AUTONOMOUS MOBILE DEVICE, AND CONTROL DEVICE AND PROGRAM PRODUCT FOR THE AUTONOMOUS MOBILE DEVICE

• US 20090043440A1
• Filed: 04/14/2008
• Published: 02/12/2009
• Est. Priority Date: 04/12/2007
• Status: Active Grant

• Current Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: MATSUKAWA, Yoshihiko, Fujioka, Soichiro, Inaji, Toshio, Adachi, Yuji
• Granted Patent: US 8,442,714 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

An autonomous mobile device has its movement controlled by a control device and includes a first sensing unit for sensing an obstacle. The control device includes a first storage unit for storing information as to a temporary positional fluctuation of the obstacle and sets as a virtual obstacle region a region where it is predicted that the obstacle sensed by the first sensing unit travels following a predetermined time passage based on the information as to the temporary positional fluctuation of the obstacle stored in the first storage unit.

Claims

1. A control device capable of controlling a movement of an autonomous mobile device with a first sensing unit for sensing an obstacle comprising:

a first storage unit for storing information as to a temporary positional fluctuation of the obstacle; and

a region setting unit for setting a region in which it is predicted that the obstacle sensed by the first sensing unit travels following a predetermined time passage as a virtual obstacle region based on information as to the temporary positional fluctuation of the obstacle stored in the first storage unit.

2. A control device for an autonomous mobile device according to claim 1, wherein the region setting unit sets the region of the obstacle sensed by the first sensing unit as an actual obstacle region and combines the actual obstacle region with the virtual obstacle region to set a new obstacle region.

3. The control device for an autonomous mobile device according to claim 2 comprising:

a transfer pathway setting unit for setting a transfer pathway of the autonomous mobile device; and

a movement control unit for having the autonomous mobile device move along the transfer pathway set by the transfer pathway setting unit;

wherein the transfer pathway setting unit sets the transfer pathway of the autonomous mobile device so as to have the autonomous mobile device avoid the virtual obstacle region and the actual obstacle region when the virtual obstacle region and the actual obstacle region are set.

4. The control device for an autonomous mobile device according to claim 2:

wherein a time at which the obstacle sensed by the first sensing unit and the autonomous mobile device may collide with each other is predicted; and

wherein the region setting unit sets the region in which it is predicted that the obstacle travels following the predicted time passage as the virtual obstacle region.

5. The control device for an autonomous mobile device according to claim 4:

wherein the autonomous mobile device includes a second sensing unit for sensing a position of the obstacle and a third sensing unit for sensing a speed of the obstacle; and

wherein the control device predicts a time at which the obstacle and the autonomous mobile device may collide with each other, assuming that the obstacle moves constantly at a speed sensed by the third sensing unit from a position of the obstacle sensed by the second sensing unit and the autonomous mobile device moves along the transfer pathway set by the transfer pathway setting unit.

6. The control device for an autonomous mobile device according to claim 4:

wherein the autonomous mobile device includes a second sensing unit for sensing a position of the obstacle and a third sensing unit for sensing a speed of the obstacle; and

wherein the control device calculates

a distance Y between the obstacle and the autonomous mobile device in a direction parallel with a velocity vector of the obstacle,

a distance X1(T) of the obstacle after T time when the obstacle moves at the speed sensed by the third sensing unit with a uniform linear motion, and

a distance X2(T) of the autonomous mobile device after T time in a direction of a velocity vector of the obstacle when the autonomous mobile device moves along the transfer pathway set by the transfer pathway setting unit, and

predicts the time T at which the obstacle and the autonomous mobile device may collide with each other based on the following formula 1.

