MAP PRODUCTION METHOD, MOBILE ROBOT, AND MAP PRODUCTION SYSTEM
First Claim
1. A map production method to be performed by a first mobile robot which moves in a first region and includes a first sensor and a second sensor, the map production method comprising:
- acquiring first information from the first sensor, the first information indicating an amount of movement of the first mobile robot;
acquiring second information from the second sensor, the second information indicating a distance from a first object present in an observation region of the first mobile robot to the first mobile robot;
acquiring third information from a third sensor provided in the first region, the third information including video information of an observation region of the third sensor;
acquiring fourth information indicating a detection region of the second sensor which is calculated based on the first information and the second information;
acquiring fifth information indicating a detection region of the third sensor which is calculated based on the third information;
judging, based on the fourth information and the fifth information, whether a second region where the detection region of the second sensor overlaps with the detection region of the third sensor is present; and
updating map information of the first region which is stored in advance in the first mobile robot for a third region, including the first object if the second region is judged to be present.
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Accused Products
Abstract
There is provided a map production method to be performed by a mobile robot which moves in a first region and includes a first sensor and a second sensor. The map production method includes acquiring first information from the first sensor, acquiring second information from the second sensor, acquiring third information from a third sensor provided in the first region, acquiring fourth information indicating a detection region of the second sensor calculated from the first information and the second information, acquiring fifth information indicating a detection region of the third sensor calculated from the third information, and updating map information of the first region for a third region, including a first object, if a the second region overlaps with the third region is judged to be present from the fourth information and the fifth information.
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Citations
19 Claims
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1. A map production method to be performed by a first mobile robot which moves in a first region and includes a first sensor and a second sensor, the map production method comprising:
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acquiring first information from the first sensor, the first information indicating an amount of movement of the first mobile robot; acquiring second information from the second sensor, the second information indicating a distance from a first object present in an observation region of the first mobile robot to the first mobile robot; acquiring third information from a third sensor provided in the first region, the third information including video information of an observation region of the third sensor; acquiring fourth information indicating a detection region of the second sensor which is calculated based on the first information and the second information; acquiring fifth information indicating a detection region of the third sensor which is calculated based on the third information; judging, based on the fourth information and the fifth information, whether a second region where the detection region of the second sensor overlaps with the detection region of the third sensor is present; and updating map information of the first region which is stored in advance in the first mobile robot for a third region, including the first object if the second region is judged to be present. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A map production method to be performed by a first mobile robot which moves in a first region and includes a first sensor and a second sensor, the map production method comprising:
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acquiring first information from the first sensor, the first information indicating an amount of movement of the first mobile robot; acquiring second information from the second sensor, the second information indicating a distance from a first object in an observation region of the first mobile robot to the first mobile robot; acquiring third information from a third sensor provided in the first region, the third information including video information of an observation region of the third sensor; acquiring fourth information indicating a detection region of the second sensor which is calculated based on the first information and the second information; acquiring fifth information indicating a detection region of the third sensor which is calculated based on the third information; judging, based on the fourth information, the fifth information, and map information of the first region which is stored in advance in the first mobile robot, whether a second object in a second region outside the detection region of the second sensor and within the detection region of the third sensor is changed from a first position to a second position; and updating the map information of the first region for the second region if the second object is judged to be changed from the first position to the second position. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15)
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16. A mobile robot which moves in a first region, the mobile robot comprising:
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a first sensor; and a second sensor, wherein the mobile robot acquires first information from the first sensor, the first information indicating an amount of movement of the mobile robot, acquires second information from the second sensor, the second information indicating a distance from a first object in an observation region of the mobile robot to the mobile robot, acquires third information from a third sensor provided in the first region, the third information including video information of an observation region of the third sensor, acquires fourth information indicating a detection region of the second sensor which is calculated based on the first information and the second information, acquires fifth information indicating a detection region of the third sensor which is calculated based on the third information, judges, based on the fourth information and the fifth information, whether a second region where the detection region of the second sensor overlaps with the detection region of the third sensor is present, and updates map information of the first region which is stored in advance in the mobile robot for a third region, including the first object, if the second region is judged to be present.
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17. A mobile robot which moves in a first region, the mobile robot comprising:
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a first sensor; and a second sensor, wherein the mobile robot acquires first information from the first sensor, the first information indicating an amount of movement of the mobile robot, acquires second information from the second sensor, the second information indicating a distance from a first object in an observation region of the mobile robot to the mobile robot, acquires third information from a third sensor provided in the first region, the third information including video information of an observation region of the third sensor, acquires fourth information indicating a detection region of the second sensor which is calculated based on the first information and the second information, acquires fifth information indicating a detection region of the third sensor which is calculated based on the third information, judges, based on the fourth information, the fifth information, and map information of the first region which is stored in advance in the mobile robot, whether a second object in a second region outside the detection region of the second sensor and within the detection region of the third sensor is changed from a first position to a second position, and updates the map information of the first region for the second region if the second object is judged to be changed from the first position to the second position.
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18. A map production system, comprising:
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a mobile robot which includes a first sensor and a second sensor and moves in a first region; a third sensor provided in the first region; and a server connected to the mobile robot and the third sensor, wherein the server acquires first information from the first sensor, the first information indicating an amount of movement of the mobile robot, acquires second information from the second sensor, the second information indicating a distance from a first object in an observation region of the mobile robot to the mobile robot, acquires third information from the third sensor installed in the first region, the third information including video information of an observation region of the third sensor, acquires fourth information indicating a detection region of the second sensor which is calculated based on the first information and the second information, acquires fifth information indicating a detection region of the third sensor which is calculated based on the third information, judges, based on the fourth information and the fifth information, whether a second region where the detection region of the second sensor overlaps with the detection region of the third sensor is present, and updates map information of the first region which is stored in advance in the mobile robot for a third region, including the first object, if the second region is judged to be present.
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19. A map production system comprising:
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a mobile robot which includes a first sensor and a second sensor and moves in a first region; a third sensor provided in the first region; and a server connected to the mobile robot and the third sensor, wherein the server acquires first information from the first sensor, the first information indicating an amount of movement of the mobile robot, acquires second information from the second sensor, the second information indicating a distance from a first object in an observation region of the mobile robot to the mobile robot, acquires third information from the third sensor provided in the first region, the third information including video information of an observation region of the third sensor, acquires fourth information indicating a detection region of the second sensor which is calculated based on the first information and the second information, acquires fifth information indicating a detection region of the third sensor which is calculated based on the third information, judges, based on the fourth information, the fifth information, and map information of the first region which is stored in advance in the mobile robot, whether a second object in a second region outside the detection region of the second sensor and within the detection region of the third sensor is changed from a first position to a second position, and updates the map information of the first region for the second region if the second object is judged to be changed from the first position to the second position.
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Specification