公开(公告)号：US11231722B2

公开(公告)日：2022-01-25

申请号：US16688171

申请日：2019-11-19

Applicant: Panasonic Intellectual Property Management Co., Ltd.

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.

公开(公告)号：US11007645B2

公开(公告)日：2021-05-18

申请号：US16458847

申请日：2019-07-01

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Fabio Dalla Libera ,  Yuko Tsusaka

IPC: B25J9/16 ,  G05D1/02

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.

公开(公告)号：US11977161B2

公开(公告)日：2024-05-07

申请号：US16447239

申请日：2019-06-20

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Fabio Dalla Libera ,  Yuko Tsusaka

IPC: G01S17/89 ,  A47L11/40 ,  B25J11/00 ,  G01S17/931 ,  G05D1/00 ,  G05D1/02

CPC classification number: G01S17/89 ,  A47L11/4061 ,  B25J11/0085 ,  G01S17/931 ,  G05D1/0219 ,  G05D1/0238 ,  A47L2201/04 ,  G05D2201/0215

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.

公开(公告)号：US20240142992A1

公开(公告)日：2024-05-02

申请号：US18411737

申请日：2024-01-12

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Fabio Dalla Libera

IPC: G05D1/246 ,  A47L11/40 ,  G05D1/244 ,  G05D1/646 ,  G05D105/10

CPC classification number: G05D1/246 ,  A47L11/4011 ,  G05D1/244 ,  G05D1/646 ,  A47L2201/04 ,  G05D2105/10

Abstract: A map generation device that generates a route. The map generation device includes: a node detector that detects a node; a node information obtainer that obtains detected node information including location information of the detected node and path information indicating a positional relationship between the detected node and a path connected to the detected node; a node determiner that determines whether the detected node information matches previously-reached node information; a node information adder that adds, to the route map, the detected node information as new previously-reached node information when the node determiner determines a mismatch; and a map corrector that, when the node determiner determines a match, determines that the detected node corresponding to the detected node information and a node corresponding to the previously-reached node information are a same node and corrects the route map.