JP2018185767A - 環境整備ロボットおよびその制御プログラム - Google Patents
環境整備ロボットおよびその制御プログラム Download PDFInfo
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- 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
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- 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
- 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
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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- G—PHYSICS
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- 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
- G05D1/0248—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 in combination with a laser
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- 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
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
Description
Claims (10)
- 移動ロボットが自律移動する対象空間の環境を整備するための環境整備ロボットであって、
自律移動するための移動機構と、
周辺に存在する物体までの距離を計測する距離センサと、
前記対象空間を複数のセル空間に区分して各々のセル空間における物体存否の確からしさを示す評価値を、前記対象空間を自律移動しつつ取得した前記距離センサの計測結果に基づいて各々のセル空間に付与することにより、前記対象空間の環境地図を作成する地図作成部と、
前記複数のセル空間のうち物体存否の確からしさが小さいと判断される範囲の前記評価値を有する特定セル空間を前記評価値の物体が存在する確からしさがより大きくなるように変更する、または、前記特定セル空間が前記距離センサによる計測の対象とならないように周囲のセル空間を変更する環境変更部と
を備える環境整備ロボット。 - 前記地図作成部は、前記環境変更部が変更した前記特定セル空間およびその近傍のセル空間の評価値を、前記距離センサの再計測結果に基づいて更新する請求項1に記載の環境整備ロボット。
- 前記地図作成部が作成した前記環境地図を、前記移動ロボットへ送信する送信部を備える請求項1または2に記載の環境整備ロボット。
- 前記環境地図は、前記対象空間の一水平断面の地図である請求項1から3のいずれか1項に記載の環境整備ロボット。
- 前記環境変更部は、前記特定セル空間に対して予め定められた貼着物の貼着を試みる請求項1から4のいずれか1項に記載の環境整備ロボット。
- 前記環境変更部は、前記特定セル空間を遮蔽する資材の配置を試みる請求項1から5のいずれか1項に記載の環境整備ロボット。
- 前記環境変更部が対象とするセル空間の変更に失敗した場合に、ユーザに対してその旨を告知する告知部を備える請求項1から6のいずれか1項に記載の環境整備ロボット。
- 前記環境変更部が対象とするセル空間の変更をできないと判断した場合に、ユーザに対してその旨を告知する告知部を備える請求項1から6のいずれか1項に記載の環境整備ロボット。
- 前記環境変更部は、前記地図作成部が予め定められた条件を満たすまで前記環境地図を作成した後に、前記特定セル空間の近傍まで移動して、対象とするセル空間の変更を実行する請求項1から8のいずれか1項に記載の環境整備ロボット。
- 移動ロボットが自律移動する対象空間の環境を整備するための環境整備ロボットの制御プログラムであって、
移動機構を動作させて前記対象空間を自律移動しつつ、周辺に存在する物体までの距離を距離センサによって計測する計測ステップと、
前記対象空間を複数のセル空間に区分して各々のセル空間における物体存否の確からしさを示す評価値を、前記計測ステップによる計測結果に基づいて各々のセル空間に付与することにより、前記対象空間の環境地図を作成する地図作成ステップと、
前記複数のセル空間のうち物体存否の確からしさが小さいと判断される範囲の前記評価値を有する特定セル空間を前記評価値の物体が存在する確からしさがより大きくなるように変更する、または、前記特定セル空間が前記距離センサによる計測の対象とならないように周囲のセル空間を変更する環境変更ステップと
をコンピュータに実行させる環境整備ロボットの制御プログラム。
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JP2017088871A JP6828579B2 (ja) | 2017-04-27 | 2017-04-27 | 環境整備ロボットおよびその制御プログラム |
US15/936,680 US10747229B2 (en) | 2017-04-27 | 2018-03-27 | Environment arrangement robot and control program thereof |
CN201810378520.4A CN108803595B (zh) | 2017-04-27 | 2018-04-25 | 环境布置机器人和存储其控制程序的计算机可读存储介质 |
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EP3486045B1 (de) * | 2017-11-15 | 2021-07-21 | FIPA Holding GmbH | Pneumatisch betätigter greifer mit greifflächenbeschichtung |
JP1606242S (ja) * | 2017-11-22 | 2018-06-11 | ||
US11126199B2 (en) * | 2018-04-16 | 2021-09-21 | Baidu Usa Llc | Learning based speed planner for autonomous driving vehicles |
US10751888B2 (en) * | 2018-10-04 | 2020-08-25 | Advanced Intelligent Systems Inc. | Manipulator apparatus for operating on articles |
KR20200099264A (ko) * | 2019-02-14 | 2020-08-24 | 한화디펜스 주식회사 | 장애물 지도 생성 방법 및 그 장치 |
CN111596651B (zh) * | 2019-02-19 | 2022-08-09 | 科沃斯机器人股份有限公司 | 环境区域划分与定点清扫方法、设备及存储介质 |
JP7487680B2 (ja) * | 2021-02-04 | 2024-05-21 | トヨタ自動車株式会社 | 検出システム、運搬システム、検出方法及び検出プログラム |
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KR20200083360A (ko) * | 2018-12-31 | 2020-07-08 | 주식회사 도구공간 | 오브젝트 탐지 방법 및 장치 |
KR102368856B1 (ko) * | 2018-12-31 | 2022-03-02 | 주식회사 도구공간 | 오브젝트 탐지 방법 및 장치 |
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US20180314265A1 (en) | 2018-11-01 |
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