SG11201610131QA - Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot - Google Patents

Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot

Info

Publication number
SG11201610131QA
SG11201610131QA SG11201610131QA SG11201610131QA SG11201610131QA SG 11201610131Q A SG11201610131Q A SG 11201610131QA SG 11201610131Q A SG11201610131Q A SG 11201610131QA SG 11201610131Q A SG11201610131Q A SG 11201610131QA SG 11201610131Q A SG11201610131Q A SG 11201610131QA
Authority
SG
Singapore
Prior art keywords
obstacles
probability
map
absence
building
Prior art date
Application number
SG11201610131QA
Inventor
Nicolas Garcia
Lucas Souchet
Original Assignee
Softbank Robotics Europ
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 Softbank Robotics Europ filed Critical Softbank Robotics Europ
Publication of SG11201610131QA publication Critical patent/SG11201610131QA/en

Links

Classifications

    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
SG11201610131QA 2014-06-05 2015-06-05 Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot SG11201610131QA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305849.3A EP2952993B1 (en) 2014-06-05 2014-06-05 Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot
PCT/EP2015/062611 WO2015185741A2 (en) 2014-06-05 2015-06-05 Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot

Publications (1)

Publication Number Publication Date
SG11201610131QA true SG11201610131QA (en) 2017-01-27

Family

ID=51167815

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201610131QA SG11201610131QA (en) 2014-06-05 2015-06-05 Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot

Country Status (15)

Country Link
US (1) US10328575B2 (en)
EP (1) EP2952993B1 (en)
JP (1) JP6462728B2 (en)
KR (1) KR101999033B1 (en)
CN (1) CN106662646B (en)
AU (2) AU2015270461A1 (en)
BR (1) BR112016028352A2 (en)
CA (1) CA2950978C (en)
DK (1) DK2952993T3 (en)
ES (1) ES2675363T3 (en)
MX (1) MX2016015833A (en)
NZ (1) NZ727046A (en)
RU (1) RU2016151747A (en)
SG (1) SG11201610131QA (en)
WO (1) WO2015185741A2 (en)

