is recorded.Do not update shape
Shape 1420, so, even if renewal is repeated, shape 1420 will not also accumulate error.So, when updating, there will be shape
Renewal disturbance degree in the constant or region of object do not moved is set to zero, thus, will not be at this when renewal is repeated
The accumulation of error is produced in shape in invariant region.By using the renewal, in the combination of the shape in oneself position,
In the case of obtaining the matching between a part for measured shape and the shape without the accumulation error, Bu Hui
Occurs the influence of the error accumulation in oneself location estimation result.Thus, if according to the knot of oneself location estimation
Fruit updates map, then will not also accumulate error in the map beyond the invariant region.
According to aforesaid way, after operator has preassigned region and updated disturbance degree, it can be updated automatically, but
It is that, by manually setting the region for wishing to update when updating, will not reflect in environmental map with reflecting environment
Data in figure, the invention is not restricted to the Application way performed automatically.
In the present invention, if operator has preset the region updated and disturbance degree, it is able to carry out map rejuvenation
With oneself location estimation, without accumulate error.Therefore, in the robot system of the present invention, high-precision map is automatically generated.
Thus, also can be automatically last state by map rejuvenation, even in the situation of environment change in shape in the movement of robot
Under, operation is measured without manual working or again, the autonomous of robot can be also carried out.
【Embodiment 2】
In the described embodiment, as detecting means 101, using to object present on two dimensional surface measure away from
It is illustrated from sensor.On the other hand, as detecting means 101, the distance that can measure 3D shape can also be used to pass
Sensor.Below, illustrate using embodiment during three-dimensional distance sensor.
It is huge using amount of storage when space is divided into grid in the case where handling three dimensions.Therefore,
The set (point group) of measured point measured by range sensor is directly kept in storage part 100.Certainly, it can use
In the case of the computer for being mounted with a large amount of storage mediums, embodiment grid can also be handled like that as described.
The order for the function/processing being mounted in mobile robot is identical with the embodiment.Each function is carried out below
Explanation.
In the manner, the object in the set expression space of measured point is utilized.Also, grid is replaced, according to each
Point records each turnout in storage part 100.Oneself location estimation portion 102 is directed to the point group currently kept and applied by detecting means
101 obtain the point group of surrounding, so as to estimate oneself position.Explore the existence rate in kept point for more than 0.5 point and
The squared-distance of the distance between each point measured and minimum correspondence and posture, to be estimated.
In measuring point calculating part 103, the change part of the shape for calculating kept object and the shape measured.
Here, the point group being located in the certain distance for the wire track that each laser passes through is explored, is used as " point do not measured ".And
And, " point measured " will be used as from the point group in a certain distance from measured point.
Update disturbance degree reading unit 104 and explore including by the measuring point calculating part 103 of being kept in storage part 100
Region including the point calculated, reads disturbance degree corresponding with the region.
Environmental map update section is according to the disturbance degree read by the disturbance degree reading unit 104, to by measurement portion
The ballot value recorded in the point that position calculating part 103 is calculated and kept by storage part 100 is increased and decreased.By measuring point calculating part
103 " point do not measured " reduction ballot values calculated.On the other hand, " surveyed by what measuring point calculating part 103 was calculated
The point measured " reduces ballot value.
In region setting part 110, operator selects arbitrary region.Can not be directly using in mouse specified three-dimensional space
Arbitrary region.Accordingly, there exist following method etc.：Rectangle is respectively specified that in the viewpoint of 2 orthogonal directions, by two rectangles
Common region is used as designated area.Also, on each designated area, influence is updated by updating the setting of disturbance degree configuration part 111
Degree.
Claims (7)
1. a kind of robot system, it is characterised in that possess：
Mobile robot, with the sensor measured to circumferential shape；
Storage part, the environmental map of the shape in representation space is at least divided into the shape Variable Area being updated and not entered
The shape invariance region that row updates is stored；And
Map rejuvenation portion, in the sensor the position of measured shape be included in the shape Variable Area situation
Under, the environmental map is updated by the shape of the measurement,
The mobile robot is moved with reference to the environmental map updated.
2. robot system as claimed in claim 1, it is characterised in that
The environmental map of shape in representation space is divided into update the high region of disturbance degree, the region without renewal, with
And update the low region of disturbance degree to be stored in the storage part,
The disturbance degree for the environmental map updated when disturbance degree represents to update.
3. robot system as claimed in claim 1 or 2, it is characterised in that
In the case that the position of measured shape is included in the shape invariance region in the sensor, the map is more
New portion does not perform the renewal of the environmental map by the shape of the measurement.
4. robot system as claimed in claim 2, it is characterised in that
Possess input block, a region of the environmental map stored in the storage part can be specified with carrying out more
The new shape Variable Area, without in the shape invariance region of renewal at least some corresponding described update
Disturbance degree.
5. robot system as claimed in claim 4, it is characterised in that
Possess display part, show the environmental map stored in the storage part,
Described in shown by the specified selection display part of the renewal disturbance degree carried out by the input block
What arbitrary region in environmental map and the region to the selection were performed.
6. robot system as claimed in claim 5, it is characterised in that
The storage part is stored the information in the region of the selection and the renewal disturbance degree of input in couples.
7. robot system as claimed in claim 4, it is characterised in that
The disturbance degree that updates at least has the region high with updating disturbance degree, the region without renewal and updates influence
The corresponding 3 kinds of renewals disturbance degree in the low region of degree.
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| JP2010238105A JP5452442B2 (en) | 2010-10-25 | 2010-10-25 | Robot system and map updating method |
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