Embodiments of the present invention relates to a self-moving apparatus and a method for controlling same, the self-moving apparatus including: a housing; a movement module for driving the housing to move; an ultrasonic module configured to transmit an ultrasonic signal and receive an echo signal formed through reflection of an obstacle; and a control module installed on the housing and connected to the ultrasonic module, to implement an ultrasonic detection function by processing the echo signal, thereby controlling a movement mode of the movement module. The control module can control disabling of the ultrasonic detection function according to a received preset signal.

A cart that follows a transmission module based on position information of the transmission module and a method for moving the cart are provided. According to an embodiment of the present disclosure, the cart accumulatively stores the position information of the transmission module and generates a moving path based on the position information of the transmission module and moves.

In one embodiment, a method is provided. The method includes determining a first reference line representing a path through an environment for an autonomous driving vehicle. The method also includes determining a speed constraint function based on a set of speed limits associated with the environment, a set of curvatures of the path, and a set of obstacles in the environment, wherein the speed constraint function comprises a continuous function. The method further includes determining a set of speeds for the path through the environment based on the speed constraint function. The method further includes controlling the autonomous driving vehicle based on the path and the set of speeds.

Method and systems for generating vehicle motion planning model simulation scenarios are disclosed. The system receives a base simulation scenario with features of a scene through which a vehicle may travel. The system then generates an augmentation element with a simulated behavior for an object in the scene by: (i) accessing a data store in which behavior probabilities are mapped to object types to retrieve a set of behavior probabilities for the object; and (ii) applying a randomization function to the behavior probabilities to select the simulated behavior for the object. The system will add the augmentation element to the base simulation scenario at the interaction zone to yield an augmented simulation scenario. The system will then apply the augmented simulation scenario to an autonomous vehicle motion planning model to train the motion planning model.

A moving body includes: a main body section provided with a moving mechanism; a peripheral information detection sensor configured to detect an obstacle peripheral to the main body section; and a control section configured to cause the main body section to autonomously travel by controlling the moving mechanism based on information regarding the peripheral obstacle detected by the peripheral information detection sensor, and configured to cause information relating to the peripheral obstacle, in a direction of progress of the main body section, to be displayed in a surrounding area of the main body section.

A computer system for planning mobile robot trajectories, the computer system comprising: an input configured to receive a set of scenario description parameters describing a scenario and a desired goal for the mobile robot therein; a runtime optimizer configured to compute a final mobile robot trajectory that substantially optimizes a cost function for the scenario, subject to a set of hard constraints that the final mobile robot trajectory is guaranteed to satisfy; and a trained function approximator configured to compute, from the set of scenario description parameters, initialization data defining an initial mobile robot trajectory. The computer system is configured to initialize the runtime optimizer with the initialization data, in order to guide the optimizer from the initial mobile robot trajectory to the final mobile robot trajectory that satisfies the hard constraints, the function approximator having been trained on example sets of scenario description parameters and ground truth initialization data for the example sets of scenario description parameters.

An outdoor treatment system has an autonomous mobile outdoor treatment robot and a sensor and control device. The outdoor treatment robot has a chassis and a contact element. The chassis is designed to execute a travelling movement of the outdoor treatment robot in a direction of travel. The contact element is designed to execute an avoiding movement in an avoiding direction as a result of the travelling movement in the direction of travel and contact between an obstacle and a lower contact point below a height limit and to execute a detection movement in a detection direction as a result of the travelling movement in the direction of travel and contact between an obstacle and an upper contact point at or above the height limit and is mounted so that it can move with respect to the chassis, wherein the avoiding direction and the detection direction are different. The sensor and control device is designed to detect the detection movement or a movement caused by the detection movement, and to control a protective function of the outdoor treatment robot triggered by the detected detection movement or the detected movement. The sensor and control device does not detect or evaluate the avoiding movement or a movement caused by the avoiding movement.

A detecting device including an optical sensor includes: a cover member that is arranged at least partially around the optical sensor and is rotatable about a first rotation axis; and a rotation sensor configured to detect rotation of the cover member.

An autonomous cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes operating a drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with a side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface.

Implementations of the disclosed subject matter provide a device of a mobile robot may include a motor to drive a drive system to move the mobile robot in an area, and a light source to output ultraviolet light. The device may include at least one first sensor to determine at least one of an orientation of the mobile robot, a location of the mobile robot, and/or when the light source is within a predetermined distance of an object in the area. The device may include a controller, communicatively coupled to the drive system, the light source, and the at least one first sensor to control the drive system so as to stop or move the mobile robot before the light source is within the predetermined distance of the object based on at least a signal received from the at least one first sensor.