WO2024143040A1 - 移動体制御システム - Google Patents

移動体制御システム Download PDF

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Publication number
WO2024143040A1
WO2024143040A1 PCT/JP2023/045278 JP2023045278W WO2024143040A1 WO 2024143040 A1 WO2024143040 A1 WO 2024143040A1 JP 2023045278 W JP2023045278 W JP 2023045278W WO 2024143040 A1 WO2024143040 A1 WO 2024143040A1
Authority
WO
WIPO (PCT)
Prior art keywords
current position
floor image
mobile object
image
mobile
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.)
Ceased
Application number
PCT/JP2023/045278
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
英向 小西
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.)
Kyocera Document Solutions Inc
Original Assignee
Kyocera Document Solutions 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 Kyocera Document Solutions Inc filed Critical Kyocera Document Solutions Inc
Priority to JP2024567645A priority Critical patent/JPWO2024143040A1/ja
Priority to CN202380085480.3A priority patent/CN120344932A/zh
Priority to EP23911821.9A priority patent/EP4645018A1/en
Publication of WO2024143040A1 publication Critical patent/WO2024143040A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2437—Extracting relative motion information
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/60—Combination of two or more signals
    • G05D2111/63—Combination of two or more signals of the same type, e.g. stereovision or optical flow
    • G05D2111/65—Combination of two or more signals of the same type, e.g. stereovision or optical flow taken successively, e.g. visual odometry or optical flow

Definitions

  • the moving body 1 is equipped with driving wheel units 21a, 21b, 21c, and 21d.
  • Each driving wheel unit 21a, 21b, 21c, and 21d is equipped with a driving wheel 31 that contacts the floor surface, a support portion 32 that rotatably supports the driving wheel 31, a wheel frame portion 33 to which the support portion 32 is fixed, a rotation support portion 34 that rotatably fixes one end of the wheel frame portion 33 to the frame body 13 (one of the beams 13a and 13b), and a spring member 35 that urges the other end of the wheel frame portion 33 against the frame body 13 (the other of the beams 13a and 13b).
  • the restoring force of the spring member 35 presses the driving wheel 31 against the floor surface with a predetermined pressure.
  • the moving object position identifying unit 72 identifies the current position of the moving object 1 traveling along a path in a specified area of the floor surface 101. Specifically, the moving object position identifying unit 72 (a) identifies the position of a first partial floor image in the floor surface image of the entire specified area, and derives a first current position corresponding to the identified position of the first partial floor image, (b) identifies the deviation of the first current position from the above-mentioned path (the distance from the path to the first current position), and (c) determines, depending on the identified deviation, whether to (c1) regard the first current position as the current position of the moving object 1 (actual position on the floor surface 101), or (c2) identify the position of a second partial floor image in the floor surface image of the entire specified area, derive a second current position corresponding to the identified position of the second partial floor image, and regard the second current position as the current position of the moving object 1.
  • the moving body position identification unit 72 identifies the current position of the moving body 1 traveling along a route in a predetermined area of the floor surface 101.
  • the moving body control unit 73 controls the operation of the moving body 1 based on the identified current position of the moving body 1.
  • the scanner 12a is disposed at the front end of the moving body 1 and scans the floor surface portion of the current position of the moving body 1 with a first resolution to generate a first partial floor image
  • the scanner 12b is disposed at the rear end of the moving body 1 and scans the floor surface portion of the current position of the moving body 1 with a second resolution higher than the first resolution to generate a second partial floor image.
  • the management server 2 is not provided, and the mobile body 1 includes a storage device 63 (floor data 63a), a route setting unit 71, a mobile body position identification unit 72, a mobile body control unit 73, and a floor image update unit 74.
  • the mobile body 1 stores a floor image of the entire area of the floor 101 (i.e., the range of movement of the mobile body 1), and similarly identifies the position of a partial floor image in that floor image, identifies the actual current position corresponding to that position, and autonomously controls running and stopping.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Facsimile Scanning Arrangements (AREA)
PCT/JP2023/045278 2022-12-27 2023-12-18 移動体制御システム Ceased WO2024143040A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2024567645A JPWO2024143040A1 (https=) 2022-12-27 2023-12-18
CN202380085480.3A CN120344932A (zh) 2022-12-27 2023-12-18 移动体控制系统
EP23911821.9A EP4645018A1 (en) 2022-12-27 2023-12-18 Mobile body control system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-209673 2022-12-27
JP2022209673 2022-12-27

Publications (1)

Publication Number Publication Date
WO2024143040A1 true WO2024143040A1 (ja) 2024-07-04

Family

ID=91717614

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/045278 Ceased WO2024143040A1 (ja) 2022-12-27 2023-12-18 移動体制御システム

Country Status (4)

Country Link
EP (1) EP4645018A1 (https=)
JP (1) JPWO2024143040A1 (https=)
CN (1) CN120344932A (https=)
WO (1) WO2024143040A1 (https=)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004148088A (ja) * 2002-10-31 2004-05-27 Samsung Kwangju Electronics Co Ltd ロボット掃除機とそのシステム及び制御方法
JP2006018562A (ja) * 2004-07-01 2006-01-19 Sharp Corp 自走式移動車
JP2010117847A (ja) 2008-11-12 2010-05-27 Toyota Motor Corp 移動体、移動体制御システム及び移動体の制御方法
JP2016166853A (ja) * 2015-03-04 2016-09-15 パナソニックＩｐマネジメント株式会社 位置推定装置および位置推定方法
JP2019185465A (ja) * 2018-04-12 2019-10-24 富士ゼロックス株式会社 移動装置及びプログラム
JP2019191133A (ja) * 2018-04-27 2019-10-31 日立オートモティブシステムズ株式会社 位置推定装置
CN111426321A (zh) * 2020-04-03 2020-07-17 北京爱笔科技有限公司 一种室内机器人的定位方法及装置
WO2021065212A1 (ja) * 2019-10-03 2021-04-08 ソニー株式会社 情報処理装置、情報処理方法、及びプログラム

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004148088A (ja) * 2002-10-31 2004-05-27 Samsung Kwangju Electronics Co Ltd ロボット掃除機とそのシステム及び制御方法
JP2006018562A (ja) * 2004-07-01 2006-01-19 Sharp Corp 自走式移動車
JP2010117847A (ja) 2008-11-12 2010-05-27 Toyota Motor Corp 移動体、移動体制御システム及び移動体の制御方法
JP2016166853A (ja) * 2015-03-04 2016-09-15 パナソニックＩｐマネジメント株式会社 位置推定装置および位置推定方法
JP2019185465A (ja) * 2018-04-12 2019-10-24 富士ゼロックス株式会社 移動装置及びプログラム
JP2019191133A (ja) * 2018-04-27 2019-10-31 日立オートモティブシステムズ株式会社 位置推定装置
WO2021065212A1 (ja) * 2019-10-03 2021-04-08 ソニー株式会社 情報処理装置、情報処理方法、及びプログラム
CN111426321A (zh) * 2020-04-03 2020-07-17 北京爱笔科技有限公司 一种室内机器人的定位方法及装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4645018A1

Also Published As

Publication number Publication date
JPWO2024143040A1 (https=) 2024-07-04
CN120344932A (zh) 2025-07-18
EP4645018A1 (en) 2025-11-05

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