JP7723473B2 - 情報処理装置、情報処理方法、移動ロボット - Google Patents

情報処理装置、情報処理方法、移動ロボット

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Publication number
JP7723473B2
JP7723473B2 JP2020113197A JP2020113197A JP7723473B2 JP 7723473 B2 JP7723473 B2 JP 7723473B2 JP 2020113197 A JP2020113197 A JP 2020113197A JP 2020113197 A JP2020113197 A JP 2020113197A JP 7723473 B2 JP7723473 B2 JP 7723473B2
Authority
JP
Japan
Prior art keywords
information processing
processing device
sensor
real space
degree
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2020113197A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022011821A5 (enExample
JP2022011821A (ja
Inventor
久義 降籏
真司 大平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2020113197A priority Critical patent/JP7723473B2/ja
Priority to US17/361,048 priority patent/US20210402616A1/en
Publication of JP2022011821A publication Critical patent/JP2022011821A/ja
Publication of JP2022011821A5 publication Critical patent/JP2022011821A5/ja
Application granted granted Critical
Publication of JP7723473B2 publication Critical patent/JP7723473B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • General Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Instructional Devices (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
JP2020113197A 2020-06-30 2020-06-30 情報処理装置、情報処理方法、移動ロボット Active JP7723473B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020113197A JP7723473B2 (ja) 2020-06-30 2020-06-30 情報処理装置、情報処理方法、移動ロボット
US17/361,048 US20210402616A1 (en) 2020-06-30 2021-06-28 Information processing apparatus, information processing method, mobile robot, and non-transitory computer-readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020113197A JP7723473B2 (ja) 2020-06-30 2020-06-30 情報処理装置、情報処理方法、移動ロボット

Publications (3)

Publication Number Publication Date
JP2022011821A JP2022011821A (ja) 2022-01-17
JP2022011821A5 JP2022011821A5 (enExample) 2023-06-09
JP7723473B2 true JP7723473B2 (ja) 2025-08-14

Family

ID=79032225

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020113197A Active JP7723473B2 (ja) 2020-06-30 2020-06-30 情報処理装置、情報処理方法、移動ロボット

Country Status (2)

Country Link
US (1) US20210402616A1 (enExample)
JP (1) JP7723473B2 (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022021544A (ja) * 2020-07-22 2022-02-03 キヤノン株式会社 投影装置、投影装置の制御方法、プログラム
JP2023104471A (ja) * 2022-01-18 2023-07-28 三菱マヒンドラ農機株式会社 作業車両及び圃場情報表示システム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017083663A (ja) 2015-10-28 2017-05-18 シャープ株式会社 一致性評価装置および一致性評価方法
JP2020077372A (ja) 2018-09-28 2020-05-21 ネイバーラボス コーポレーションＮＡＶＥＲ ＬＡＢＳ Ｃｏｒｐｏｒａｔｉｏｎ データ収集方法及びそのシステム
US20200209881A1 (en) 2018-12-28 2020-07-02 Zebra Technologies Corporation Method, System and Apparatus for Dynamic Loop Closure in Mapping Trajectories

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2816294B2 (ja) * 1993-02-05 1998-10-27 正 山本 ダイナミック型物流自動ナビゲーション装置及び方法
JP6323439B2 (ja) * 2015-12-17 2018-05-16 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017083663A (ja) 2015-10-28 2017-05-18 シャープ株式会社 一致性評価装置および一致性評価方法
JP2020077372A (ja) 2018-09-28 2020-05-21 ネイバーラボス コーポレーションＮＡＶＥＲ ＬＡＢＳ Ｃｏｒｐｏｒａｔｉｏｎ データ収集方法及びそのシステム
US20200209881A1 (en) 2018-12-28 2020-07-02 Zebra Technologies Corporation Method, System and Apparatus for Dynamic Loop Closure in Mapping Trajectories

Also Published As

Publication number Publication date
JP2022011821A (ja) 2022-01-17
US20210402616A1 (en) 2021-12-30

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