Families Citing this family (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10521960B2 (en) 2017-05-03 2019-12-31 General Electric Company System and method for generating three-dimensional robotic inspection plan
EP2952301B1 (en) 2014-06-05 2019-12-25 Softbank Robotics Europe Humanoid robot with collision avoidance and trajectory recovery capabilities
US10119830B2 (en) * 2016-02-29 2018-11-06 Komatsu Ltd. Control system for work machine, work machine, and management system for work machine
FR3048517B1 (en) 2016-03-07 2022-07-22 Effidence MOTORIZED AUTONOMOUS ROBOT WITH OBSTACLE ANTICIPATION
US11014247B2 (en) 2016-04-29 2021-05-25 Softbank Robotics Europe Mobile robot with enhanced balanced motion and behavior capabilities
EP3252658B1 (en) * 2016-05-30 2021-08-11 Kabushiki Kaisha Toshiba Information processing apparatus and information processing method
US11204610B2 (en) * 2016-05-30 2021-12-21 Kabushiki Kaisha Toshiba Information processing apparatus, vehicle, and information processing method using correlation between attributes
US10160448B2 (en) * 2016-11-08 2018-12-25 Ford Global Technologies, Llc Object tracking using sensor fusion within a probabilistic framework
US11518051B2 (en) * 2017-02-07 2022-12-06 Veo Robotics, Inc. Dynamic, interactive signaling of safety-related conditions in a monitored environment
US20230191635A1 (en) * 2017-01-13 2023-06-22 Clara Vu Dynamic, interactive signaling of safety-related conditions in a monitored environment
US11541543B2 (en) * 2017-02-07 2023-01-03 Veo Robotics, Inc. Dynamic, interactive signaling of safety-related conditions in a monitored environment
CA3052961A1 (en) * 2017-02-07 2018-08-16 Veo Robotics, Inc. Workspace safety monitoring and equipment control
EP3633478B1 (en) * 2017-05-26 2023-10-18 Hangzhou Hikrobot Co., Ltd. Method and device for assessing probability of presence of obstacle in unknown position
EP3460400B1 (en) 2017-09-22 2021-12-22 Softbank Robotics Europe Improved localization of a mobile device based on image and radio words
JP7136114B2 (en) * 2017-10-02 2022-09-13 ソニーグループ株式会社 ENVIRONMENTAL INFORMATION UPDATE DEVICE, ENVIRONMENTAL INFORMATION UPDATE METHOD AND PROGRAM
CN109959935B (en) * 2017-12-14 2020-10-23 北京欣奕华科技有限公司 Map establishing method, map establishing device and robot
US10810427B1 (en) * 2017-12-15 2020-10-20 AI Incorporated Methods for an autonomous robotic device to identify locations captured in an image
US20220088787A1 (en) * 2018-02-06 2022-03-24 Clara Vu Workplace monitoring and semantic entity identification for safe machine operation
US20210205995A1 (en) * 2018-02-06 2021-07-08 Clara Vu Robot end-effector sensing and identification
US11340630B2 (en) * 2018-03-30 2022-05-24 Brain Corporation Systems and methods for robust robotic mapping
WO2019200012A1 (en) 2018-04-10 2019-10-17 Cairl Brian System and method for robot-assisted, cart-based workflows
US10853561B2 (en) * 2019-04-10 2020-12-01 Fetch Robotics, Inc. System and method for automatically annotating a map
IT201800006594A1 (en) 2018-06-22 2019-12-22 "Procedure for mapping the environment of a vehicle, corresponding system, vehicle and IT product"
US20210286370A1 (en) * 2018-07-20 2021-09-16 Sony Corporation Agent, existence probability map creation method, agent action control method, and program
DE102018118666A1 (en) 2018-08-01 2020-02-06 Carl Zeiss Ag Sensor fusion with mutual correspondence analysis of sensor data
DE102018126216A1 (en) * 2018-09-28 2020-04-02 Still Gmbh Process for securing a work area of a mobile logistics robot using adaptive protective fields
EP3739361A1 (en) * 2019-05-13 2020-11-18 Aptiv Technologies Limited Method and system for fusing occupancy maps
CN112179361B (en) 2019-07-02 2022-12-06 华为技术有限公司 Method, device and storage medium for updating work map of mobile robot
US11994866B2 (en) * 2019-10-02 2024-05-28 Zoox, Inc. Collision avoidance perception system
US11726492B2 (en) * 2019-10-02 2023-08-15 Zoox, Inc. Collision avoidance perception system
WO2021089131A1 (en) * 2019-11-05 2021-05-14 Telefonaktiebolaget Lm Ericsson (Publ) Managing conflicting interactions between a movable device and potential obstacles
CN111161424B (en) * 2019-12-30 2023-06-02 浙江欣奕华智能科技有限公司 Determination method and determination device for three-dimensional map
KR102169283B1 (en) * 2019-12-30 2020-10-23 (주)원익로보틱스 Method of updating map using autonomous robot and system implementing the same
CN111366917B (en) * 2020-03-13 2022-07-15 北京百度网讯科技有限公司 Method, device and equipment for detecting travelable area and computer readable storage medium
US11880209B2 (en) * 2020-05-15 2024-01-23 Samsung Electronics Co., Ltd. Electronic apparatus and controlling method thereof
CN112034847B (en) * 2020-08-13 2021-04-13 广州仿真机器人有限公司 Obstacle avoidance method and device of split type simulation robot with double walking modes
EP4217809A1 (en) 2020-09-25 2023-08-02 Abb Schweiz Ag System and method for controlling a mobile industrial robot using a probabilistic occupancy grid
CN112700495A (en) * 2020-11-25 2021-04-23 北京旷视机器人技术有限公司 Pose determination method and device, robot, electronic device and storage medium
CN112630223B (en) * 2020-12-07 2023-12-26 杭州申昊科技股份有限公司 Tunnel crack detection system and method
CN113031596A (en) * 2021-03-01 2021-06-25 深圳市无限动力发展有限公司 Obstacle avoidance adjusting method and device of sweeper and computer equipment
CN113110413B (en) * 2021-03-10 2022-11-08 成都永奉科技有限公司 Following robot, following control method and following control system
CN113110417B (en) * 2021-03-19 2023-06-16 北京小狗吸尘器集团股份有限公司 Map optimization method, device and equipment of sweeping robot and storage medium
US11927963B2 (en) 2021-03-19 2024-03-12 Amazon Technologies, Inc. System to determine non-stationary objects in a physical space
KR102476420B1 (en) 2022-03-24 2022-12-12 주식회사 폴라리스쓰리디 Moving robot and its creating obstacle map method
WO2023198286A1 (en) * 2022-04-13 2023-10-19 Volvo Autonomous Solutions AB System and method for controlling an autonomous vehicle using a probabilistic occupancy grid
US11888306B1 (en) 2022-04-22 2024-01-30 Amazon Technologies, Inc. System for in-situ detection of electrical faults
KR102497615B1 (en) 2022-09-27 2023-02-08 주식회사 트위니 Method and apparatus for generating cost map based on ultrasonic sensor

