CN-115298516-B - Mapping using static scores for objects

Abstract

An example system includes a sensor to obtain information about objects in an environment and one or more processing devices configured to use the information in generating or updating a map of the environment. The map includes the objects and boundaries or landmarks in the environment. The map includes static scores associated with the objects. The static score represents the likelihood that the object will remain stationary within the environment. This possibility may be intermediate between a specific non-mobility and a specific mobility.

Inventors

• Elias Inman Trane Sorensen

Assignees

• 莫比奥工业机器人有限公司

Dates

Publication Date

20260505

Application Date

20210310

Priority Date

20200319

Claims (18)

1. 1. A system, the system comprising: A sensor for obtaining information about objects in the environment, and One or more of the processing devices may be configured to, the one or more processing devices are configured to Using the information in generating or updating a map of the environment, the map comprising I. the object of the present invention is a method for manufacturing a semiconductor device, Boundaries or landmarks in the environment, A static score associated with each of the objects, each static score having a value between a first value representing a particular immobility of the associated object within the environment over a period of time and a second value representing a particular mobility of the associated object within the environment over the period of time, and Weights through a route or section of a route of the map that includes a respective one of the objects, wherein each weight represents a level of difficulty associated with traversing the respective one of the route or section of the route, wherein the weights are assigned based at least in part on the static score of the object on the respective route, and Using the map, a route through the environment is selected using the weights based at least in part on the static scores.
2. 2. The system of claim 1, further comprising an autonomous vehicle configured to perform positioning based at least in part on the static score as it progresses through the environment.
3. 3. The system of claim 2, wherein at least one of the sensor or the one or more processing devices is included on the autonomous vehicle.
4. 4. The system of claim 2, wherein a static score is associated with at least some of the boundaries or landmarks to indicate that the at least some of the boundaries or landmarks have a particular immobility, and Wherein performing localization includes determining a location of the autonomous vehicle within the environment using the static scores of the at least some of the boundaries or landmarks.
5. 5. The system of claim 2, wherein a static score is associated with at least some of the boundaries or landmarks that represent particular immobility, and wherein the operations for performing positioning comprise: determining first information regarding a location of the autonomous vehicle within the environment using the static scores of the at least some of the boundaries or landmarks, and In the event additional information is desired to establish the location of the autonomous vehicle within the environment, the static score of the object is used to determine second information about the location of the autonomous vehicle within the environment that augments the first information to establish the location of the autonomous vehicle within the environment.
6. 6. The system of claim 5, wherein the additional information is desired to establish the location of the autonomous vehicle within the environment because the first information is insufficient to establish the location.
7. 7. The system of claim 2, wherein a static score is associated with at least some of the boundaries or landmarks and represents a particular immobility, and Wherein the positioning comprises: generating particles in the environment using a particle filter, the particles corresponding to potential locations of future travel of the robot, each of the particles weighted, and The static score of the object is used to change the weight of at least one of the particles.
8. 8. The system according to claim 2, Wherein the one or more processing devices are on the autonomous vehicle, the one or more processing devices comprising: a first processing device for receiving the information from the sensor, and A second processing device for identifying the object based on the information and assigning the static score to the object, and Wherein the first processing device is configured to generate the map, and wherein the second processing device has at least one of a greater clock frequency or a longer word size than the first processing device.
9. 9. The system of claim 1, wherein the static score of the object is based at least in part on I. One or more times of day at which the information was obtained, or A location in the environment where the object is located, or Pose of the object within the environment, or Data about the object provided from an external source.
10. 10. The system of claim 1, wherein the system comprises a map generation system or a route planning system.
11. 11. The system of claim 1, wherein the one or more processing devices are configured to implement a machine learning system comprising a model that can be trained to adjust the static score based on one or more conditions that change over time.
12. 12. The system of claim 1, the system further comprising: a memory storing a database containing attributes of the object; Wherein the one or more processing devices are configured to identify the object based on the attributes in the database and assign the static score based on the identification of the object.
13. 13. The system of claim 1, wherein the static score associated with a first one of the objects is an updated version of an earlier static score assigned to the first one of the objects, the updated version of the earlier static score being based on the sensor detecting the first one of the objects at a later time than when the earlier static score was assigned.
14. 14. The system of claim 1, wherein the sensor is part of a system comprising a plurality of sensors, the plurality of sensors comprising: a light detection and ranging sensor (LIDAR sensor) for detecting first data representing the boundary, and A camera for detecting second data representing the object, the information including the second data, and Wherein the one or more processing devices are configured to generate at least a portion of the map using the first data.
15. 15. The system of claim 14, wherein the plurality of sensors comprises: a plurality of LIDAR sensors, the plurality of LIDAR sensors including the LIDAR sensor, and A plurality of cameras, the plurality of cameras including the camera.
16. 16. The system of claim 14, further comprising an autonomous vehicle configured to perform positioning based at least in part on the static score as it progresses through the environment, and Wherein: i. the LIDAR sensor and the camera are mounted on the autonomous vehicle and directed to view at least a portion of the same area in front of the autonomous vehicle in a direction of travel, or The autonomous vehicle is a first autonomous vehicle and at least one of the plurality of sensors is mounted on a second autonomous vehicle different from the first autonomous vehicle.
17. 17. The system of claim 14, wherein at least one of the plurality of sensors is mounted in the environment and not on an autonomous vehicle.
18. 18. The system of claim 1, wherein the static score of the object is changeable over time.

