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公开(公告)号：US20200209884A1
公开(公告)日：2020-07-02
申请号：US16688171
申请日：2019-11-19
Inventor： Fabio DALLA LIBERA , Yuko TSUSAKA
IPC: G05D1/02
Abstract: Provided is a mobile body system capable of moving in a more appropriate travel path. In the mobile body system, upon movement of the first to third mobile bodies from the first area into the second area, (a) the third mobile body moves into a boundary area and temporarily stops using the distance to the first mobile body and the distance to the second mobile body, (b) after the third mobile body moves into the boundary area, the first mobile body moves into the boundary area and temporarily stops using the distance to the second mobile body and the distance to the third mobile body, and (c) after the third mobile body moves into the boundary area, the second mobile body moves into the boundary area and temporarily stops using the distance to the first mobile body and the distance to the third mobile body.
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公开(公告)号：US20200009733A1
公开(公告)日：2020-01-09
申请号：US16458847
申请日：2019-07-01
Inventor： Fabio DALLA LIBERA , Yuko TSUSAKA
Abstract: A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map of an environment including object position information, and a first path where the cleaning device is to move in the environment; an identification unit which identifies a first path partial path; a converter which converts the partial path into a differently-shaped path to generate a second path; and a motor controller which causes the cleaning device to move along the second path. The identification unit sets a region, on the map, where the range finding sensor can perform range finding from start and end points of a portion of the first path, and identifies the portion as the partial path when only one or more straight lines which traverse the region and are parallel to a line segment toward the end point from the start point are represented as the object in the region set.
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公开(公告)号：US20220066451A1
公开(公告)日：2022-03-03
申请号：US17403488
申请日：2021-08-16
Inventor： Fabio DALLA LIBERA
Abstract: A mobile robot that autonomously travels in a predetermined space includes a housing, a first camera attached to the housing and configured to generate a first lower image by photographing below the housing, a detector attached to the housing and configured to detect an attitude of the housing; a calculator configured to calculate a velocity of the mobile robot based on the attitude and the first lower image, an estimator configured to estimate a self-position of the mobile robot in the predetermined space based on the velocity; and a controller configured to control the mobile robot to travel based on the self-position.
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公开(公告)号：US20200004263A1
公开(公告)日：2020-01-02
申请号：US16447239
申请日：2019-06-20
Inventor： Fabio DALLA LIBERA , Yuko TSUSAKA
Abstract: A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map and a first path along which the cleaning device is to move; a first identification unit which identifies a feature point which is a point where a distance between the object and the range finding sensor varies; a second identification unit which identifies a virtual point which is, among points on a virtual line segment, a point closest to the first path when the virtual line segment does not intersect with the first path, the virtual line segment extending toward the first path from the feature point, and having a maximum length within the predetermined range-finding range; a converter which converts the first path into a second path which passes through the virtual point; and a motor controller which causes the cleaning device to move along the second path.
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