JP2020512644A - ロボット経路計画のためのシステムおよび方法 - Google Patents
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Abstract
Description
本出願は、同じ名称の2017年3月30日に出願された米国特許出願第15/474,816号に対する優先権の利益を主張し、その全体が参照により本明細書に組み込まれる。
本特許文書の開示の一部には、著作権保護の対象となる資料が含まれている。著作権者は、特許商標庁の特許ファイルまたは記録に記載されているような本特許文書または本特許開示の、いかなる人物によるファクシミリ複製にも異論を唱えないが、それ以外の全ての著作権を留保する。
Claims (20)
- ロボットによる経路計画のための方法であって、
前記ロボットの環境と関連付けられたコストマップを生成することであって、前記コストマップが、複数のコストマップピクセルを含み、前記複数のうちの各コストマップピクセルが、前記環境内のそれぞれの場所に対応し、前記複数のうちの各コストマップピクセルが、関連付けられたコストを有する、生成することと、
複数のマスクを生成することであって、前記複数のうちの各マスクが、前記環境内での前記ロボットの移動のための投影された経路部分を有し、前記複数のうちの各マスクが、複数のマスクピクセルを含み、前記複数のうちの各マスクピクセルが、前記環境内のそれぞれの場所に対応する、生成することと、
前記環境内の1つ以上の障害物に対する前記ロボットの位置に少なくとも部分的に基づいて、回復条件が適用されるかどうかを決定することと、前記回復条件が適用される場合、(1)コストマップおよび/または(2)前記複数のマスクのうちの1つ以上、のうちの少なくとも1つを修正することと、
前記生成されたコストマップに少なくとも部分的に基づいて、前記複数のうちの各マスクと関連付けられたマスクコストを決定することと、
前記複数のマスクのうちの第1のマスクを、前記第1のマスクの前記決定されたマスクコストに少なくとも部分的に基づいて選択することと、
前記第1のマスク内に含まれる前記投影された経路部分を移動するように前記ロボットに対するアクチュエータコマンドを決定することと、
前記決定されたアクチュエータコマンドに少なくとも部分的に基づいて、前記ロボットのアクチュエータを作動させることと、を含む、方法。 - 前記マスクコストを決定することが、
1つ以上のマスクを含む少なくとも1つのマトリックスを形成することと、
前記少なくとも1つのマトリックスと前記生成されたコストマップとの間のドット積を取得することと、をさらに含む、請求項1に記載の方法。 - 前記コストマップおよび各マスクが前記ロボットに対して実質的に同様に配向されるように、前記コストマップおよび各マスクを回転させることをさらに含む、請求項1に記載の方法。
- 前記回転させることが、前記生成されたコストマップおよび前記複数の前記マスクのうちの各マスクをロボット中心にする、請求項3に記載の方法。
- 複数の第2のコストマップピクセルを含む第2のコストマップを生成することをさらに含み、前記複数のうちの各第2のコストマップピクセルが、前記環境内のそれぞれの場所に対応し、前記複数のうちの各第2のコストマップピクセルが、前記ロボットの現在の場所および各第2のコストマップピクセルと関連付けられた前記それぞれの場所からの最短経路に対する前記ロボットの配向を少なくとも部分的に示すベクトルを含む、請求項1に記載の方法。
- 前記複数のマスクのうちの各マスクと関連付けられた前記マスクコストを決定することが、前記生成された第2のコストマップに少なくとも部分的にさらに基づく、請求項5に記載の方法。
- 前記回復条件が、障害物の存在に少なくとも部分的に基づいて、前記ロボットの運動制限を決定することを含む、請求項1に記載の方法。
- 前記第1のマスクが選択されるたびにコストペナルティを実施することをさらに含み、前記実施されたコストペナルティは、前記第1のマスクが再び選択されることになる可能性を低下させる、請求項1に記載の方法。
- 前記投影された経路部分のうちの経路部分が、経時的な前記ロボットの軌道を含む、請求項1に記載の方法。
- 前記投影された経路部分のうちの前記経路部分が、前記ロボットの清掃経路を含む、請求項9に記載の方法。
- ロボットであって、
前記ロボットの環境に関するセンサデータを生成するように構成された1つ以上のセンサと、
前記ロボットの移動を推進するように構成された1つ以上のアクチュエータと、
プロセッサ装置と、を備え、前記プロセッサ装置が、
前記1つ以上のセンサによって生成された前記センサデータに少なくとも部分的に基づいて、前記環境のマップを生成することと、
前記環境の前記生成されたマップの少なくとも一部分と関連付けられたコストマップを生成することであって、前記生成されたコストマップが、複数のコストマップピクセルを含み、前記複数のうちの各コストマップピクセルが、前記環境内のそれぞれの場所に対応し、前記複数のうちの各コストマップピクセルが、関連付けられたコストを有する、生成することと、
複数のマスクを生成することであって、前記複数のうちの各マスクが、前記環境内での前記ロボットの移動のための投影された経路部分を有し、前記複数のうちの各マスクが、複数のマスクピクセルを含み、前記複数のうちの各マスクピクセルが、前記環境内のそれぞれの場所に対応する、生成することと、