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2003264048A1 (en) 2002-08-09 2004-02-25 Intersense, Inc. Motion tracking system and method
JP2004298975A (en) * 2003-03-28 2004-10-28 Sony Corp Robot device and obstacle searching method
KR100524707B1 (en) 2003-04-04 2005-11-01 엘지전자 주식회사 Mapping method by path trace for mobile robot
JP3994950B2 (en) * 2003-09-19 2007-10-24 ソニー株式会社 Environment recognition apparatus and method, path planning apparatus and method, and robot apparatus
JP4256812B2 (en) * 2004-04-26 2009-04-22 三菱重工業株式会社 Obstacle avoidance method for moving body and moving body
JP2006239844A (en) 2005-03-04 2006-09-14 Sony Corp Obstacle avoiding device, obstacle avoiding method, obstacle avoiding program and mobile robot device
US7266477B2 (en) 2005-06-22 2007-09-04 Deere & Company Method and system for sensor signal fusion
US8577538B2 (en) * 2006-07-14 2013-11-05 Irobot Corporation Method and system for controlling a remote vehicle
FR2930108B1 (en) 2008-04-09 2010-07-30 Aldebaran Robotics DISTRIBUTED COMMUNICATION SYSTEM AND METHOD COMPRISING AT LEAST ONE SERVER, AT LEAST ONE REMOTE TERMINAL, AND AT LEAST ONE MOBILE TERMINAL CAPABLE OF COMMUNICATING WITH THE REMOTE TERMINAL CONNECTING INTO NETWORK AUDIT SERVER
US8224516B2 (en) * 2009-12-17 2012-07-17 Deere & Company System and method for area coverage using sector decomposition
DE102011000009A1 (en) * 2011-01-03 2012-07-05 Vorwerk & Co. Interholding Gmbh Method of simultaneous determination and map formation
FR2977023B1 (en) * 2011-06-24 2014-02-21 Univ Angers GENERATION OF CARD DATA
US8798840B2 (en) 2011-09-30 2014-08-05 Irobot Corporation Adaptive mapping with spatial summaries of sensor data
US9128185B2 (en) * 2012-03-15 2015-09-08 GM Global Technology Operations LLC Methods and apparatus of fusing radar/camera object data and LiDAR scan points
DE102013210263A1 (en) * 2013-06-03 2014-12-04 Robert Bosch Gmbh Occupancy card for a vehicle
DK2933604T3 (en) 2014-04-14 2017-03-13 Softbank Robotics Europe PROCEDURE FOR LOCATING A ROBOT IN A LOCATION PLAN
DE102015201706A1 (en) * 2015-02-02 2016-08-04 Bayerische Motoren Werke Aktiengesellschaft Processing of sensor measurements of a vehicle environment with low transverse resolution
EP3144765B1 (en) * 2015-09-18 2020-01-08 Samsung Electronics Co., Ltd. Apparatus for localizing cleaning robot, cleaning robot, and controlling method of cleaning robot
JP6559535B2 (en) * 2015-10-22 2019-08-14 株式会社東芝 Obstacle map generation device, method thereof, and program thereof
JP6711138B2 (en) * 2016-05-25 2020-06-17 村田機械株式会社 Self-position estimating device and self-position estimating method

Also Published As

Publication number Publication date
CA2950978C (en) 2019-04-23
EP2952993A1 (en) 2015-12-09
JP2017521761A (en) 2017-08-03
RU2016151747A (en) 2018-07-17
EP2952993B1 (en) 2018-04-25
BR112016028352A2 (en) 2017-08-22
CN106662646B (en) 2019-08-02
KR20170042546A (en) 2017-04-19
NZ727046A (en) 2018-04-27
US10328575B2 (en) 2019-06-25
WO2015185741A3 (en) 2016-01-21
RU2016151747A3 (en) 2018-07-17
KR101999033B1 (en) 2019-09-27
CA2950978A1 (en) 2015-12-10
CN106662646A (en) 2017-05-10
AU2015270461A1 (en) 2016-12-22
ES2675363T3 (en) 2018-07-10
AU2018271237B2 (en) 2020-01-30
JP6462728B2 (en) 2019-01-30
MX2016015833A (en) 2017-06-28
AU2018271237A1 (en) 2018-12-13
WO2015185741A2 (en) 2015-12-10
DK2952993T3 (en) 2018-07-30
US20170197311A1 (en) 2017-07-13

Similar Documents

Publication Publication Date Title
SG11201610131QA (en) Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot
KR102430097B9 (en) System and method for avoiding obstacle for autonomous vehicle
GB201818564D0 (en) Distributed autonomous robot systems and method
HK1243379A1 (en) Mobile robotic drilling apparatus and method for drilling ceilings and walls
EP3133459A4 (en) Local obstacle avoidance walking method of self-moving robot
EP3471924A4 (en) Systems and methods to control an autonomous mobile robot
EP3133457A4 (en) Obstacle avoidance walking method of self-moving robot
EP3330151A4 (en) Autonomous vehicle and operation method of same
EP3200040A4 (en) Self-moving robot movement boundary drawing method
LT3454159T (en) Method and device of autonomous navigation
AU2015368154B2 (en) Autonomous mobile cleaner and control method thereof
EP3203826A4 (en) Autonomous robot localization
GB201503024D0 (en) Autonomous driving sensing system and method
GB2525840B (en) Autonomous driving system and method for same
EP3224003A4 (en) Systems and methods of use of optical odometry sensors in a mobile robot
EP3159121A4 (en) Device for updating map of mobile robot and method therefor
EP3120300A4 (en) Methods and apparatus for autonomous robotic control
EP3970590C0 (en) Method and system for controlling a robot cleaner
EP3091887A4 (en) Autonomous mobile robot
EP3138459A4 (en) Robot cleaner and control method therefor
PT2946650T (en) Method for implementing a soil-treatment robot and corresponding system
EP3134021A4 (en) Robotic interface positioning determination systems and methods
EP3238888A4 (en) Dual arm robot teaching system and dual arm robot teaching method
GB201414973D0 (en) Pipe handling system and method of joining pipe sections
EP3124185A4 (en) Robot control method