Information processing apparatus, information processing method, and program for control of a moving body capable of autonomous movement

Patent metadata

Field	Value
Publication number	US-11822334-B2
Application number	US-201917291586-A
Country	US
Kind code	B2
Filing date	Oct 30, 2019
Priority date	Nov 12, 2018
Publication date	Nov 21, 2023
Grant date	Nov 21, 2023

Abstract

There is provided methods and apparatus for a path planning system. The apparatus comprises a body and a movement device attached thereto, wherein the body comprises a control unit in communication with the movement device, the control unit comprising at least one processor and a memory configured to store instructions. The instructions, when executed by the at least one processor, cause the at least one processor to receive image capture range information for one or more imaging devices located external to the apparatus, calculate a movement path for the apparatus based, at least in part, on the received image capture range information, and control the movement device to move the apparatus in accordance with the calculated movement path.

First claim

The invention claimed is:

1. An apparatus, comprising:
a body and a movement device attached thereto, wherein the body comprises a control unit in communication with the movement device, the control unit comprising at least one processor and a memory configured to store instructions that, when executed by the at least one processor, cause the at least one processor to:
receive image capture range information for one or more imaging devices located external to the apparatus, wherein the image capture range information includes a range in which an image can be captured by the one or more imaging devices;
calculate a movement path for the apparatus based, at least in part, on the received image capture range information; and
control the movement device to move the apparatus in accordance with the calculated movement path.

2. The apparatus of claim 1 , wherein the apparatus comprises a mobility device.

3. The apparatus of claim 1 , wherein the image capture range information includes image capture range information for each of a plurality of imaging devices, and wherein calculating the movement path comprises calculating the movement path to include an area within the image capture range of each of the plurality of imaging devices.

4. The apparatus of claim 1 , wherein calculating the movement path comprises:
generating a cost map for a space through which the apparatus is to move, wherein the cost map includes low cost areas and high cost areas of the space; and
calculating the movement path based, at least in part, on the cost map.

5. The apparatus of claim 4 , wherein calculating the movement path based, at least in part, on the cost map comprises determining a lowest cost movement path between two locations in the space based on the low cost areas and high cost areas defined in the cost map.

6. The apparatus of claim 4 , wherein calculating the movement path based, at least in part, on the received image capture range information comprises:
generating the cost map to define areas of the space within the image capture range of the one or more imaging devices to be low cost areas and to define areas of the space outside of the image capture range of the one or more imaging devices to be high cost areas.

7. The apparatus of claim 4 , wherein calculating the movement path is further based, at least in part, on at least one obstacle within the space through which the apparatus is to move.

8. The apparatus of claim 7 , wherein the at least one obstacle is transient.

9. The apparatus of claim 1 , wherein the instructions are further configured to cause the at least one processor to:
receive an image from the one or more imaging devices;
determine whether the apparatus is present in the image; and
recalculate the movement path based, at least in part, on whether the apparatus is determined to be present in the image.

10. An apparatus, comprising:
a body and a movement device attached thereto, wherein the body comprises a control unit in communication with the movement device, the control unit comprising at least one processor and a memory configured to store instructions that, when executed by the at least one processor, cause the at least one processor to:
receive image capture range information for one or more imaging devices located external to the apparatus;
calculate a movement path for the apparatus based, at least in part, on the received image capture range information; and
control the movement device to move the apparatus in accordance with the calculated movement path, wherein at least one of the one or more imaging devices has an image capture range that changes over time, and wherein calculating the movement path for the apparatus is based, at least in part, on a travel speed of the apparatus and the image capture range that changes over time.

11. A method, comprising:
receiving image capture range information for one or more imaging devices located external to an apparatus, wherein the image capture range information includes a range in which an image can be captured by the one or more imaging devices;
calculating, by at least one computer processor, a movement path for the apparatus based, at least in part, on the received image capture range information; and
controlling a movement device of the apparatus to move the apparatus in accordance with the calculated movement path.

12. The method of claim 11 , wherein the image capture range information includes image capture range information for each of a plurality of imaging devices, and wherein calculating the movement path comprises calculating the movement path to include an area within the image capture range of each of the plurality of imaging devices.

13. The method of claim 11 , wherein calculating the movement path comprises:
generating a cost map for a space through which the apparatus is to move, wherein the cost map includes low cost areas and high cost areas of the space; and
calculating the movement path based, at least in part, on the cost map.

14. The method of claim 13 , wherein calculating the movement path based, at least in part, on the cost map comprises determining a lowest cost movement path between two locations in the space based on the low cost areas and high costs areas defined in the cost map.

15. The method of claim 13 , wherein calculating the movement path based, at least in part, on the received image capture range information comprises:
generating the cost map to define areas of the space within the image capture range of the one or more imaging devices to be low cost areas and to define areas of the space outside of the image capture range of the one or more imaging devices to be high cost areas.

16. The method of claim 13 , wherein calculating the movement path is further based, at least in part, on at least one obstacle within the space through which the apparatus is to move.

17. The method of claim 16 , wherein the at least one obstacle is transient.

18. The method of claim 11 , further comprising:
receiving an image from the one or more imaging devices;
determining whether the apparatus is present in the image; and
recalculating the movement path based, at least in part, on whether the apparatus is determined to be present in the image.

19. A method, comprising:
receiving image capture range information for one or more imaging devices located external to an apparatus;
calculating, by at least one computer processor, a movement path for the apparatus based, at least in part, on the received image capture range information; and
controlling a movement device of the apparatus to move the apparatus in accordance with the calculated movement path, wherein at least one of the one or more imaging devices has an image capture range that changes over time, and wherein calculating the movement path for the apparatus is based, at least in part, on a travel speed of the apparatus and the image capture range that changes over time.

20. An apparatus path planning system, comprising:
one or more imaging devices configured to capture images within a space, wherein each of the one or more imaging devices has an image capture range; and
an apparatus comprising:
a body and a movement device attached thereto, wherein the body comprises a control unit in communication with the movement device, the control unit comprising at least one processor and a memory configured to store instructions that, when executed by the at least one processor, cause the at least one processor to:
receive, from the one or more imaging

Assignees

• Sony Group Corp

Inventors

• Nakai Mikio

Classifications

• G05D1/0238

  using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93) · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• G05D1/0217

  in accordance with energy consumption, time reduction or distance reduction criteria · CPC title