前記環境内の1つ以上の障害物に対する前記ロボットの位置に少なくとも部分的に基づいて、回復条件が適用されるかどうかを決定することと、前記回復条件が適用される場合、(1)コストマップおよび/または(2)前記複数のマスクのうちの1つ以上、のうちの少なくとも1つを修正することと、
前記生成されたコストマップに少なくとも部分的に基づいて、前記複数のうちの各マスクと関連付けられたマスクコストを決定することと、
前記複数のマスクのうちの第1のマスクを、前記第1のマスクの前記マスクコストに少なくとも部分的に基づいて選択することと、
前記第1のマスクに少なくとも部分的に基づいて、前記1つ以上のアクチュエータを作動させることと、を行うように構成されている、ロボット。 - 前記ロボットの清掃ブラシを動作させるように構成されている1つ以上のブラシアクチュエータをさらに備える、請求項11に記載のロボット。
- 前記プロセッサ装置が、前記生成されたコストマップに少なくとも部分的に基づいて前記1つ以上のブラシアクチュエータを作動させるようにさらに構成されている、請求項12に記載のロボット。
- 前記プロセッサ装置は、前記ロボットが前記環境内の障害物に遭遇することに少なくとも部分的に基づいて、前記複数のうちの少なくとも1つのマスクと関連付けられた前記マスクコストを更新するようにさらに構成されている、請求項11に記載のロボット。
- 前記プロセッサ装置が、1つ以上の回復条件を識別する学習プロセスを実施するようにさらに構成されている、請求項11に記載のロボット。
- ロボットによる経路計画のための方法であって、
前記ロボットの環境と関連付けられたコストマップを生成することであって、前記コストマップが、複数のコストマップピクセルを含み、前記複数のうちの各コストマップピクセルが、前記環境内のそれぞれの場所に対応し、前記複数のうちの各コストマップピクセルが、前記それぞれの場所を清掃する要望に少なくとも部分的に基づく関連付けられたコストを有する、生成することと、
前記環境内の前記ロボットの姿勢からの移動のための投影された軌道を有する複数のマスクを生成することであって、前記複数のうちの各マスクが、複数のマスクピクセルを含み、前記複数のうちの各マスクピクセルは、前記ロボットが前記マスクを選択する場合に前記ロボットが清掃することになる前記環境内のそれぞれの場所に対応する、生成することと、
前記生成されたコストマップに少なくとも部分的に基づいて、各マスクと関連付けられたマスクコストを決定することと、
前記複数のマスクのうちの第1のマスクを、前記第1のマスクの前記マスクコストに少なくとも部分的に基づいて選択することと、を含む、方法。 - 前記ロボットの1つ以上のアクチュエータを作動させて、前記第1のマスク内に含まれる第1の投影された軌道を清掃することをさらに含む、請求項16に記載の方法。
- ユーザフィードバックに応答して、前記生成されたコストマップを調整することをさらに含む、請求項16に記載の方法。
- 前記複数のマスクを生成することが、
前記ロボットのフットプリントを受信することと、
前記環境内の障害物と前記ロボットの前記受信されたフットプリントとの間の衝突の回避に少なくとも部分的に基づいて、前記複数のマスクを生成することと、をさらに含む、請求項16に記載の方法。 - 前記複数のマスクを生成することが、
前記ロボットの1つ以上の物理的属性を受信することであって、前記1つ以上の物理的属性が、前記ロボットの操縦能力を制限する、受信することと、
前記受信された1つ以上の物理的属性に少なくとも部分的に基づいて、前記複数のマスクを生成することと、をさらに含む、請求項16に記載の方法。
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KR20230104331A (ko) * | 2021-12-30 | 2023-07-10 | 인천대학교 산학협력단 | 장애물 충돌방지 기능이 결합된 휠체어 조이스틱 입력 기반 전동 휠체어 |
KR102592732B1 (ko) | 2021-12-30 | 2023-10-25 | 인천대학교 산학협력단 | 장애물 충돌방지 기능이 결합된 휠체어 조이스틱 입력 기반 전동 휠체어 |
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US20210220995A1 (en) | 2021-07-22 |
EP3602223B1 (en) | 2023-06-07 |
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US20190299410A1 (en) | 2019-10-03 |
CN110622081A (zh) | 2019-12-27 |
WO2018183197A1 (en) | 2018-10-04 |
US11701778B2 (en) | 2023-07-18 |
EP3602223C0 (en) | 2023-06-07 |
US10293485B2 (en) | 2019-05-21 |
US10899008B2 (en) | 2021-01-26 |
US20180281191A1 (en) | 2018-10-04 |
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