US 12,130,634 B2
Mobile object control device and mobile object control method
Ryo Watanabe, Tokyo (JP); Nozomu Ikeda, Tokyo (JP); and Mikio Nakai, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/625,266
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Jun. 12, 2020, PCT No. PCT/JP2020/023216
§ 371(c)(1), (2) Date Jan. 6, 2022,
PCT Pub. No. WO2021/010068, PCT Pub. Date Jan. 21, 2021.
Claims priority of application No. 2019-131074 (JP), filed on Jul. 16, 2019.
Prior Publication US 2022/0253058 A1, Aug. 11, 2022
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/027 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0272 (2013.01); G05D 1/0274 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A mobile object control device, comprising:
a sensor configured to measure a plurality of sensor values associated with a mobile object, wherein
the sensor is mounted on the mobile object that moves autonomously,
a first sensor value of the plurality of sensor values includes an offset value, and
the offset value is based on a temperature change in the mobile object;
a processor configured to:
detect, based on a second sensor value of the plurality of sensor values, a movement state of the mobile object;
detect first cartographic information at a current location of the mobile object, wherein the first cartographic information includes:
information associated with the temperature change in the mobile object, and
information associated with the movement state, of the mobile object, independent of an operation of the mobile object;
determine that the mobile object is in a static state based on each of the movement state of the mobile object and the first cartographic information;
reset the offset value based on the determination that the mobile object is in the static state; and
control the autonomous movement of the mobile object based on the reset offset value;
the mobile object control device further comprising a memory configured to store map information that includes a prohibition point where the mobile object control device is prohibited to determine that the mobile object is in the static state,
the processor further configured to:
detect that the mobile object is in a stopped state;
detect, based on the map information, second cartographic information indicating that the current location of the mobile object is the prohibition point;
determine that the mobile object is in a mobbing state based on each of:
the detection that the mobile object is in the stopped state, and
the second cartographic information;
detect third cartographic information indicating a point, wherein the point is different from the prohibition point;
determine that the mobile object is in the moving state based on the third cartographic information; and
perform, based on each of the third cartographic information and the determination that the mobile object is in the moving state, an update process of registration of the point as the prohibition point in the map information.