Abstract: A movement amount detection system capable of accurately detecting a movement amount at a reference point of a moving body is provided. A movement amount detection system calculates a second movement amount at the reference point by using first movement amounts each of which is detected based on image data acquired by a respective one of the plurality of optical sensors, and inversely calculates a third movement amount at each of the plurality of places where a respective one of the plurality of optical sensors is disposed from the second movement amount, and the arithmetic processing unit determines an optical sensor that should be excluded in the calculation of the movement amount at the reference point of the moving body based on a difference between the first movement amount and the third movement amount at each of the plurality of optical sensors.

Abstract: A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot 1 constituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Abstract: A movement amount detection system capable of accurately detecting a movement amount at a reference point of a moving body is provided. A movement amount detection system calculates a second movement amount at the reference point by using first movement amounts each of which is detected based on image data acquired by a respective one of the plurality of optical sensors, and inversely calculates a third movement amount at each of the plurality of places where a respective one of the plurality of optical sensors is disposed from the second movement amount, and the arithmetic processing unit determines an optical sensor that should be excluded in the calculation of the movement amount at the reference point of the moving body based on a difference between the first movement amount and the third movement amount at each of the plurality of optical sensors.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot 1 constituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Abstract: A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into an arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of a conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot constituting a safety cover, and an object being stored in the shelf. The robot control unit disables the intrusion detection sensor to allow a robot arm to perform a work by protruding from the shelf when the clearance distance becomes less than or equal to a present high-speed work allowance threshold.

Abstract: A movement planning apparatus includes: an acquiring unit configured to acquire an environmental map in which a no-entry area is indicated for each of turning angles that a moving robot may have; and a planning unit configured to search for a moving path that allows at least one search branch to be extended from a departure point to a destination point based on the environmental map without making a change in the turning angle become discontinuous and without passing the no-entry area, and determine the turning angle on the moving path to the destination point based on a predetermined condition.

Abstract: An environment arrangement robot includes a map creation unit that divides the target space into a plurality of cell spaces and provides an evaluation value to each of the cell spaces, in which the evaluation value indicates a probability of whether or not there is an object in the corresponding cell space, and an environment change unit that changes, among the plurality of cell spaces, a specific cell space having the evaluation value within a range evaluated that the probability of whether or not there is an object in the specific cell is low in such a way that the probability that the object is present will become greater or change a surrounding cell space in such a way that the specific cell space will be excluded from the measurement by the distance sensor.

Abstract: The moving amount detection device includes: a plurality of optical sensors; a moving amount acquisition unit configured to acquire a moving amount of the moving body by using image data acquired from the optical sensors; and an arithmetic processing unit configured to detect the moving amount of the moving body in a coordinate system of a reference position on the moving body by performing arithmetic processing using the moving amount of the moving body in the predetermined coordinate systems of each of the plurality of optical sensors, wherein the plurality of optical sensors are disposed so that three or more of them are not arranged on the same straight line and the predetermined coordinate systems that are respectively set in the plurality of optical sensors have angles different from each other with respect to the coordinate system in the reference position.

Abstract: A movement planning apparatus includes: an acquiring unit configured to acquire an environmental map in which a no-entry area is indicated for each of turning angles that a moving robot may have; and a planning unit configured to search for a moving path that allows at least one search branch to be extended from a departure point to a destination point based on the environmental map without making a change in the turning angle become discontinuous and without passing the no-entry area, and determine the turning angle on the moving path to the destination point based on a predetermined condition.

Abstract: An environment arrangement robot includes a map creation unit that divides the target space into a plurality of cell spaces and provides an evaluation value to each of the cell spaces, in which the evaluation value indicates a probability of whether or not there is an object in the corresponding cell space, and an environment change unit that changes, among the plurality of cell spaces, a specific cell space having the evaluation value within a range evaluated that the probability of whether or not there is an object in the specific cell is low in such a way that the probability that the object is present will become greater or change a surrounding cell space in such a way that the specific cell space will be excluded from the measurement by the distance sensor.

Abstract: To improve the accuracy of the self position estimation of a mobile robot. A robot measures a distance to an object in the mobile environment by using a range sensor. An environmental map storage unit stores an environmental map containing a plurality of map data each corresponding to a respective one of a plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor from the plurality of map data. Then, the self position estimation unit estimates a self position of the mobile robot based on the selected map data and range data obtained by the range sensor.

Abstract: To provide an autonomous moving body capable of moving with efficiency along a path toward a travel end point while avoiding a collision with a moving obstacle, its control method, and its control system. An autonomous moving body in accordance with the present invention includes means to create a traveling path of the autonomous moving body that extends from a travel start point to a travel end point, means to calculate a point at which a moving obstacle located within the moving area crosses the created traveling path of the autonomous moving body as a collision prediction point, means to calculate a first passage time period during which the moving obstacle passes through the collision prediction point, and means to calculate a second passage time period during which the autonomous moving body passes through the collision prediction point.

Abstract: To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur.

Abstract: A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.

Abstract: To generate an optimal path in a search space represented by a grid.

Abstract: To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur.

Abstract: To improve the accuracy of the self position estimation of a mobile robot. A robot measures a distance to an object in the mobile environment by using a range sensor. An environmental map storage unit stores an environmental map containing a plurality of map data each corresponding to a respective one of a plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor from the plurality of map data. Then, the self position estimation unit estimates a self position of the mobile robot based on the selected map data and range data obtained by the range sensor.

Abstract: To provide an autonomous moving body capable of moving with efficiency along a path toward a travel end point while avoiding a collision with a moving obstacle, its control method, and its control system. An autonomous moving body in accordance with the present invention includes means to create a traveling path of the autonomous moving body that extends from a travel start point to a travel end point, means to calculate a point at which a moving obstacle located within the moving area crosses the created traveling path of the autonomous moving body as a collision prediction point, means to calculate a first passage time period during which the moving obstacle passes through the collision prediction point, and means to calculate a second passage time period during which the autonomous moving body passes through the collision prediction point.