Processing

Please wait...

Settings

Settings

Goto Application

1. WO2020137312 - POSITIONING DEVICE AND MOBILE BODY

Publication Number WO/2020/137312
Publication Date 02.07.2020
International Application No. PCT/JP2019/046192
International Filing Date 26.11.2019
Chapter 2 Demand Filed 21.07.2020
IPC
G05D 1/02 2020.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G08G 1/00 2006.1
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
G01C 21/30 2006.1
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
CPC
G01C 21/30
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
G05D 1/0234
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0234using optical markers or beacons
G05D 1/0274
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0268using internal positioning means
0274using mapping information stored in a memory device
G05D 2201/0216
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0216Vehicle for transporting goods in a warehouse, factory or similar
G08G 1/00
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
Applicants
  • パナソニックIPマネジメント株式会社 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. [JP]/[JP]
Inventors
  • 小島 拓実 KOJIMA, Takumi
Agents
  • 山尾 憲人 YAMAO, Norihito
  • 岡部 博史 OKABE, Hiroshi
Priority Data
2018-24783228.12.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) POSITIONING DEVICE AND MOBILE BODY
(FR) DISPOSITIF DE POSITIONNEMENT ET CORPS MOBILE
(JA) 測位装置及び移動体
Abstract
(EN)
According to the present invention, a first calculator calculates a relative location and a relative orientation of a vehicle (1) on the basis of a plurality of images captured by an image capturing device (11) mounted in the vehicle (1). A second calculator extracts one marker (4) from the image captured by the image capturing device (11), and calculates an absolute location and an absolute orientation of the vehicle (1) on the basis of the extracted location and orientation of the one marker (4). A correction apparatus (36) corrects the relative location and the relative orientation on the basis of the absolute location and the absolute orientation, and generates a corrected location and a corrected orientation of the vehicle (1). The correction apparatus (36) determines whether the vehicle (1) is turning and generates the corrected orientation not by using a second orientation calculated in a period in which the vehicle (1) is turning, but by using only the second orientation calculated in a period in which the vehicle (1) is not turning.
(FR)
Selon la présente invention, un premier calculateur calcule un emplacement relatif et une orientation relative d'un véhicule (1) sur la base d'une pluralité d'images capturées par un dispositif de capture d'image (11) monté dans le véhicule (1). Un second calculateur extrait un marqueur (4) de l'image capturée par le dispositif de capture d'image (11), et calcule un emplacement absolu et une orientation absolue du véhicule (1) sur la base de l'emplacement et de l'orientation extraits du marqueur (4). Un appareil de correction (36) corrige l'emplacement relatif et l'orientation relative sur la base de l'emplacement absolu et de l'orientation absolue, et génère un emplacement corrigé et une orientation corrigée du véhicule (1). L'appareil de correction (36) détermine si le véhicule (1) tourne et génère l'orientation corrigée non pas à l'aide d'une seconde orientation calculée dans une période dans laquelle le véhicule (1) tourne, mais uniquement à l'aide de la seconde orientation calculée dans une période dans laquelle le véhicule (1) ne tourne pas.
(JA)
第1の計算器は、車両(1)に搭載された撮影装置(11)によって撮影された複数の画像に基づいて、車両(1)の相対位置及び相対姿勢を計算する。第2の計算器は、撮影装置(11)によって撮影された画像から1つのマーカー(4)を抽出し、抽出された1つのマーカー(4)の位置及び姿勢に基づいて車両(1)の絶対位置及び絶対姿勢を計算する。補正器(36)は、絶対位置及び絶対姿勢に基づいて相対位置及び相対姿勢を補正し、車両(1)の補正された位置及び補正された姿勢を生成する。補正器(36)は、車両(1)が旋回中であるか否かを判断し、車両(1)が旋回中である期間に計算された第2の姿勢を使用せず、車両(1)が旋回中ではない期間に計算された第2の姿勢のみを使用して、補正された姿勢を生成する。
Related patent documents
JP2020562955This application is not viewable in PATENTSCOPE because the national phase entry has not been published yet or the national entry is issued from a country that does not share data with WIPO or there is a formatting issue or an unavailability of the application.
EP2019902766This application is not viewable in PATENTSCOPE because the national phase entry has not been published yet or the national entry is issued from a country that does not share data with WIPO or there is a formatting issue or an unavailability of the application.
Latest bibliographic data on file with the International Bureau