DETECTION APPARATUS, DETECTION SYSTEM, AND MOVING OBJECT

• US 20170122739A1
• Filed: 11/01/2016
• Published: 05/04/2017
• Est. Priority Date: 11/02/2015
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: KURASHINA, Takashi, MAKI, Katsuhiko, HANEDA, Hideo
• Granted Patent: US 10,451,419 B2
• Time in Patent Office: Days
• CPC Class Codes: G01C 19/5776 Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/166 Mechanical, construction or arrangement details of inertial navigation systems
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation

Abstract

A detection apparatus includes a first sensor for detecting rotation information of a wheel of a moving object; a second sensor for detecting angular velocity information of a rotation in a yaw axis of the wheel or angular information as yaw rotation information; and a storage unit for storing the rotation information and the yaw rotation information to be output to a processing unit for obtaining positional information of the moving object based on the rotation information and the yaw rotation information.

Claims

1. A detection apparatus comprising:

a first sensor for detecting rotation information of a wheel of a moving object;

a second sensor for detecting angular velocity information of a rotaing about a yaw axis of the wheel or angular information as yaw rotation information; and

a storage unit for storing the rotation information and the yaw rotation information to be output to a processing unit for obtaining positional information of the moving object based on the rotation information and the yaw rotation information.

2. The detection apparatus according to claim 1,

wherein the first sensor is provided in the wheel, and

wherein the second sensor is provided in a member which rotates about a rotation axis parallel to the yaw axis along with the wheel.

3. The detection apparatus according to claim 1,

wherein the first sensor and the second sensor include a gyro sensor.

4. The detection apparatus according to claim 1,

wherein the wheel can be rotated by 360 degrees about the rotaing axis parallel to the yaw axis.

5. The detection apparatus according to claim 1,

wherein the moving object is a non-self-running-moving object.

14. A moving object comprising:

the detection apparatus according to claim 1.

15. A moving object comprising:

the detection apparatus according to claim 2.

16. A moving object comprising:

the detection apparatus according to claim 3.

17. A moving object comprising:

the detection apparatus according to claim 4.

6. A detection apparatus comprising:

a first sensor for detecting rotation information of a wheel of a moving object;

a second sensor for detecting angular velocity information of a rotaing about a yaw axis of the wheel or angular information as yaw rotation information; and

a communication unit for transmitting the rotation information and the yaw rotation information to a processing unit for obtaining positional information of the moving object based on the rotation information and the yaw rotation information.

7. A detection system comprising:

a first sensor for detecting rotation information of a wheel of a moving object;

a second sensor for detecting angular velocity information of a rotaing about a yaw axis of the wheel or angular information as yaw rotation information; and

a processing unit for performing an estimation process of positional information of the moving object based on the rotation information and the yaw rotation information of the wheel.

8. The detection system according to claim 7,

wherein the first sensor is a sensor for detecting angular velocity information of a rotation of the wheel or angular information as the rotation information, and

wherein, in the estimation process, the processing unit obtains a moving distance of the wheel based on angular information which is obtained by integrating the angular velocity information items of the rotation information or the angular information of the rotation information, and obtains a moving direction at each moving distance of the wheel based on angular information which is obtained by integrating the angular velocity information of the yaw rotation information or the angular information of the yaw rotation information to estimate the position of the moving object from the moving distance and the moving direction.

9. The detection system according to claim 7,

wherein the first sensor is a sensor for detecting angular velocity information of a rotation of the wheel or angular information as the rotation information, and

wherein, in a case where the moving object is moved from a first position to a second position, the processing unit obtains a correction value that is at least one of a zero point correction value and a sensitivity correction value in the estimation process based on a difference between the positional information of the second position which is estimated based on the rotation information and the yaw rotation information and predetermined positional information corresponding to the second position.

10. The detection system according to claim 9,

wherein the processing unit acquires path information that is a plurality of positional information items along a path from the first position to the second position, and obtains the correction value based on the path information to correct the path information based on the correction value.

11. The detection system according to claim 9, further comprising:

a storage unit for storing the correction value,

wherein the processing unit performs the estimation process of the positional information based on the correction value stored in the storage unit.

12. The detection system according to claim 7,

wherein, in a case where it is determined that the moving object is moved in a predetermined region based on the positional information, the processing unit performs a process for presenting information relating to the predetermined region.

13. The detection system according to claim 7,

wherein, in a case where it is determined that the predetermined number or more of moving objects are present in the predetermined region among a plurality of the moving objects each including the first sensor and the second sensor, the processing unit performs a notification process.

18. A moving object comprising:

the detection system according to claim 7.

19. A moving object comprising:

the detection system according to claim 8.

20. A moving object comprising:

the detection system according to claim 9.