Autonomous mobile device and autonomous mobile system

Abstract

The present invention provides an autonomous mobile device and an autonomous mobile system, which have a reception section (110) as an antenna section that receives output information; an angle estimation section (134) that estimates a direction of arrival of the output information; a reception strength determination section (132) that determines a reception strength of the output information in the estimated direction of arrival; a motion control section (135) that generates motion direction information including a motion direction for moving the autonomous mobile device (100) in correspondence with the magnitude or change of the reception strength and the estimated direction of arrival; and a drive section (160) that generates drive information corresponding to the motion direction information.

Description

Technical Field

[0001] This invention relates to an autonomous moving device and an autonomous moving system that autonomously reaches a target object based on output information from the target object. Background Technology

[0002] Autonomous vehicles employing SLAM (Simultaneous Localization and Mapping) have long been known. For example, by using external sensors such as cameras or laser sensors, along with built-in sensors like encoders or gyroscopes, autonomous vehicles infer their position, automatically generate driving paths, and can automatically avoid obstacles without being limited to fixed routes. These autonomous vehicles do not require infrastructure such as buried wires or ground markings. SLAM using cameras is sometimes called Visual SLAM, while SLAM using laser sensors is sometimes called LiDAR SLAM.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent document 1: Japanese Patent Application Publication No. 2020-181485. Summary of the Invention

[0006] The technical problem that the invention aims to solve

[0007] For example, the unmanned transport robot system disclosed in Patent Document 1 includes: an unmanned transport vehicle capable of traveling on a road surface between multiple workstations; a robot mounted on the unmanned transport vehicle; and sensors mounted on the robot for detecting the state of the road surface. Furthermore, the unmanned transport robot system includes a control unit that controls the robot and the unmanned transport vehicle, and the robot is equipped with sensors at locations capable of detecting the state of the road surface surrounding the unmanned transport vehicle. Moreover, the control unit is disclosed to control the unmanned transport vehicle based on the road surface state obtained through the sensors.

[0008] However, in the aforementioned prior art, the unmanned transport vehicle requires sensors, robots, and a control unit to control both the robot and the unmanned transport vehicle, resulting in a complex structure and increased costs. In particular, because the sensors in the aforementioned prior art are cameras that acquire two-dimensional images, the structure of the unmanned transport vehicle becomes even more complex, further increasing costs.

[0009] This invention was made in view of the problems existing in the prior art. Furthermore, the object of this invention is to provide an autonomous mobile device and system that, in mobile devices such as unmanned transport vehicles, can employ a simple structure, reduce costs, and autonomously reach the target object.

[0010] Technical means for solving problems

[0011] To address the aforementioned problems, one aspect of the present invention provides an autonomous mobile device that receives output information from a target object and autonomously moves to the target object. The autonomous mobile device includes: an antenna unit that receives the output information; an angle estimation unit that estimates the direction of arrival of the output information; a reception strength determination unit that determines the reception strength of the output information from the estimated direction of arrival; an action control unit that generates movement direction information, corresponding to the magnitude or change of the reception strength and the estimated direction of arrival, including movement direction information for moving the autonomous mobile device; and a drive unit that generates drive information corresponding to the movement direction information.

[0012] To address the aforementioned problems, another aspect of the autonomous mobility system of the present invention includes an autonomous mobility device and a target object, wherein output information is output periodically or irregularly, and the autonomous mobility device has a receiving unit comprising a plurality of receiving elements for receiving output information.

[0013] Invention Effects

[0014] According to the present invention, a simple structure can be adopted in mobile devices such as unmanned transport vehicles to reduce costs and enable them to autonomously reach the target object. Attached Figure Description

[0015] Figure 1 This is a schematic diagram illustrating the operational overview of an autonomous mobility system including an autonomous mobility device in several embodiments.

[0016] Figure 2 This is a block diagram illustrating an example of the structure of an autonomous mobile device with multiple implementations.

[0017] Figure 3 It means to use Figure 2 A flowchart illustrating an example of the operation of the autonomous mobile system of the shown autonomous mobile device.

[0018] Figure 4 It means Figure 3 The flowchart shown is an example of a flowchart detailing step S500.