Description

Mapping using static scores for objects Technical Field The present description generally relates to an exemplary system configured to control autonomous vehicle operation (such as mapping, route planning, and navigation) using scores representing possible mobility of elements. Background An autonomous vehicle, such as a mobile robot, is configured to travel within a space, such as a warehouse. For example, an autonomous vehicle may create a map of a space and plan a route through the space. During movement along the route, the autonomous vehicle may determine its position within space and use that position to control its future movement. Disclosure of Invention An example system includes a sensor to obtain information about objects in an environment and one or more processing devices configured to use the information in generating or updating a map of the environment. The map includes the objects and boundaries or landmarks in the environment. The map includes static scores associated with the objects. The static score represents the likelihood that the object will remain stationary within the environment. This possibility may be intermediate between a specific non-mobility and a specific mobility. Exemplary systems may include one or more of the following features (alone or in combination). The one or more processing devices may be configured to use the map to plan a route through the environment based at least in part on the static score. Planning the route may include determining a path through the environment that avoids the object if the object has a static score below a predefined threshold. The route may include a section including the object, and planning the route may include assigning a weight to the section based at least in part on the static score of the object. The system may include an autonomous vehicle configured to perform positioning based at least in part on the static score as it progresses through the environment. At least one of the sensor or the one or more processing devices may be included on the autonomous vehicle. At least one of the sensor or the one or more processing devices may not be included on the autonomous vehicle. A static score may be associated with at least some of the boundaries or landmarks to indicate that the at least some of the boundaries or landmarks have a particular immobility. Performing localization may include determining a location of the autonomous vehicle within the environment using the static scores of the at least some of the boundaries or landmarks. Performing positioning may include using the static score of the object to determine a location of the autonomous vehicle within the environment. The map may include a plurality of objects including the object. The map may include a static score associated with each of the plurality of objects. The system may be or include a map generation system. The system may be or include a route planning system. A static score may be associated with at least some of the boundaries or landmarks that represent a particular immobility. The system may include an autonomous vehicle configured to perform positioning based at least in part on the static score as it progresses through the environment. The operations for performing positioning may include determining first information regarding a location of the autonomous vehicle within the environment using the static scores of the at least some of the boundaries or landmarks. The operations for performing positioning may include determining second information regarding the location of the autonomous vehicle within the environment using the static score of the object if additional information is desired to establish the location of the autonomous vehicle within the environment. The second information may augment the first information to establish the location of the autonomous vehicle within the environment. The additional information may be desired to establish the location of the autonomous vehicle within the environment because the first information is insufficient to establish the location. The operation for performing positioning may include generating particles in the environment using a particle filter. The particles may correspond to potential locations of future travel of the robot. Each of the particles may be weighted. The operations for performing positioning may include using the static score of the object to change a weight of at least one of the particles. The static score of the object may be based at least in part on one or more times of day at which the information was obtained. The static score of the object may be based at least in part on a location in the environment in which the object is located. The static score of the object may be based at least in part on a pose of the object within the environment. The static score may be based at least in part on data about the object provided from an external source. The one or more processing devices may b