Mobile object control device and mobile object control method

Patent metadata

Field	Value
Publication number	US-12130634-B2
Application number	US-202017625266-A
Country	US
Kind code	B2
Filing date	Jun 12, 2020
Priority date	Jul 16, 2019
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

A mobile object control device (1) includes a first detection unit (21), a second detection unit (22), and a stillness determination unit (24). On the basis of a sensor mounted on a mobile object (100) that moves autonomously, the first detection unit (21) detects a movement state of the mobile object (100). The second detection unit (22) detects at least one of cartographic information at a current location of the mobile object (100), object information present in a periphery of the mobile object (100), and operation information of a movable portion included in the mobile object (100). The stillness determination unit (24) determines whether the mobile object (100) is in a static state on the basis of the movement state detected by the first detection unit (21) and the information detected by the second detection unit (22).

First claim

The invention claimed is:

1. A mobile object control device, comprising:
a sensor configured to measure a plurality of sensor values associated with a mobile object, wherein
the sensor is mounted on the mobile object that moves autonomously,
a first sensor value of the plurality of sensor values includes an offset value, and
the offset value is based on a temperature change in the mobile object;

a processor configured to:
detect, based on a second sensor value of the plurality of sensor values, a movement state of the mobile object;
detect first cartographic information at a current location of the mobile object, wherein the first cartographic information includes:
information associated with the temperature change in the mobile object, and
information associated with the movement state, of the mobile object, independent of an operation of the mobile object;
determine that the mobile object is in a static state based on each of the movement state of the mobile object and the first cartographic information;
reset the offset value based on the determination that the mobile object is in the static state; and
control the autonomous movement of the mobile object based on the reset offset value;

the mobile object control device further comprising a memory configured to store map information that includes a prohibition point where the mobile object control device is prohibited to determine that the mobile object is in the static state,
the processor further configured to:
detect that the mobile object is in a stopped state;
detect, based on the map information, second cartographic information indicating that the current location of the mobile object is the prohibition point;
determine that the mobile object is in a mobbing state based on each of:
the detection that the mobile object is in the stopped state, and
the second cartographic information;
detect third cartographic information indicating a point, wherein the point is different from the prohibition point;
determine that the mobile object is in the moving state based on the third cartographic information; and
perform, based on each of the third cartographic information and the determination that the mobile object is in the moving state, an update process of registration of the point as the prohibition point in the map information.

2. The mobile object control device according to claim 1 , wherein the processor is further configured to:
detect that the mobile object is in a stopped state;
determine object information indicating presence of an object, wherein the object applies external force to the mobile object; and
determine that the mobile object is in a moving state based on each of:
detection that the mobile object is in the stopped state, and
the determined object information.

3. The mobile object control device according to claim 1 , wherein the processor is further configured to:
detect that the mobile object is in a stopped state;
detect fourth cartographic information indicating a point where external force is applied to the mobile object; and
determine that the mobile object is in a moving state based on each of:
the detection that the mobile object is in the stopped state, and
the fourth cartographic information.

4. The mobile object control device according to claim 1 , wherein the processor is further configured to:
detect that the mobile object is in a stopped state;
detect operation information indicating that a movable portion of the mobile object is in the operation; and
determine that the mobile object is in a moving based on each of:
in a case where the first detection unit detects that the mobile object is in the stopped state, and
the operation information.

5. The mobile object control device according to claim 1 , wherein
the sensor includes a gyroscope sensor, and
the first sensor value is associated with the gyroscope sensor.

6. The mobile object control device according to claim 5 , wherein the processor is further configured to:
determine, within a determined time, that the temperature change is one of equal to or larger than a threshold; and
correct the offset value based on each of:
the determination that the mobile object is in the static state, and
the determination that the temperature change is one of equal to or larger than the threshold.

7. The mobile object control device according to claim 6 , wherein the processor is further configured to correct the offset value after a determined period elapses from a time of the temperature change.

8. The mobile object control device according to claim 1 , wherein the processor is further configured to:
detect load information related to a load on the mobile object; and
determine that the mobile object is in a moving state based on the load information.

9. The mobile object control device according to claim 1 , wherein the processor is further configured to:
detect at least one of:
object information indicating presence of an object in a periphery of the mobile object, or
operation information of a movable portion of the mobile object; and

determine that the mobile object is in the static state based on the at least one of the object information and the operation information.

10. A mobile object control method comprising:
measuring, by a sensor, a plurality of sensor values associated with a mobile object, wherein
the sensor is mounted on the mobile object that moves autonomously,
a first sensor value of the plurality of sensor values includes an offset value, and
the offset value is based on a temperature change in the mobile object;

detecting, by a processor, a movement state of the mobile object based on a second sensor value of the plurality of sensor values;
detecting, by the processor, cartographic information at a current location of the mobile object, wherein the cartographic information includes:
information associated with the temperature change in the mobile object, and
information associated with the movement state, of the mobile object, independent of an operation of the mobile object;

determining, by the processor, that the mobile object is in a static state based on each of the movement state of the mobile object and the cartographic information;
detecting, by the processor, that the mobile object is in a stopped state;
detecting, by the processor, based on map information stored in a memory that includes a prohibition point where a mobile object control device is prohibited to determine that the mobile object is in the static state, second cartographic information indicating that the current location of the mobile object is the prohibition point;
determining, by the processor, that the mobile object is in a moving state based on each of:
the detection that the mobile object is in the stopped state, and
the second cartographic information;

detecting, by the processor, third cartographic information indicating a point, wherein the point is different from the prohibition point;
determining, by the processor, that the mobile object is in the moving state based on the third cartographic information;
performing, based on each of the third cartographic information and the determination that the mobile object is in the moving state, an update processes of registration of the point as the prohibition point in the map information;
resetting, by the processor, the offset value based on the determination that the mobile object is in the static state; and
controlling, by the processor, the autonomous movement of the mobile object based on the reset offset value.

Assignees

• Sony Group Corp

Inventors

• Watanabe Ryo
• Ikeda Nozomu
• Nakai Mikio

Classifications

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/245

  using dead reckoning · CPC title

• G05D1/628

  following the obstacle profile, e.g. a wall or undulated terrain · CPC title

• G05D1/644

  Optimisation of travel parameters, e.g. of energy consumption, journey time or distance · CPC title

• G05D1/0274

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