[0019] Figure 5 It means Figure 3The flowchart shown is another example of a detail of step S500 in the flowchart.

[0020] Figure 6 It means Figure 3 The flowchart shown is another example of a detail of step S500 in the flowchart. Detailed Implementation

[0021] Hereinafter, an example of the autonomous mobile device and autonomous mobile system according to this embodiment will be described in detail with reference to the accompanying drawings. Furthermore, the embodiments described below represent either included or specific examples. The numerical values, shapes, materials, constituent elements, the placement and connection methods of constituent elements, steps, and the order of steps shown in the following embodiments are merely examples and are not intended to limit the present invention. Additionally, in the constituent elements of the following embodiments, constituent elements not described in the independent technical solution representing the highest-level concept are described as arbitrary constituent elements. Furthermore, for ease of explanation, the aspect ratios in the accompanying drawings may be exaggerated and differ from the actual ratios.

[0022] Furthermore, in the following embodiments and their variations, there are cases where the same constituent elements are included. For the same constituent elements, common reference numerals are used, and repeated descriptions are omitted.

[0023] (Overview of autonomous mobile devices and autonomous mobile systems)

[0024] The autonomous mobile device described in this embodiment has a structure that allows it to autonomously reach a target object, for example, within the interior space of a structure such as a factory. Furthermore, by using a propeller or similar device capable of air movement in the mobile mechanism, a structure can be constructed that allows a flying vehicle, such as a drone, to autonomously reach a target object. It can be used in the interior spaces of mobile vehicles such as passenger cars and buses, airplanes, spacecraft, ships, submarines, and structures such as residential buildings and offices, and factories, or, depending on the situation, in the external space. The autonomous mobile device is characterized by avoiding obstacles and reaching the target object based on information output by the target object, without using camera devices such as cameras or radar. There are no particular limitations on the information output by the target object; for example, radio waves or high-frequency electromagnetic waves can be used. The autonomous mobile device can receive beacons or similar devices through multiple antennas, use arrival direction estimation technology to estimate the direction of the radiating beacon or similar target object, and move in the estimated direction. When an obstacle exists outside the line of sight between the target object and the autonomous mobile device, the autonomous mobile device may move towards the direction of a beacon reflected by the obstacle, or it may receive a beacon directly from the target object during its movement. In this case, because the autonomous mobile device can change its direction of movement to the direction of the target object while moving towards the obstacle, it can avoid the obstacle and reach the target object. Furthermore, when an obstacle exists in the line of sight between the target object and the autonomous mobile device, the beacon's reception intensity vibrates as the autonomous mobile device moves towards the obstacle, allowing the autonomous mobile device to detect the obstacle's presence. In this way, the autonomous mobile device can infer the direction of the beacon's arrival and continue moving towards the direction of stronger beacon reception, thus potentially reaching the target object while avoiding obstacles.

[0025] As described above, the autonomous mobile device of the present invention does not require a camera device such as a CCD camera or a radar system used in the prior art for path searching. That is, the autonomous mobile device of the present invention has multiple antennas, and a control unit and a drive unit that measure the strength of the information and direct the information to the direction of arrival, thereby enabling it to reach the target object from which the information is output. In other words, the autonomous mobile device employs a simple structure, reduces costs, and can autonomously reach the target object.

[0026] Next, refer to Figure 1The operating principles of the autonomous mobile device 100 and the autonomous mobile system 1000, which include multiple embodiments, are summarized below. First, the autonomous mobile device 100 receives radio waves from a beacon transmitted from a transmitting device 200 located at a target position. Because the line of sight between the autonomous mobile device 100 and the transmitting device 200 is blocked, the autonomous mobile device 100 receives the beacon radio waves via path K3 → path K2 → path K1. Furthermore, depending on the size of the obstacle J2 and the frequency of the beacon, the autonomous mobile device 100 may also receive the beacon from the line of sight direction; it is assumed that the beacon received via path K1 has the greatest strength. The autonomous mobile device 100 infers the direction of the strongest radio wave based on the multiple antennas mounted on it and moves in the inferred direction of the radio wave.

