Autonomous mobile apparatus, autonomous move method, and storage medium

Abstract

The invention provides an autonomous mobile apparatus, an autonomous move method, and a storage medium. The autonomous mobile apparatus (100) comprises a controller (10) and a memory (20). The controller (10) is configured to acquire environment information that is information of a surrounding environment of the autonomous mobile apparatus (100), based on the acquired environment information, select, as an estimation environment map, an environment map that is suitable for the surrounding environment from among environment maps that are saved in the memory (20), and estimate a location of the autonomous mobile apparatus (100) using the selected estimation environment map and an image of surroundings of the autonomous mobile apparatus (100) that is captured by an imager (33). Through the technical scheme mentioned above, a technology that can reliably judge the position of the autonomous mobile apparatus regardless of the change of the environment is improved.

Description

[0001] Regarding this application, priority is claimed based on Japanese Patent Application No. 2018-42608 filed on Mar. 9, 2018, and the contents of the basic application are incorporated herein by reference. technical field [0002] The present invention relates to an autonomous mobility device, an autonomous mobility method, and a storage medium. Background technique [0003] Autonomous mobile devices that create an environmental map and move autonomously, such as vacuum cleaner robots that automatically clean a room, are gaining popularity. When an image captured by a camera is used to create an environment map, the content of the created environment map is greatly affected by the environment such as lighting. Therefore, if the self-position is estimated using the environment map in an environment different from the environment such as lighting at the time of creating the environment map, the performance of the position estimation will deteriorate significantly. As a te...

AI Technical Summary

Problems solved by technology

However, the so-called landmarks that are not affected by changes in the environment are landmarks (marks) with clear shapes such as white lines on the ground. In an environment without such clear landmarks around, the movement of the autonomous mobile device may change not stable

Therefore, in the existing autonomous mobile devices, there is room for improvement in techniques capable of reliably estimating their own position against changes in the environment.

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