JP7221839B2 - 自律移動ロボットおよび自律移動ロボットの制御プログラム - Google Patents
自律移動ロボットおよび自律移動ロボットの制御プログラム 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
- G05D1/0238—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Description
Claims (7)
- 自機位置を同定する同定部と、
周囲を移動する移動体の移動体位置と移動体速度ベクトルを検出する検出部と、
前記自機位置、前記移動体位置および前記移動体速度ベクトルから進むべき進路方向を演算する第1演算部と、
シミュレーションによる教師あり学習により事前に生成された学習済みモデルに対して、前記自機位置、前記移動体位置、前記移動体速度ベクトルおよび前記進路方向を入力して、前記移動体に接触することなく所定時間後に到達すると推定される推定位置を演算する第2演算部と、
前記推定位置から目的地までの残余経路を生成する生成部と、
前記進路方向および前記残余経路に基づいて前記目的地までの移動を制御する移動制御部と
を備える自律移動ロボット。 - 前記目的地への移動中に前記検出部が予め設定された条件を満たす移動体を新たに検出した場合には、前記推定位置と前記残余経路を更新する請求項1に記載の自律移動ロボット。
- 前記第1演算部は、候補となる複数の前記進路方向を演算し、
前記第2演算部は、前記第1演算部が演算した複数の前記進路方向ごとに前記推定位置を演算し、
前記生成部は、前記第2演算部が演算した複数の前記推定位置ごとに前記残余経路を生成し、生成した残余経路ごとに評価演算を行って、前記移動制御部へ引き渡す前記進路方向および前記残余経路を決定する請求項1または2に記載の自律移動ロボット。 - 前記学習済みモデルは、前記推定位置に至る経路移動中における前記移動体との接近度合を併せて出力し、
前記生成部は、前記接近度合を用いて前記評価演算を行う請求項3に記載の自律移動ロボット。 - 前記第1演算部は、前記移動体からの距離が遠いことと、前記移動体の移動方向に追従することを評価項目として含む評価関数に基づいて前記進路方向を演算する請求項1から4のいずれか1項に記載の自律移動ロボット。
- 前記第1演算部は、前記目的地の方向を考慮して前記進路方向を演算する請求項5に記載の自律移動ロボット。
- 周囲を移動する移動体の移動体位置と移動体速度ベクトルを検出する検出ステップと、
目的地への移動中に実行される前記検出ステップにより、予め設定された条件を満たす移動体を検出した場合に、
自機位置を同定する同定ステップと、
前記自機位置、前記移動体位置および前記移動体速度ベクトルから進むべき進路方向を演算する第1演算ステップと、
シミュレーションによる教師あり学習により事前に生成された学習済みモデルに対して、前記自機位置、前記移動体位置、前記移動体速度ベクトルおよび前記進路方向を入力して、前記移動体に接触することなく所定時間後に到達すると推定される推定位置を演算する第2演算ステップと、
前記推定位置から前記目的地までの残余経路を生成する生成ステップと、
前記進路方向および前記残余経路に基づいて前記目的地までの移動を制御する移動制御を行うステップと、
をコンピュータに実行させる自律移動ロボットの制御プログラム。
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JP2019185159A JP7221839B2 (ja) | 2019-10-08 | 2019-10-08 | 自律移動ロボットおよび自律移動ロボットの制御プログラム |
CN202011046796.6A CN112631269B (zh) | 2019-10-08 | 2020-09-29 | 自主移动机器人及自主移动机器人的控制程序 |
US17/064,006 US11642791B2 (en) | 2019-10-08 | 2020-10-06 | Autonomous mobile robot and control program for autonomous mobile robot |
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CN114098632B (zh) * | 2022-01-27 | 2022-11-29 | 北京鹰瞳科技发展股份有限公司 | 用于对眼底相机中的马达进行控制的方法及其相关产品 |
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