[0027] The autonomous mobile device 100, moving along path K1 towards obstacle J1, continues to move along path K1 towards obstacle J1 as the beacon reception strength increases with approach. However, upon reaching position x1, the transmitting device 200 appears in front of the autonomous mobile device 100's line of sight, allowing the autonomous mobile device 100 to directly receive beacon TS3. Therefore, at position x1, the reception strength of beacon TS3 is stronger than that of beacon TS2, so the autonomous mobile device 100 changes its direction of movement to the direction of arrival of beacon TS3. The autonomous mobile device 100 can move along the line of arrival of beacon TS3, but in this case, there is a possibility of collision with obstacle J2. Therefore, based on the fact that beacon TS3 could not be received along path K1 up to position x1, the strong reception of beacon TS3 at position x1, and the inferred direction of arrival, the autonomous mobile device 100 identifies the presence of obstacle J2 and moves in the direction of path K2. The autonomous mobile device 100, moving in the direction of path K2, recognizes the presence of obstacle J1 and can deduce path K3 based on the fact that the direction of arrival of the beacon output from the transmitting device 200 gradually expands and the fact that it changed its direction of movement at position x1. Therefore, the autonomous mobile device 100 changes its direction of travel toward the transmitting device 200 at position x2 and is able to reach the transmitting device 200.

[0028] Furthermore, based on the method described above, the autonomous mobile device 100 can avoid obstacles in 3D space and reach the target object. Therefore, the autonomous mobile device 100 can also be used in space mobile bodies such as drones, helicopters and airplanes, mobile bodies such as spacecraft and submarines, and transport mobile bodies in the internal or external spaces of structures such as residential buildings and offices, factories, etc.

[0029] Furthermore, some of the functions of the autonomous mobile device 100, excluding the mobility mechanism and antenna mechanism, can be integrated into ground-based mobile bodies, spatial mobile bodies, and transport mobile bodies such as vehicles. Additionally, the functions of the autonomous mobile device 100, excluding the mobility mechanism and antenna mechanism, can also be independently configured with the aforementioned mobile bodies. Furthermore, the autonomous mobile system 1000 includes the aforementioned autonomous mobile device 100 and transmitting device 200. Moreover, a camera device independent of the mobility control mechanism is installed in the autonomous mobile device 100, and the mobility information of the autonomous mobile device 100 is transmitted to an electronic device (not shown) used by the user, allowing the user to monitor the mobility status from the electronic device. The electronic device can be a user-accessible electronic device such as a computer configured in the cloud, a mobile phone carried by the user, a PHS phone, a smartphone, or a portable information terminal.

[0030] (Details about autonomous mobile devices)

[0031] Reference Figure 2 This section describes the detailed structure of an autonomous mobile device 100 according to multiple embodiments. The autonomous mobile device 100 includes a receiving unit 110 with multiple antennas, a switching unit 120 for selecting the receiving element of the receiving unit 110, a control unit 130, a storage unit 140, and a driving unit 160. Furthermore, an information acquisition unit 150, a movement unit 170, and a display unit 180, as described later, may also be included in the autonomous mobile device 100. Additionally, according to... Figure 2 The drive information output by the drive unit 160 drives the moving parts 170, such as wheels, belts, tracks, and propellers, to enable the autonomous mobile device 100 to move. Additionally, there are cases where the autonomous mobile device 100 has multiple information acquisition units 150, and these information acquisition units 150 are generally not needed for path searching. Furthermore, the receiving unit 110 generally has multiple receiving elements.

[0032] The receiving unit 110 is configured to receive any output information from an information output device (not shown). When the output information from the information output device is radio waves or high-frequency electromagnetic waves, the receiving unit 110 can be an antenna. For example, the receiving unit 110 can be an array antenna composed of multiple antenna elements. When the receiving unit 110 is an array antenna, the arrangement of the antenna elements constituting the array antenna can be arbitrary. For example, the antenna elements can be arranged in a row along the travel direction of the autonomous mobile device 100 or in a direction perpendicular to the travel direction. Alternatively, the antenna elements can be arranged in a rectangular or ring shape on a plane that does not intersect the travel direction of the autonomous mobile device 100 or intersects the plane. Furthermore, the antenna elements can be arranged in a curved shape. Additionally, the array antenna does not have to be a single antenna; multiple array antennas can be configured to improve the accuracy of predicting the arrival direction of radio waves, etc. Furthermore, the receiving unit 110 can also be composed of multiple antennas that are directional in mutually different directions. In this case, the arrangement of the multiple antennas can be the same as that of the antenna elements of the array antenna. Alternatively, it can be configured such that a partition plate of metal or the like is placed on at least one omnidirectional antenna, enabling the detection of the intensity of radio waves or high-frequency electromagnetic waves in the direction surrounded by the partition plate.

