BR112016028352A2 - método para a determinação, por um computador a bordo de um robô autônomo, de um mapa de pixels da probabilidade de pelo menos um de ausência e presença de um obstáculo, robô autônomo e produto de programa de computador - Google Patents
método para a determinação, por um computador a bordo de um robô autônomo, de um mapa de pixels da probabilidade de pelo menos um de ausência e presença de um obstáculo, robô autônomo e produto de programa de computadorInfo
- Publication number
- BR112016028352A2 BR112016028352A2 BR112016028352A BR112016028352A BR112016028352A2 BR 112016028352 A2 BR112016028352 A2 BR 112016028352A2 BR 112016028352 A BR112016028352 A BR 112016028352A BR 112016028352 A BR112016028352 A BR 112016028352A BR 112016028352 A2 BR112016028352 A2 BR 112016028352A2
- Authority
- BR
- Brazil
- Prior art keywords
- absence
- obstacle
- autonomous robot
- robot
- probability
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 5
- 238000004590 computer program Methods 0.000 title 1
Classifications
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J9/1697—Vision controlled systems
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
-
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
the invention relates to a method to compute a pixel map of probabilities of one of absence and presence of an obstacle in the environment of an autonomous robot. autonomous robot comprises at least one sensor grouped in at least one set of sensors that detect obstacles of similar types and have its own sensor initial map of probability of absence of obstacles. the method comprises the steps of initializing, a map around the robot and attached to the robot with a predefined value of probability of absence or presence of an obstacle, acquiring data representative of the absence or presence of an obstacle around the robot from at least one sensing procedure, and concurrently updating values of probabilities using data from sensing procedure and modifying the probabilities of absence or presence of obstacle from previous observations to a value closer to a predefined value.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14305849.3A EP2952993B1 (en) | 2014-06-05 | 2014-06-05 | Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot |
PCT/EP2015/062611 WO2015185741A2 (en) | 2014-06-05 | 2015-06-05 | Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112016028352A2 true BR112016028352A2 (pt) | 2017-08-22 |
Family
ID=51167815
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112016028352A BR112016028352A2 (pt) | 2014-06-05 | 2015-06-05 | método para a determinação, por um computador a bordo de um robô autônomo, de um mapa de pixels da probabilidade de pelo menos um de ausência e presença de um obstáculo, robô autônomo e produto de programa de computador |
Country Status (15)
Country | Link |
---|---|
US (1) | US10328575B2 (pt) |
EP (1) | EP2952993B1 (pt) |
JP (1) | JP6462728B2 (pt) |
KR (1) | KR101999033B1 (pt) |
CN (1) | CN106662646B (pt) |
AU (2) | AU2015270461A1 (pt) |
BR (1) | BR112016028352A2 (pt) |
CA (1) | CA2950978C (pt) |
DK (1) | DK2952993T3 (pt) |
ES (1) | ES2675363T3 (pt) |
MX (1) | MX2016015833A (pt) |
NZ (1) | NZ727046A (pt) |
RU (1) | RU2016151747A (pt) |
SG (1) | SG11201610131QA (pt) |
WO (1) | WO2015185741A2 (pt) |
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-
2014
- 2014-06-05 DK DK14305849.3T patent/DK2952993T3/en active
- 2014-06-05 ES ES14305849.3T patent/ES2675363T3/es active Active
- 2014-06-05 EP EP14305849.3A patent/EP2952993B1/en active Active
-
2015
- 2015-06-05 MX MX2016015833A patent/MX2016015833A/es unknown
- 2015-06-05 SG SG11201610131QA patent/SG11201610131QA/en unknown
- 2015-06-05 BR BR112016028352A patent/BR112016028352A2/pt not_active Application Discontinuation
- 2015-06-05 JP JP2016570989A patent/JP6462728B2/ja active Active
- 2015-06-05 KR KR1020177000278A patent/KR101999033B1/ko active IP Right Grant
- 2015-06-05 CN CN201580036821.3A patent/CN106662646B/zh active Active
- 2015-06-05 RU RU2016151747A patent/RU2016151747A/ru unknown
- 2015-06-05 WO PCT/EP2015/062611 patent/WO2015185741A2/en active Application Filing
- 2015-06-05 NZ NZ727046A patent/NZ727046A/en not_active IP Right Cessation
- 2015-06-05 US US15/314,475 patent/US10328575B2/en active Active
- 2015-06-05 AU AU2015270461A patent/AU2015270461A1/en not_active Abandoned
- 2015-06-05 CA CA2950978A patent/CA2950978C/en not_active Expired - Fee Related
-
2018
- 2018-11-26 AU AU2018271237A patent/AU2018271237B2/en not_active Ceased
Also Published As
Publication number | Publication date |
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EP2952993A1 (en) | 2015-12-09 |
CN106662646B (zh) | 2019-08-02 |
US10328575B2 (en) | 2019-06-25 |
RU2016151747A (ru) | 2018-07-17 |
DK2952993T3 (en) | 2018-07-30 |
CN106662646A (zh) | 2017-05-10 |
SG11201610131QA (en) | 2017-01-27 |
EP2952993B1 (en) | 2018-04-25 |
US20170197311A1 (en) | 2017-07-13 |
KR20170042546A (ko) | 2017-04-19 |
KR101999033B1 (ko) | 2019-09-27 |
AU2015270461A1 (en) | 2016-12-22 |
WO2015185741A3 (en) | 2016-01-21 |
NZ727046A (en) | 2018-04-27 |
WO2015185741A2 (en) | 2015-12-10 |
JP6462728B2 (ja) | 2019-01-30 |
JP2017521761A (ja) | 2017-08-03 |
RU2016151747A3 (pt) | 2018-07-17 |
MX2016015833A (es) | 2017-06-28 |
CA2950978A1 (en) | 2015-12-10 |
CA2950978C (en) | 2019-04-23 |
AU2018271237A1 (en) | 2018-12-13 |
AU2018271237B2 (en) | 2020-01-30 |
ES2675363T3 (es) | 2018-07-10 |
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