X1(T)−

X2(T)=Y 

 

[Formula 1]

7. The control device for an autonomous mobile device according to claim 4:

wherein the autonomous mobile device includes a second sensing unit for sensing a position of the obstacle, a third sensing unit for sensing a speed of the obstacle, and a fourth sensing unit for sensing an accelerated velocity of the obstacle; and

wherein the control device calculates

a distance Y between the obstacle and the autonomous mobile device in a direction parallel with a velocity vector of the obstacle,

a distance X1(T) of the obstacle after T time when the obstacle moves with a uniform accelerated linear motion at a speed sensed by the third sensing unit and at the accelerated velocity sensed by the fourth sensing unit, and

a distance X2(T) of the autonomous mobile device after T time in a direction of a velocity vector of the obstacle when the autonomous mobile device moves along the transfer pathway set by the transfer pathway setting unit, and

predicts the time T at which the obstacle and the autonomous mobile device may collide with each other based on the following formula 1.

X1(T)−

X2(T)=Y 

 

[Formula 1]

8. The control device for an autonomous mobile device according to claim 4:

wherein the autonomous mobile device includes a second sensing unit for sensing a position of the obstacle and a third sensing unit for sensing a speed of the obstacle; and

wherein the control device calculates

a position Ph(t) of the obstacle after t time when the obstacle moves with a uniform linear motion at a speed sensed by the third sensing unit and

a position Pr(t) of the autonomous mobile device after t time when the autonomous mobile device moves along the transfer pathway set by the transfer pathway setting unit, and

predicts the time T at which a distance between the obstacle and the autonomous mobile device becomes a minimum value as a possible time at which the obstacle and the autonomous mobile device may collide with each other based on the following formula 3.

9. The control device for an autonomous mobile device according to claim 4 comprising,

a first setting unit for setting a variance of an accelerated velocity of the obstacle;

wherein the region setting unit sets the virtual obstacle region based on a time in which it is predicted that the obstacle and the autonomous mobile device may collide with each other and the variance of the accelerated velocity of the obstacle set by the first setting unit.

10. The control device for an autonomous mobile device according to claim 4:

wherein a relation between a lapsed time and a degree of a positional fluctuation of the obstacle are stored with regard to a direction of a velocity vector of the obstacle and a direction orthogonal to the velocity vector, respectively; and

wherein the virtual obstacle region is set based on a relation between the lapsed time and the degree of the stored positional fluctuation of the obstacle.

11. The control device for an autonomous mobile device according to claim 1 comprising:

a first determination unit for determining whether or not the obstacle sensed by the first sensing unit is a person; and

a fifth sensing unit for sensing a face orientation or a direction of eyes of the person;

wherein the virtual obstacle region is expanded in accordance with an angle created between the face orientation or the direction of eyes of the person sensed by the fifth sensing unit and straight lines coupling the autonomous mobile device with the person.

12. The control device for an autonomous mobile device according to claim 1 comprising:

a first determination unit for determining whether or not the obstacle sensed by the first sensing unit is a person; and

a fifth sensing unit for sensing a face orientation or a direction of eyes of the person;

wherein the virtual obstacle region is shifted to a direction of the face orientation or a direction of eyes of the person in accordance with an angle created between the face orientation or the direction of eyes of the person sensed by the fifth sensing unit and straight lines coupling the autonomous mobile device with the person.

13. The control device for an autonomous mobile device according to claim 1 comprising:

a first determination unit for determining whether or not the obstacle sensed by the first sensing unit is a person; and

a sixth sensing unit for sensing a height of the person;

wherein the virtual obstacle region is expanded when the height of the person sensed by the sixth sensing unit is lower than a predetermined height.

14. The control device for an autonomous mobile device according claim 1 comprising:

a first determination unit for determining whether or not the obstacle sensed by the first sensing unit is a person;

a map information storage unit for storing map information as to a movement region of the autonomous mobile device; and

a moving tendency storage unit for storing a relation between a time and a moving tendency of the person in association with the map information stored in the map information storage unit;

wherein the virtual obstacle region is corrected based on the moving tendency of the person corresponding to the time stored in the moving tendency storage unit.