[0033] The switch unit 120 is configured to select any one of the receiving elements of the receiving unit 110 and output information such as the radio waves received by the receiving element. Therefore, the switch unit 120 is only switched by the number of receiving elements in the receiving unit 110, and can be configured such that one switch corresponds to one receiving element. For example, if the receiving unit 110 is an array antenna, multiple antenna elements are selected, and information such as the intensity and phase of the radio waves received by the multiple antenna elements is output to the phase difference determination unit 131 and the reception intensity determination unit 132, which will be described later. In addition, it is preferable that the switch unit 120 is a semiconductor switch, but it is not limited to this, and any switch capable of switching electrical connections can be used.

[0034] The control unit 130 can be implemented using a microcomputer equipped with a CPU (Central Processing Unit). A computer program (autonomous movement program) for enabling the microcomputer to function as the control unit 130 is installed in the microcomputer and executed. Thus, the microcomputer functions as multiple information processing units within the control unit 130. Furthermore, this specification illustrates an example of implementing the control unit 130 in software; however, dedicated hardware for performing each information processing task can also be prepared to construct the control unit 130. This dedicated hardware includes devices such as application-specific integrated circuits (ASICs) or existing types of circuit components arranged to perform the functions described in the embodiments. Alternatively, the multiple information processing units included in the control unit 130 can be constructed using separate hardware. Moreover, the control unit 130 can also be used as an electronic control device for controlling a mobile body that is an object of autonomous movement.

[0035] For example, when the autonomous mobile device 100 is installed on a mobile body, the movement control function of the autonomous mobile device 100 may be included in the function of an electronic control device that controls a structure unrelated to the movement of the mobile body. In this case, an autonomous movement program that implements the autonomous movement function of the autonomous mobile device 100 may be added to the electronic control program of the electronic control device. Alternatively, the hardware that implements the autonomous movement function of the autonomous mobile device 100 may be added to the hardware of the electronic control device. Furthermore, it may be configured such that at least a portion of the autonomous movement program of the autonomous mobile device 100 is included in at least a portion of the electronic control program of the electronic control device. Furthermore, it may be configured such that at least a portion of the hardware of the autonomous mobile device 100 is included in at least a portion of the hardware of the electronic control device. In addition, as described above, the autonomous movement function of the autonomous mobile device 100 may also be included in the function of an electronic control device that has any function of moving within the interior space of a building such as a residence or office, or in the external space as appropriate.

[0036] The control unit 130 comprises multiple information processing units, including a phase difference determination unit 131, a reception strength determination unit 132, a receiving element selection unit 133, an angle estimation unit 134, an action control unit 135, and a contact determination unit 136.

[0037] The phase difference determination unit 131 analyzes the received signals from multiple receiving elements of the receiving unit 110 selected by the receiving element selection unit 133, and determines the phase difference between the received signals based on the difference in their arrival times. The determined phase difference is output to the angle estimation unit 134. Furthermore, even when the autonomous moving device 100 is stopped or moving, the phase difference determination unit 131 can also determine multiple phase differences between multiple received signals.

[0038] The reception strength determination unit 132 determines the reception strength of multiple receiving elements from the receiving unit 110 selected by the receiving element selection unit 133. The determined reception strength is output to the angle estimation unit 134. Alternatively, the determined reception strength can also be output to the receiving element selection unit 133. Furthermore, the reception strength can be expressed in any unit related to reception strength, or it can be expressed as relative information. The reception strength can be output as reception strength information to the angle estimation unit 134 or the receiving element selection unit 133 in any format.

