Mobile object control device and mobile object control method

Patent metadata

Field	Value
Publication number	US-2022253058-A1
Application number	US-202017625266-A
Country	US
Kind code	A1
Filing date	Jun 12, 2020
Priority date	Jul 16, 2019
Publication date	Aug 11, 2022
Grant date	—

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

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

2 . The mobile object control device according to claim 1 , wherein
the stillness determination unit determines that the mobile object is not in the static state in a case where the first detection unit detects that the mobile object is in a stopped state and the second detection unit detects the object information indicating that there is an object that may apply external force to the mobile object.

3 . The mobile object control device according to claim 1 , wherein
the stillness determination unit determines that the mobile object is not in the static state in a case where the first detection unit detects that the mobile object is in a stopped state and the second detection unit detects the cartographic information indicating a point at which external force may be applied to the mobile object.

4 . The mobile object control device according to claim 1 , further comprising
a storage unit that stores map information in which a prohibition point where it is prohibited to make a determination of being in the static state is registered, wherein the stillness determination unit determines that the mobile object is not in the static state in a case where the first detection unit detects that the mobile object is in a stopped state and the second detection unit detects, on a basis of the map information, the cartographic information indicating that the current location of the mobile object is the prohibition point.

5 . The mobile object control device according to claim 4 , further comprising
an updating unit that performs, in a case where the second detection unit detects the cartographic information indicating a point other than the prohibition point and the stillness determination unit makes a determination of not being in the static state on a basis of the cartographic information, update processing of registering the point as the prohibition point in the map information.

6 . The mobile object control device according to claim 1 , wherein
the stillness determination unit determines that the mobile object is not in the static state in a case where the first detection unit detects that the mobile object is in a stopped state and the second detection unit detects the operation information indicating that the movable portion included in the mobile object is in operation.

7 . The mobile object control device according to claim 1 , wherein
the sensor includes a gyroscope sensor, the mobile object control device further comprising a correction unit that corrects an offset value included in the gyroscope sensor in a case where the stillness determination unit determines that the mobile object is in the static state.

8 . The mobile object control device according to claim 7 , wherein
the correction unit corrects the offset value in a case where the stillness determination unit determines that the mobile object is in the static state and there is a temperature change equal to or larger than a predetermined threshold within a predetermined time in the periphery of the mobile object.

9 . The mobile object control device according to claim 8 , wherein
the correction unit corrects the offset value after a predetermined period elapses from timing of the temperature change.

10 . The mobile object control device according to claim 1 , further comprising
a load detection unit that detects load information related to a load on the mobile object, wherein the stillness determination unit determines that the mobile object is not in the static state in a case where there is the load on the mobile object.

11 . A mobile object control method comprising:
a first detection step of detecting, on a basis of a sensor mounted on a mobile object that moves autonomously, a movement state of the mobile object; a second detection step of detecting at least one of cartographic information at a current location of the mobile object, object information present in a periphery of the mobile object, and operation information of a movable portion included in the mobile object; and a stillness determination step of determining whether the mobile object is in a static state on a basis of the movement state detected in the first detection step and the information detected in the second detection step.

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

• G05D1/0238

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