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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JP7238268B2 (ja) * 2018-04-27 2023-03-14 日本電気株式会社 情報処理装置、情報処理方法及びプログラム
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
WO2022130476A1 (ja) 2020-12-15 2022-06-23 日本電気株式会社 情報処理装置、移動体制御システム、制御方法、及び非一時的なコンピュータ可読媒体
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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JP4989532B2 (ja) 2007-03-30 2012-08-01 成均館大学校産学協力団 移動サービスロボットの中央情報処理システム、移動サービスロボットの情報処理方法及び移動サービスロボットの情報処理方法を記録したコンピュータで読み取り可能な記録媒体
KR101337534B1 (ko) * 2007-07-24 2013-12-06 삼성전자주식회사 이동 로봇의 위치 인식 장치 및 방법
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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JP5444952B2 (ja) 2009-08-28 2014-03-19 富士通株式会社 センサフュージョンによる地図の自動生成、およびそのように自動生成された地図を用いて移動体の移動をするための、装置、方法、ならびにプログラム
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JP6685755B2 (ja) * 2016-02-16 2020-04-22 東芝ライフスタイル株式会社 自律走行体
JP6757593B2 (ja) * 2016-05-11 2020-09-23 シャープ株式会社 自走式電子機器
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
US20190278289A1 (en) 2019-09-12
US11662738B2 (en) 2023-05-30
EP3537249B1 (en) 2023-03-01
EP3537249A1 (en) 2019-09-11
JP7127303B2 (ja) 2022-08-30
JP2019159520A (ja) 2019-09-19
CN110238838A (zh) 2019-09-17

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