[0039] The receiving element selection unit 133 selects an element for receiving radio waves or the like from the plurality of receiving elements in the receiving unit 110. Preferably, one or more receiving elements are selected. In order to determine the phase difference in the phase difference determination unit 131, the receiving element selection unit 133 selects a plurality of receiving elements. Alternatively, receiving elements may be selected sequentially, and one or more receiving elements that are determined to have a strong receiving strength in the receiving strength determination unit 132 may be selected. Then, the direction of arrival of the radio waves or the like is determined in the angle estimation unit 134 via the phase difference determination unit 131.

[0040] The angle estimation unit 134 uses several sets of two antenna elements and can employ arbitrary arrival direction estimation methods, such as pre-calculating multiple received responses relative to the incoming wave based on the phase difference of the antenna elements, importing an evaluation function, and using the angle with the largest evaluation function value as the arrival direction. Alternatively, the angle estimation unit 134 can also estimate the arrival direction based on the phase difference of multiple antenna elements. For example, it can use MUSIC (Multiple Signal Classification) and Root-MUSIC methods that utilize the eigenvalues ​​and eigenvectors of the correlation matrix. It can also use the ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) method. The estimated angle is stored as angle information from an arbitrary reference axis in the angle information storage unit 141 of the storage unit 140. Furthermore, there is also a case where the estimated angle information is stored in the angle information storage unit 141 in association with the received strength determined in the received strength determination unit 132. Furthermore, there is also a case where the inferred angle information is stored in the angle information storage unit 141 in association with the determined reception strength and time information. The time information can be received from outside the autonomous mobile device 100 by the receiving unit 110, and the autonomous mobile device 100 can also keep track of time using a timing unit (not shown).

[0041] Furthermore, there may be a case where multiple angles are predicted in the angle prediction unit 134. When multiple angles are predicted, the angle prediction unit 134 can also store each angle in association with the received intensity in the angle information storage unit 141, receiving the received intensity at each angle from the received intensity determination unit 132. For example, in the presence of obstacles, there may be cases where electromagnetic waves reflected by the obstacles and electromagnetic waves propagating along the line of sight are received by the autonomous mobile device 100 at different angles. Additionally, there may be cases where electromagnetic waves are reflected by obstacles and further reflected by other obstacles, and are received by the autonomous mobile device 100 at different angles. Thus, there may be cases where reflected waves from obstacles are reflected multiple times to reach the autonomous mobile device 100. Essentially, the autonomous mobile device 100 moves in the direction of high received intensity, but due to obstacles, there is a possibility that it cannot move in that direction of high received intensity, or that it may be following an incorrect path. In this way, since it is possible that the autonomous mobile device 100 may have to move in the direction of other reflected waves, in the case of speculating multiple angles, the autonomous mobile device 100 stores the information in the angle information storage unit 141 in association with the received intensity.

[0042] The motion control unit 135 basically moves the autonomous mobile device 100 in the direction predicted by the angle estimation unit 134. However, if the reception intensity determined by the reception intensity determination unit 132 in the predicted direction fluctuates periodically, there may be a situation where it is determined that an obstacle exists in the predicted direction after moving an arbitrary distance or time predetermined. For example, there may be a situation where the device approaches the back side of an obstacle that exists between the autonomous mobile device 100 and the target object. In such cases, because the autonomous mobile device 100 receives diffracted waves, the reception intensity of the diffracted waves may fluctuate periodically.

[0043] Furthermore, the motion control unit 135 can calculate the past movement history of the autonomous mobile device 100 based on the movement information stored in the movement direction information storage unit 142, and generate map information. For example, if it is determined that the autonomous mobile device 100 has been moving in the direction estimated based on its current location, the motion control unit 135 can also move the autonomous mobile device 100 in the direction estimated by the angle estimation unit 134, which has the next reception strength. Additionally, if the direction of arrival of a radio wave with a higher reception strength is estimated during movement, the motion control unit 135 may change the movement direction of the autonomous mobile device 100 based on the determination of the contact determination unit 136 (described later). The motion control unit 135 can store the movement direction in association with the movement time or movement distance in that movement direction in the movement direction information storage unit 142. As described above, based on the information stored in the movement direction information storage unit 142, the motion control unit 135 can also calculate the past movement history, generate map information, and avoid taking unsuccessful paths. Furthermore, when time information is associated with movement direction information, the motion control unit 135 may select a past movement path if more than a predetermined time has elapsed. For example, this is because, when the obstacle is a moving object, when the obstacle moves along a past path or around that path, it may overlap with the direction of arrival of the radio waves re-inferred based on the movement of the moving object.