15. The control device for an autonomous mobile device according to claim 1 comprising:

a first determination unit for determining whether or not the obstacle sensed by the first sensing unit is a person;

a first specifying unit for specifying the person; and

an ID information storage unit for storing ID information containing information as to a moving tendency of the person specified by the first specifying unit;

wherein the virtual obstacle region is corrected based on the information as to the moving tendency of the person stored in the ID information storage unit when the first determination unit determines that the obstacle is a person and the first specifying unit specifies the person.

16. The control device for an autonomous mobile device according to claim 15 comprising:

a map information storage unit for storing a map information as to a movement region of the autonomous mobile device;

wherein the ID information storage unit stores a relation between a time and the moving tendency of the person in association with the map information stored in the map information storage unit with regard to the person specified by the first specifying unit; and

wherein the virtual obstacle region is corrected based on the moving tendency of the person corresponding to the time stored in the ID information storage unit.

17. The control device for an autonomous mobile device according to claim 14:

wherein the map information includes nodes of which positions are discretely set within the movement region of the autonomous mobile device; and

wherein the moving tendency storage unit stores a relation between the time and the moving tendency of the person in association with each of the nodes.

18. The control device for an autonomous mobile device according to claim 1, wherein the region setting unit is added or updated by an additional program.

21. The control device for an autonomous mobile device according to claim 1 comprising:

a potential transfer pathway generation unit for generating a plurality of potential transfer pathways, in which it is predicted that the obstacle travels, based on the map information;

wherein the region setting unit sets the virtual obstacle region to each of the potential transfer pathways in which it is predicted that the obstacle travels.

22. The control device for an autonomous mobile device according to claim 1, wherein the region setting unit calculates the virtual obstacle region at a predicted collision time assuming that the autonomous mobile device is taking a uniform motion and further calculates a virtual obstacle region at a predicted collision time assuming that the autonomous mobile device is taking a uniform accelerated motion, thereby setting a new virtual obstacle region encompassing thus calculated virtual obstacle regions.

23. An autonomous mobile device comprising:

a first sensing unit for sensing an obstacle; and

a control device for the autonomous mobile device according to claim 1.

19. A control device for an autonomous mobile device comprising:

a transfer pathway setting unit for setting a transfer pathway of the autonomous mobile device; and

a movement control unit for having the autonomous mobile device move along the transfer pathway set by the transfer pathway setting unit;

wherein the control device can optionally include a virtual obstacle region setting unit for setting a virtual obstacle region where it is predicted that the sensed obstacle travels following a predetermined time passage based on information as to a preliminary stored temporary positional fluctuation of the obstacle; and

wherein the transfer pathway setting unit sets the transfer pathway so as to have the autonomous mobile device avoid the virtual obstacle region set by the virtual obstacle region setting unit when the virtual obstacle region setting unit is added to the control device.

20. The control device for an autonomous mobile device according to claim 19, wherein the virtual obstacle region setting unit is added or updated by an additional program.

24. A program product for controlling an autonomous mobile device of which movement is controlled by a control device:

wherein the program for the autonomous mobile device has the control device execute a first function for setting a virtual obstacle region where it is predicted that the sensed obstacle travels following a predetermined time passage based on information as to a temporary positional fluctuation of the obstacle preliminary stored in the control device.

25. A program product for an autonomous mobile device of which movement is controlled by a control device comprising:

a basic program for having the control device execute a pathway setting function for setting a transfer pathway of the autonomous mobile device, and a movement control function for controlling the autonomous mobile device so as to move along the transfer pathway set by the pathway setting function;

wherein the basic program can optionally include a sub program having a function for setting a virtual obstacle region where it is predicted that the sensed obstacle travels following a predetermined time passage and has the control device execute the pathway setting function for setting the transfer pathway so as to have the autonomous mobile device avoid the virtual obstacle region set by the sub program when the sub program is added to the basic program.

26. The program product for an autonomous mobile device according to claim 25:

wherein the sub program has the control device execute the pathway setting function based on the information as to a temporary positional fluctuation of the obstacle preliminary stored in the control device.