Unlock instant, AI-driven research and patent intelligence for your innovation.

Autonomous mobile device, autonomous mobile method, and recording medium

A technology of autonomous mobile device and moving amount, which is applied in the direction of measurement device, autonomous decision-making process, non-electric variable control, etc.

Active Publication Date: 2019-09-27
CASIO COMPUTER CO LTD
View PDF1 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is a problem that even if there is an error, it cannot be judged whether there is an error in the position of the own device or in the map while the position is estimated without contradiction by the SLAM method.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Autonomous mobile device, autonomous mobile method, and recording medium
  • Autonomous mobile device, autonomous mobile method, and recording medium
  • Autonomous mobile device, autonomous mobile method, and recording medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0032] Below, refer to figure 1 , the autonomous mobile device according to the embodiment of the present invention will be described. The autonomous mobile device 100 moves autonomously according to usage. This use is, for example, for security monitoring, for house cleaning, for pets, for toys, and the like.

[0033] The autonomous mobile device 100 externally includes an imaging unit 41 and a driving unit 42 .

[0034] The imaging unit 41 includes a monocular imaging device (camera). The imaging unit 41 acquires images (frames) at, for example, 30 fps. The autonomous mobile device 100 autonomously moves while recognizing the position of its own device and the surrounding environment in real time based on images sequentially acquired by the imaging unit 41 .

[0035] The driving unit 42 is an independent two-wheel drive type, and is a moving unit including wheels and a motor. The autonomous mobile device 100 can perform forward and backward parallel movement (translatio...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

An object of the autonomous movement device and the autonomous movement method of the present invention is to determine whether or not an error is included in the position of the self-device or the map. For this purpose, the position measurement unit (11) of the autonomous mobile device (100) measures the position of its own equipment. A map storage unit (22) stores created maps. A position estimating unit (13) estimates the position of its own device. A determination unit (14) determines whether the difference between the position measured by the position measurement unit (11) and the position estimated by the position estimation unit (13) is within a predetermined error. A map editing unit (15) edits the map stored in the map storage unit (22) when the determination unit (14) determines that it is not within a predetermined error.

Description

technical field [0001] The invention relates to an autonomous mobile device and an autonomous mobile method. Background technique [0002] Autonomous mobile devices that move autonomously according to usage are becoming popular. For example, an autonomous mobile device that moves autonomously for indoor cleaning is known. In general, such an autonomous mobile device needs to create a map of the actual space and estimate the position of its own device in the actual space. [0003] As a method for creating a map of an actual space, for example, a SLAM (Simultaneous Localization And Mapping) method is known. The basic principle of the SLAM technology using a monocular camera is described in Non-Patent Document 1, which performs a process of alternately estimating the three-dimensionality of the own device by tracking the same feature point from multiple frames of moving images captured by the camera The position (camera position) and the three-dimensional position of the fea...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCA47L11/00G05D1/02G01C21/3859G01C21/3837G01C21/005G05D1/0253G05D1/0272G05D1/0274G06T7/579G06T7/246G05D1/0088G05D1/0246
Inventor 中岛光康
Owner CASIO COMPUTER CO LTD