[0044] Furthermore, the motion control unit 135 may maintain the current direction of movement even when the radio wave intensity is very weak or when the direction of arrival of the radio wave cannot be predicted by the angle prediction unit 134. For example, if there is a null point due to interference between radiated and reflected radio waves, the autonomous movement device 100 will move to another point to predict the direction of arrival of the radio wave again.

[0045] Furthermore, when the motion control unit 135 receives contact prediction information or contact information from the contact determination unit 136, it can also change its direction of movement to avoid obstacles. In this case, there may be situations where the changed direction is maintained temporarily or for a predetermined period of time. In addition, there may be situations where the changed direction is not the predicted direction of the radio wave with the strongest reception intensity.

[0046] Furthermore, the motion control unit 135 can also use information such as movement history information, angle information, and radio wave inference direction information to perform machine learning or deep learning, and store the machine learning result information or deep learning result information in the storage unit 140. In addition, the machine learning result information or deep learning result information can also be stored in the storage unit 140 in association with information such as movement direction information, angle information, and radio wave inference direction information.

[0047] There are also cases where the contact determination unit 136 determines, based on the information acquired by the optional information acquisition unit 150, whether there is a possibility that the autonomous moving device 100 will come into contact with an obstacle. Figure 2 The text indicates the presence of an information acquisition unit 150, but the autonomous mobile device 100 can determine whether there is a possibility of contact with an obstacle even without relying on the information acquired by the information acquisition unit 150. For example, if the reception intensity in the direction of movement periodically vibrates, it can be determined that an obstacle exists in the direction of movement. However, considering the effects of attenuation, if the reception intensity in the direction of movement periodically vibrates after moving a predetermined time or distance, the contact determination unit 136 can also determine that an obstacle exists in the direction of movement. Furthermore, if an incoming radio wave with a stronger reception intensity than the direction of movement is predicted, the contact determination unit 136 can determine that an obstacle exists on the past direction of movement between the direction of movement and the direction of the stronger radio wave. Moreover, if the direction of movement is immediately changed to the direction of the stronger radio wave, it can also be determined that there is a possibility that the autonomous mobile device 100 may contact an obstacle in the width direction. In addition, if the change in reception intensity disappears, the contact determination unit 136 can determine that the autonomous mobile device 100 has already contacted an obstacle and cannot perform direction changes such as moving forward or backward. Furthermore, if it is deduced that the direction of the incoming radio wave changes in a rotating manner, the contact determination unit 136 can determine that the autonomous moving device 100 is in contact with an obstacle and is rotating. The contact determination unit 136 can then notify the motion control unit 135 of this determination information.

[0048] When the optional information acquisition unit 150 is present, a contact determination unit 136 determines, based on the acquired information, whether there is a possibility that the autonomous mobile device 100 will come into contact with an obstacle. For example, the information acquisition unit 150 may be a sensor capable of detecting obstacles around the autonomous mobile device 100, such as an infrared sensor or an ultrasonic sensor. When the information acquisition unit 150 detects an obstacle, it sends information about the detected obstacle to the contact determination unit 136. Based on the movement direction and size of the autonomous mobile device 100 and the information about the acquired obstacle, the contact determination unit 136 anticipates that the autonomous mobile device 100 may come into contact with the obstacle and sends contact prediction information to the motion control unit 135. Furthermore, if the contact determination unit 136 determines that the autonomous mobile device 100 has come into contact with an obstacle, it sends contact information to the motion control unit 135.

[0049] Alternatively, the information acquisition unit 150 can also be an imaging element such as a CCD camera. When the information acquisition unit 150 is an imaging element, it is configured such that the imaging part of the imaging element faces the moving direction of the autonomous moving device 100. The contact determination unit 136 can be configured to determine whether an obstacle exists in the video information captured by the imaging element and output the determination result to the motion control unit 135. With this structure, the contact determination unit 136 can analyze obstacle information such as the position, direction, distance, and size of the obstacle based on the video information, and the motion control unit 135 can also select an appropriate direction of radio wave arrival based on the obstacle information. Alternatively, the information acquisition unit 150 can be included simply to provide video information to the user.

