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公开(公告)号：US11687089B2
公开(公告)日：2023-06-27
申请号：US16651139
申请日：2018-07-11
Applicant: SONY CORPORATION
Inventor： Ryo Takahashi , Chao Wang , Dai Kobayashi , Masataka Toyoura
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0217 , G05D1/0238 , G05D2201/0207
Abstract: Information regarding an obstacle region and information regarding an empty region are optimally updated to minimize an information amount. In the obstacle region, an obstacle exists in space where a mobile body moves. In the empty region, an obstacle does not exist. According to the disclosure, there is provided an environmental information update apparatus including an update unit that updates information regarding an obstacle region and information regarding an empty region, an obstacle existing in space where a mobile body moves in the obstacle region, the obstacle not existing in the empty region, in which the update unit updates the obstacle region, and updates the empty region on the basis of different periods of elapsed time.
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公开(公告)号：US11592829B2
公开(公告)日：2023-02-28
申请号：US16767593
申请日：2018-11-21
Applicant: Sony Corporation
Inventor： Dai Kobayashi , Ryo Watanabe
Abstract: A control device and a control method can quickly estimate a self-location even when the self-location is unknown. In a case of storing information supplied in a time series detected by LIDAR or a wheel encoder and estimating a self-location by using the stored time-series information, when a position change happens unpredictably in advance such as a kidnap state is detected, the stored time-series information is reset, and then the self-location is estimated again. Example host platforms include a multi-legged robot, a flying object, and an in-vehicle system that autonomously moves in accordance with a mounted computing machine.
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Patent Agency Ranking
公开(公告)号：US11586225B2
公开(公告)日：2023-02-21
申请号：US16991056
申请日：2020-08-12
Applicant: Sony Corporation
Inventor： Chao Wang , Dai Kobayashi , Tatsuya Ishizuka
Abstract: Disclosed herein is a mobile device including a communication section that performs communication with a controller which selectively transmits control signals to a plurality of mobile devices, and a data processing section that performs movement control of the own device. The data processing section confirms whether or not an own-device selection signal which indicates that the own device is selected as a control target device has been received from the controller and, upon confirming reception of the own-device selection signal, performs movement control to cause the own device to move in accordance with a selected-device identification track which indicates that the own device is selected as the control target device.
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4.发明授权公开(公告)号：US11822341B2
公开(公告)日：2023-11-21
申请号：US16956664
申请日：2018-12-14
Applicant: SONY CORPORATION
Inventor： Dai Kobayashi , Ryo Watanabe
CPC classification number: G05D1/0251 , G01S17/42 , G01S17/89 , G06F18/22 , G06T7/74 , G06T2207/10012 , G06T2207/30252
Abstract: Provided are a control device, a control method, and a mobile object that enable distinction among positions and accurate estimation of a self-position even in an environment where different positions include many similar feature amounts in surroundings and are thus likely to be erroneously detected as being the same position. In accordance with a place corresponding to the self-position, an image feature amount is extracted from an image of surroundings to which a mask has been added on the basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position, and the image feature amount and positional information regarding the self-position are associated with each other and registered in a position/image feature amount database (DB).
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公开(公告)号：US11500386B2
公开(公告)日：2022-11-15
申请号：US16645174
申请日：2018-09-04
Applicant: Sony Corporation
Inventor： Dai Kobayashi , Takamori Yamaguchi , Ryo Watanabe
Abstract: An action plan is generated even when the own position is unknown in order to move autonomously. A route is planned for each position constituting an own-position candidate on the basis of status of surroundings. Multiple candidates of an action plan constituting multiple action candidates are generated on the basis of the planned routes. An evaluation value is set to each of the generated multiple action plan candidates. The action plan is determined using the action plan candidates in accordance with their evaluation values. This technology is applied advantageously to multi-legged robots, flying objects, and onboard systems each controlled by an onboard computer to move autonomously.
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公开(公告)号：US20210026356A1
公开(公告)日：2021-01-28
申请号：US16645174
申请日：2018-09-04
Applicant: Sony Corporation
Inventor： Dai Kobayashi , Takamori Yamaguchi , Ryo Watanabe
Abstract: An action plan is generated even when the own position is unknown in order to move autonomously. A route is planned for each position constituting an own-position candidate on the basis of status of surroundings. Multiple candidates of an action plan constituting multiple action candidates are generated on the basis of the planned routes. An evaluation value is set to each of the generated multiple action plan candidates. The action plan is determined using the action plan candidates in accordance with their evaluation values. This technology is applied advantageously to multi-legged robots, flying objects, and onboard systems each controlled by an onboard computer to move autonomously.
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公开(公告)号：US11537131B2
公开(公告)日：2022-12-27
申请号：US16763216
申请日：2018-11-06
Applicant: SONY CORPORATION
Inventor： Dai Kobayashi , Takamori Yamaguchi , Ryo Watanabe
IPC: G05D1/02 , G01S17/931 , G01C3/08 , G01S17/89
Abstract: The present disclosure relates to a control device, and a control method, a program, and a mobile body that enable efficient search for surrounding information when it is in an own position indefinite state. When it is in an own position indefinite state, on the basis of an own position, obstacle position information around oneself, and information of a surface sensing possible range of a surface sensing unit including a stereo camera for determining the own position, information of a surface-sensed area of an obstacle is recorded, and a search route is planned on the basis of the information of the surface-sensed area of the obstacle. The present technology can be applied to a multi-legged robot, a flying body, and an in-vehicle system that autonomously move according to a mounted computer.
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