CN110238838B - 自主移动装置、自主移动方法以及存储介质 - Google Patents

自主移动装置、自主移动方法以及存储介质 Download PDF

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Publication number
CN110238838B
CN110238838B CN201910179147.4A CN201910179147A CN110238838B CN 110238838 B CN110238838 B CN 110238838B CN 201910179147 A CN201910179147 A CN 201910179147A CN 110238838 B CN110238838 B CN 110238838B
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China
Prior art keywords
mobile device
environment
autonomous mobile
map
environmental
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Expired - Fee Related
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CN201910179147.4A
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English (en)
Chinese (zh)
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CN110238838A (zh
Inventor
中岛光康
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Casio Computer Co Ltd
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Casio Computer Co Ltd
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    • 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
    • G05D1/0268—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
CN201910179147.4A 2018-03-09 2019-03-08 自主移动装置、自主移动方法以及存储介质 Expired - Fee Related CN110238838B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018042608A JP7127303B2 (ja) 2018-03-09 2018-03-09 自律移動装置、自律移動方法及びプログラム
JP2018-042608 2018-03-09

Publications (2)

Publication Number Publication Date
CN110238838A CN110238838A (zh) 2019-09-17
CN110238838B true CN110238838B (zh) 2023-03-10

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CN201910179147.4A Expired - Fee Related CN110238838B (zh) 2018-03-09 2019-03-08 自主移动装置、自主移动方法以及存储介质

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US (1) US11662738B2 (https=)
EP (1) EP3537249B1 (https=)
JP (1) JP7127303B2 (https=)
CN (1) CN110238838B (https=)

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US10835096B2 (en) * 2018-08-30 2020-11-17 Irobot Corporation Map based training and interface for mobile robots
JP2021060669A (ja) 2019-10-03 2021-04-15 ソニー株式会社 情報処理装置、情報処理方法、情報処理システム及びプログラム
DE102019215490A1 (de) * 2019-10-09 2021-04-15 Robert Bosch Gmbh Verfahren zum Bereitstellen einer digitalen Lokalisierungskarte für ein Fahrzeug
CN111906786B (zh) * 2020-08-01 2022-03-04 珠海一微半导体股份有限公司 机器人控制方法、芯片和机器人
JP7546453B2 (ja) * 2020-11-10 2024-09-06 日立Astemo株式会社 地図生成・自己位置推定装置
US12602053B2 (en) 2020-12-15 2026-04-14 Nec Corporation Information processing apparatus, moving body control system, control method, and non-transitory computer-readable medium
JP7447060B2 (ja) * 2021-07-29 2024-03-11 キヤノン株式会社 情報処理装置、情報処理方法、自律走行ロボット装置、及びコンピュータプログラム
JP7540426B2 (ja) 2021-12-13 2024-08-27 トヨタ自動車株式会社 自己位置推定システム、自己位置推定方法、プログラム、及び地図生成装置

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JP2009176031A (ja) 2008-01-24 2009-08-06 Toyota Motor Corp 自律移動体，自律移動体制御システムおよび自律移動体の自己位置推定方法
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JP2018028489A (ja) 2016-08-18 2018-02-22 トヨタ自動車株式会社 位置推定装置、位置推定方法
JP6882664B2 (ja) * 2017-02-07 2021-06-02 富士通株式会社 移動体位置推定システム、移動体位置推定端末装置、情報格納装置、及び移動体位置推定方法

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Publication number Publication date
EP3537249B1 (en) 2023-03-01
US20190278289A1 (en) 2019-09-12
US11662738B2 (en) 2023-05-30
CN110238838A (zh) 2019-09-17
JP7127303B2 (ja) 2022-08-30
EP3537249A1 (en) 2019-09-11
JP2019159520A (ja) 2019-09-19

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