[0050] Storage unit 140 is a computer-readable storage medium. For example, storage unit 140 can be ROM (Read Only Memory), EPROM (Erasable Programmable ROM). Alternatively, storage unit 140 can also be EEPROM (Electrically Erasable Programmable ROM), RAM (Random Access Memory), hard disk, etc. Storage unit 140 can also be referred to as a register, cache, main memory (main storage device), etc. Storage unit 140 is capable of storing executable programs (program code), software modules, etc., for autonomous movement in order to implement one embodiment of the present invention.

[0051] In addition, the storage unit 140 includes an angle information storage unit 141, a movement direction information storage unit 142, and a reception intensity information storage unit 143.

[0052] The angle information of the radio wave, which is used in the angle estimation unit 134 to estimate the direction of arrival of the radio wave, is stored in the angle information storage unit 141. There are cases where the angle information is derived from a predetermined reference axis, and where this reference axis is based on the physical contour of the autonomous mobile device 100. For example, this contour can be represented using a 2D relative coordinate system different from the space in which the autonomous mobile device 100 moves, and the line represented by this relative coordinate system can be used as the reference axis. The angle information can also store the estimated received radio wave strength information and the time information of the estimated angle information in association. This is because, under the aforementioned conditions, there are cases where angle information other than the angle information with the strongest received signal strength is used, and there is also a need to compare with past angle information. Furthermore, the angle information can also represent angles that have changed from the initially determined angle, allowing for easy storage in map information creation.

[0053] In the movement direction information storage unit 142, the movement direction information of the autonomous mobile device 100, determined in the motion control unit 135, which is the actual movement direction of the autonomous mobile device 100, can be stored in association with the time information of the start of movement in that movement direction and the time information of the end of movement in that movement direction. Additionally, the time information of the start of movement in that movement direction, the time information of the end of movement in that movement direction, and the time information of movement in that movement direction can also be stored in the movement direction information storage unit 142 in association with the movement direction information. Based on this information, the motion control unit 135 can reproduce the past movement paths of the autonomous mobile device 100. In order to reach a target object, the motion control unit 135 can refer to the past movement paths and select a path that does not follow the same movement path. Furthermore, the contact determination unit 136 can also refer to the past movement paths to infer the position of obstacles. In addition, machine learning or deep learning can also be performed in the control unit 130, and the machine learning result information or deep learning result information is stored in the storage unit 140, which includes the movement direction information storage unit 142. In addition, machine learning results or deep learning results can also be stored in association with information such as movement direction information, angle information, and radio wave inference direction information.

[0054] The reception strength information storage unit 143 can store reception strength information of radio waves received by multiple receiving elements as determined by the reception strength determination unit 132. Additionally, the reception strength of radio waves in the predicted direction of arrival of the received radio waves can also be stored in the reception strength information storage unit 143. Furthermore, the reception strength information can be stored in the reception strength information storage unit 143 in association with the time information for determining the reception strength.

[0055] The drive unit 160 includes a mechanism for driving the moving part 170 in order to move the autonomous moving device 100 in the direction determined by the motion control unit 135. For example, if the drive unit 160 is a tire, the moving part 170 includes a mechanism for rotating the tire; if the moving part 170 is a track, the drive unit 160 includes a mechanism for rotating the track; and if the moving part 170 is a propeller, the drive unit 160 includes a mechanism for rotating the propeller. Furthermore, the drive unit 160 is not limited to the above-described form and can have any drive structure that drives the moving part 170.

[0056] The moving part 170 is a component of the mechanism for moving the autonomous mobile device 100. If the autonomous mobile device 100 is a vehicle, the moving part 170 may be a wheel including tires, or tracks, etc. Alternatively, if the autonomous mobile device 100 is a flying vehicle such as a drone or helicopter, the moving part 170 may be a propeller. Furthermore, the moving part 170 is not limited to the above-described form and may have any moving mechanism capable of moving the autonomous mobile device 100.

[0057] Display unit 180 is optional and can be installed in the autonomous mobile device 100 or placed in a monitoring space separate from the autonomous mobile device 100. It can display image information that confirms the direction of movement of the autonomous mobile device 100. In this way, by checking the image information output to display unit 180, it is possible to confirm whether the autonomous mobile device 100 is moving normally.

