Mobile body and positioning control method
AssigneeSony Group Corporation
InventorYOSHIKAZU FURUYAMA
Life of this patent
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Abstract
The present technology relates to a mobile body and a positioning control method capable of improving accuracy of positioning control. A mobile body includes: a first sensor capable of measuring three-dimensional information; a second sensor capable of measuring a distance, the second sensor having a minimum measurement distance smaller than a minimum measurement distance of the first sensor, and having a visual field overlapping with a visual field of the first sensor; and a control unit that executes positioning control for an object by switching a sensor to be used among the first sensor and the second sensor on the basis of a distance to the object. The present technology can be applied to, for example, a robot.
Claims18
A mobile body, comprising:
- a first sensor configured to measure three-dimensional information associated with an object;
- a second sensor configured to measure a distance from a part of the mobile body to the object, wherein
- a first minimum measurement distance of the first sensor is greater than a second minimum measurement distance of the second sensor, and
- a first visual field of view of the first sensor overlaps with a second visual field of view of the second sensor;
- and
- a central processing unit (CPU) configured to:
- acquire first distance data from the first sensor, wherein the first distance data is associated with the distance from the part of the mobile body to the object;
- determine, based on the first distance data, that the distance from the part of the mobile body to the object is one of equal to or less than a first threshold, wherein
- the first threshold is a threshold distance within a specific range, and
- a measurement range of the first sensor overlaps with a measurement range of the second sensor in the specific range;
- switch from the first sensor to the second sensor based on the distance from the part of the mobile body to the object that is one of equal to or less than the first threshold;
- acquire second distance data from the second sensor based on the switch from the first sensor to the second sensor, wherein the second distance data is associated with the distance from the part of the mobile body to the object;
- and
- control the mobile body based on the second distance data.
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A positioning control method executed by a mobile body including a first sensor and a second sensor, the positioning control method comprising:
- measuring, by the first sensor, three-dimensional information associated with an object;
- measuring, by the second sensor, a distance from a part of the mobile body to the object, wherein
- a first minimum measurement distance of the first sensor is greater than a second minimum measurement distance of the second sensor, and
- a first visual field of view of the first sensor overlaps with a second visual field of view of the second sensor;
- acquiring first distance data from the first sensor, wherein the first distance data is associated with the distance from the part of the mobile body to the object;
- determining, based on the first distance data, that the distance from the part of the mobile body to the object is one of equal to or less than a first threshold, wherein
- the first threshold is a threshold distance within a specific range, and
- a measurement range of the first sensor overlaps with a measurement range of the second sensor in the specific range;
- switching from the first sensor and the second sensor based on the distance from the part of the mobile body to the object that is one of equal to or less than the first threshold;
- acquiring second distance data from the second sensor based on the switch from the first sensor to the second sensor, wherein the second distance data is associated with the distance from the part of the mobile body to the object;
- and
- controlling the mobile body based on the second distance data.
Dependencies are inferred from the claim text.