JP6772129B2 - 移動ロボットにおける光学式走行距離センサの使用のためのシステム及び方法 - Google Patents
移動ロボットにおける光学式走行距離センサの使用のためのシステム及び方法 Download PDFInfo
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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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- 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
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50393—Floor conveyor, AGV automatic guided vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Description
光学式走行距離センサ・システムを備える移動ロボット
光学式走行距離センサ・システムの構造
複数のLEDを組み込む光学式走行距離センサ・システム
多様な表面で使用されるための光学式走行距離センサ・システム
移動ロボットの行動制御システム
ロボットの制御装置回路
走行距離データの誤差低減
Claims (13)
- 動作環境の中を航行するように構成された移動ロボット(100)であって、
本体(108)を備え、前記本体(108)は、
移動の方向に前記移動ロボット(100)を並進運動させるように構成された駆動装置と、
少なくとも1つのプロセッサ(1010)と、
ナビゲーション・アプリケーションを含むメモリ(1025)と、
前記本体(108)の下側の凹形構造(210)内に位置づけられ、光学式走行距離データを出力するように構成された光学式走行距離センサ・システム(205)であって、前記本体(108)の下方の追跡表面の画像を捕捉するように構成され、且つ、前記移動ロボット(100)の底部表面から−5から15mmの間の距離を含む距離において物体に合焦する被写界深度を有するテレセントリック・レンズ(442)を含む、床面から40から60mmの間の高さに位置づけられた光学式走行距離カメラ(440)を備える、光学式走行距離センサ・システム(205)と、
を含む、
移動ロボット(100)。 - ジャイロスコープ測定データを出力するように構成されたジャイロスコープ(922)をさらに含む、請求項1に記載の移動ロボット(100)。
- 前記ナビゲーション・アプリケーションは、前記プロセッサ(1010)に、
前記駆動装置の機構を作動して前記光学式走行距離センサ・システム(205)から光学式走行距離データを、前記ジャイロスコープ(922)からジャイロスコープ測定データを捕捉し、
前記捕捉された光学式走行距離データを使用して移動した距離を推定し、
前記ジャイロスコープ測定データを使用して移動した方向を推定し、
前記推定された移動した距離及び移動した方向を使用して姿勢の推定を更新する
ように指示する、請求項2に記載の移動ロボット(100)。 - 前記駆動装置の機構は複数の車輪(220)を備え、前記移動ロボット(100)は、前記複数の車輪(220)の各々の回転に基づいてホイール走行距離データを出力するホイール走行距離センサ・システムをさらに備え、
前記ナビゲーション・アプリケーションは、前記プロセッサ(1010)に、前記ホイール走行距離センサ・システムから捕捉されたホイール走行距離データを使用して移動した距離を推定するように指示する、請求項3に記載の移動ロボット(100)。 - 前記ナビゲーション・アプリケーションは、前記プロセッサ(1010)に、前記姿勢の推定を、前記移動ロボット(100)の頂部表面の下に設置されたカメラ(120)によって検出された、撮像された特徴を使用して計算されたVSLAMの姿勢の決定に対して比較するように指示する、請求項3に記載の移動ロボット(100)。
- 前記ナビゲーション・アプリケーションは、前記プロセッサ(1010)に、前記VSLAMの姿勢の決定が、前記移動ロボット(100)が進行方向からズレていることを示す場合、前記姿勢の推定を再設定するように指示する、請求項5に記載の移動ロボット(100)。
- 前記追跡表面を照光するために、前記テレセントリック・レンズ(442)の周りに配置され、複数のLED(510)を備える複数の照明要素をさらに備える、請求項1に記
載の移動ロボット(100)。 - 前記複数のLED(510)の各々は、前記光学式走行距離カメラ(440)の光学軸に対して鋭角をなすように位置づけられている、請求項7に記載の移動ロボット(100)。
- 前記複数のLED(510)は、前記光学式走行距離カメラ(440)の周りの異なる位置に位置づけられた少なくとも4つのLEDを備える、請求項7に記載の移動ロボット(100)。
- LED(510)の対は、前記光学式走行距離カメラ(440)に対して反対側に位置づけられている、請求項9に記載の移動ロボット(100)。
- 前記LED(510)は、前記光学式走行距離カメラ(440)の光学軸からずらされた螺旋パターンに位置づけられている、請求項9に記載の移動ロボット(100)。
- 前記光学式走行距離センサ・システム(205)は、光学式走行距離データの信頼性を示す品質尺度も出力し、
前記ナビゲーション・アプリケーションは、品質尺度が閾値を満たす場合に、前記プロセッサ(1010)に、前記捕捉された光学式走行距離データを使用して移動した距離を推定するように指示する、
請求項4に記載の移動ロボット(100)。 - 前記品質尺度は、画像内で検出される有効な特徴の数に基づく、請求項12に記載の移動ロボット(100)。
Applications Claiming Priority (5)
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US201462085002P | 2014-11-26 | 2014-11-26 | |
US62/085,002 | 2014-11-26 | ||
US14/856,501 | 2015-09-16 | ||
US14/856,501 US9744670B2 (en) | 2014-11-26 | 2015-09-16 | Systems and methods for use of optical odometry sensors in a mobile robot |
PCT/US2015/061146 WO2016085716A1 (en) | 2014-11-26 | 2015-11-17 | Systems and methods of use of optical odometry sensors in a mobile robot |
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JP2018500624A JP2018500624A (ja) | 2018-01-11 |
JP6772129B2 true JP6772129B2 (ja) | 2020-10-21 |
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EP (1) | EP3224003B1 (ja) |
JP (1) | JP6772129B2 (ja) |
CN (1) | CN106489104B (ja) |
WO (1) | WO2016085716A1 (ja) |
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US9744670B2 (en) | 2017-08-29 |
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