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
Other languages
English (en)
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)
  • Robotics (AREA)
  • Mechanical Engineering (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 (fr) 2014-06-05 2014-06-05 Procédé de construction d'une carte de probabilité d'absence et de présence d'obstacles pour un robot autonome
PCT/EP2015/062611 WO2015185741A2 (fr) 2014-06-05 2015-06-05 Procédé pour l'élaboration d'une carte de probabilité d'une absence et/ou d'une présence d'obstacles pour un robot autonome

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

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Also Published As

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

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