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Surrounding environment recognition device, autonomous mobile system using same, and surrounding environment recognition method

A surrounding environment and identification device technology, applied in the direction of measuring devices, optical devices, automatic detection of obstacles, etc., to achieve the effect of improving the recognition accuracy

Active Publication Date: 2015-11-18
SHARP KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although relatively high measurement accuracy is obtained, the angle scan is usually in one direction, so only one-dimensional distance distribution information can be obtained through one measurement

Method used

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  • Surrounding environment recognition device, autonomous mobile system using same, and surrounding environment recognition method
  • Surrounding environment recognition device, autonomous mobile system using same, and surrounding environment recognition method
  • Surrounding environment recognition device, autonomous mobile system using same, and surrounding environment recognition method

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no. 1 Embodiment approach

[0052] based on Figure 1 to Figure 8 A preferred first embodiment of the present invention will be described. First, in figure 1 (a) and (b) show the external view and cross-sectional view of the cleaning robot 1 which is one embodiment of the autonomous movement system including the surrounding environment recognition device of the present invention.

[0053] exist figure 1 In (a) and (b), 1 is a cleaning robot (autonomous mobile system), 2 is two driving wheels arranged on the left and right sides of the bottom of the cleaning robot 1, and 3 is a driven wheel rotatably installed on the bottom of the cleaning robot 1, Reference numeral 4 denotes a battery for supplying operating power to the cleaning robot 1 . In addition, 5 is a cleaning liquid tank for storing cleaning liquid, and 6 is a cleaning liquid discharge unit connected to the cleaning liquid tank 5, both of which are connected by a cylindrical pipe to form a cleaning liquid discharge unit. Moreover, 7 is a was...

no. 2 Embodiment approach

[0130] Next, use Figure 9 A second embodiment in which the surrounding environment recognition device of the present invention is applied to a monitoring robot as an example of an autonomous movement system will be described. The same reference numerals are assigned to the same parts as those in the first embodiment, and description thereof will be omitted.

[0131] The surveillance robot 101, which is an autonomous mobile robot, is equipped with a range image sensor using an infrared pattern light irradiation method as in the first embodiment (although not shown, it has exactly the same configuration as the range image sensor 20 of the first embodiment, function.) of the surrounding environment recognition device (not shown, but has the same configuration and function as the surrounding environment recognition device 80 of the first embodiment.). Cleaning-related functions such as cleaning brushes, cleaning liquid tanks, and waste liquid tanks are omitted, and an indicator ...

no. 3 Embodiment approach

[0136] Next, use Figure 10 A third embodiment in which the surrounding environment recognition device of the present invention is mounted on an automatic transfer robot for a factory will be described. The same reference numerals are assigned to the same parts as those in the first and second embodiments, and description thereof will be omitted.

[0137] The automatic transport robot 201 as an example of an autonomous movement system is equipped with a surrounding environment recognition device using a range image sensor of an infrared pattern light irradiation method (with the The configuration and function of the surrounding environment recognition device are exactly the same.). Functions related to cleaning, such as a cleaning brush, a cleaning liquid tank, and a waste liquid tank, are omitted, and a cargo loading portion 202 for moving while loading cargo is provided instead. The conveyor belt 203 is attached to the bottom surface of the goods loading part 202, and it b...

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PUM

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Abstract

A cleaning robot (1), which is an autonomous mobile system, converts the coordinates of three-dimensional coordinate data obtained by measurement with a range image sensor (20) disposed facing at a forward decline, and creates floor-surface-reference three-dimensional coordinate data. A step, obstacle, etc. is distinguished according to height from a floor surface (F), to label the data, and bird's eye view image data as seen from directly above the cleaning robot main body is created. The bird's eye view image data is scanned, and as long as the labels are aligned in a specific sequence, a process for replacing an unconfirmed area as a step is carried out. It is thereby possible to correct positional misalignment of the edge of the step that occurs due to a blind spot, and the step position can be accurately perceived.

Description

technical field [0001] The present invention relates to a surrounding environment recognition device for correctly recognizing the ground, obstacles, steps, and other areas included in the measurement range based on data of the measured distance of the surrounding environment as an object, and a device using the surrounding environment recognition device Autonomous mobility system and surrounding environment recognition method. Background technique [0002] In autonomous mobile systems such as robots or unmanned guided vehicles, it is necessary to detect obstacles or steps ahead and prevent collisions or rolls while moving. In order to detect such obstacles and steps, surrounding environment recognition devices using sensors are being developed. [0003] Among the sensors used for this purpose are laser range finders (LRF) or distance image sensors. [0004] A laser rangefinder is a structure that scans an angle while projecting laser light on an object to be measured, and...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01B11/24G09B29/00
CPCG01B11/24A47L2201/04G05D1/0248G05D2201/0203G09B29/106G05D1/024G05D1/0272G05D1/0274Y10S901/01G05D1/0088G01B11/14
Inventor 花冈透松尾顺向松尾光平
Owner SHARP KK