公开(公告)号：US20210318690A1

公开(公告)日：2021-10-14

申请号：US17357173

申请日：2021-06-24

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Tsukasa OKADA

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/246

Abstract: A positioning device comprises: an imaging unit that is mounted on the moving body and captures an image of surroundings of the moving body to acquire the captured image; a detector that detects motion information indicating motion of the moving body; a controller that extracts a feature point from the captured image and transforms a coordinate on the captured image of the feature point into position information indicating a spatial position of the feature point in the surroundings; and a storage that stores the position information. The controller searches the captured image for an on-image position corresponding to the spatial position indicated by the position information and computes a positional relationship between the spatial position indicated by the position information and the imaging unit to obtain the position of the moving body in the surroundings. The controller sets, based on the motion information detected by the detector, a reference point for use in searching the captured image for the spatial position.

公开(公告)号：US20230219231A1

公开(公告)日：2023-07-13

申请号：US18121155

申请日：2023-03-14

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Tsukasa OKADA ,  Tomohide ISHIGAMI ,  Yuzuka ISOBE ,  Kozo EZAWA ,  Yoshinari MATSUYAMA ,  Kenji TOKUDA

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  G06T7/73

CPC classification number: B25J9/1697 ,  B25J13/089 ,  B25J19/023 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/30204

Abstract: A target object setting unit sets a position of a target object in a work object. A feature point recognizer detects feature points of a work object from a captured image obtained by an image capturing apparatus, the image including the work object and a holdable object. A first position calculator calculates a position of the target object in a coordinate system of the image capturing apparatus based on the feature points. A second position calculator calculates a position of the holdable object in the coordinate system of the image capturing apparatus based on the captured image. A control signal generator converts the positions of the target object and the holdable object in the coordinate system of the image capturing apparatus, into positions in a coordinate system of the robot arm apparatus, and outputs a first control signal to the robot arm apparatus based on the converted positions of the target object and the holdable object, for moving the holdable object to the position of the target object.

公开(公告)号：US20220366596A1

公开(公告)日：2022-11-17

申请号：US17879127

申请日：2022-08-02

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Ukyou KATSURA ,  Tsukasa OKADA ,  Tomohide ISHIGAMI

IPC: G06T7/70 ,  G06V20/58 ,  G05D1/02

Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.

公开(公告)号：US20220358674A1

公开(公告)日：2022-11-10

申请号：US17874561

申请日：2022-07-27

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Tsukasa OKADA

IPC: G06T7/73 ,  G06T7/246 ,  G06T7/80 ,  G01C19/00

Abstract: A positioning device includes an camera, a detector, and a circuit. The camera is mounted on a moving body, and captures an image of surroundings of the moving body to acquire a captured image. The detector is mounted on the moving body, detects motion of the moving body, and outputs a detection signal indicating a detection result. The circuit processes the detection signal using a correction value for correcting a bias error included in the detection signal without depending on the motion of the moving body. The circuit computes the position of the moving body based on the captured image acquired by the camera and the detection signal processed. If the circuit determines that the moving body is stationary, the circuit updates the correction value of the bias error based on the detection signal output by the detector.

公开(公告)号：US20220366599A1

公开(公告)日：2022-11-17

申请号：US17877008

申请日：2022-07-29

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Tsukasa OKADA ,  Ukyou KATSURA ,  Tomohide ISHIGAMI

IPC: G06T7/73 ,  G06V20/58 ,  G01G19/08

Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from a captured image by, and calculates absolute position and attitude of the vehicle based on position and attitude of the one extracted marker. A reliability calculator calculates reliabilities of the relative position and attitude, and reliabilities of the absolute position and attitude. A position and attitude determiner determines the relative position and attitude as position and attitude of the vehicle when the reliabilities of the relative position and attitude are equal to or larger than the reliabilities of the absolute position and attitude, and otherwise, determines the absolute position and attitude as the position and attitude of the vehicle.