[0058] The transmitting device 200 can be positioned around or installed on the target object. Alternatively, the transmitting device 200 may also be the target object itself. The information output by the transmitting device 200 must be information that can be received by the receiving unit 110 of the autonomous mobile device 100. As mentioned above, the information output by the transmitting device 200 can be, for example, radio waves or high-frequency electromagnetic waves, but is not limited to these; it can be electromagnetic waves, vibration waves, etc., of any frequency. Furthermore, the frequency of the radio waves or vibration waves, etc., does not need to be fixed and can change periodically or randomly. Additionally, the transmitting device 200 can be configured to repeatedly scan a predetermined frequency range. Based on frequency changes, even if the autonomous mobile device 100 does not have an information acquisition unit 150, it is easy to determine the presence of an obstacle. Furthermore, the transmitting device 200 can also be a user-used electronic device such as a portable telephone, PHS telephone, smartphone, or portable information terminal.

[0059] The autonomous mobile device 100 of the embodiment may further include a transmitting unit (not shown) that transmits arrival information or abnormal information during movement to an external device wirelessly or via a wired connection. The transmitting unit can transmit the arrival information or abnormal information wirelessly to an external electronic device via so-called mobile communication. Alternatively, wireless communication can be performed based on at least one of the short-range wireless communication standards, such as wireless LAN or Bluetooth (registered trademark). Alternatively, the transmitting unit can also communicate with an external device via a cable (e.g., USB cable, optical fiber). With this structure, other devices can perform subsequent processing corresponding to the receipt of the arrival information or abnormal information.

[0060] The destination of the sending unit can be, for example, a computer configured in the cloud, a user-carried mobile phone, a PHS phone, a smartphone, a portable information terminal, or other user-used electronic device.

[0061] Based on the above structure, mobile devices such as unmanned transport vehicles can adopt a simple structure, reduce costs, and autonomously reach the target object.

[0062] (Examples of the operation of autonomous mobile devices and autonomous mobile systems)

[0063] Next, refer to Figure 3 ,about Figure 2 An example of the basic operation of the autonomous mobile device 100 and the autonomous mobile system 1000 is illustrated using a flowchart. Additionally, refer to... Figure 4 about Figure 3 An example detailing step S500 will be provided. Furthermore, refer to... Figure 5 about Figure 3 Another example of the details of step S500 will be explained. Furthermore, refer to... Figure 6 about Figure 3 Another example of the details of step S500 will be described. Furthermore, the following description will address the case where the output information is radio waves.

[0064] In step S100, the reception strength determination unit 132 determines whether the receiving element of the receiving unit 110 has received output information exceeding a predetermined threshold. The predetermined threshold is any value that can be predetermined in the autonomous mobile device 100 or the autonomous mobile system 1000. Furthermore, the receiving element used to investigate the reception strength can be predetermined or randomly selected. If the receiving element receives output information exceeding the predetermined threshold (step S100: Yes), the autonomous mobile device 100 proceeds to step S200. If the receiving element does not receive output information exceeding the predetermined threshold (step S100: No), the autonomous mobile device 100 returns to step S100.

[0065] In step S200, the reception strength determination unit 132 measures and determines the reception strength for each receiving element, and controls the receiving element selection unit 133 to select the receiving element with the higher reception strength of the output information. The number of receiving elements selected can be arbitrary. Next, the autonomous mobile device 100 proceeds to step S300.

[0066] In step S300, the phase difference determination unit 131 measures and determines the phase difference of the received radio waves between the receiving elements, and outputs the phase difference to the angle estimation unit 134. The angle estimation unit 134, having received the phase difference, estimates the direction of arrival of the radio waves based on the distance between the receiving elements and the necessary reference reception strength. The estimated direction of arrival of the radio waves can be represented using coordinates of the space where the receiving elements are arranged. The estimated direction of arrival of the radio waves is output from the angle estimation unit 134 to the motion control unit 135. Next, the autonomous movement device 100 proceeds to step S400.

[0067] In step S400, the motion control unit 135 calculates the difference between the direction of movement of the autonomous mobile device 100 or the direction of travel of the autonomous mobile device 100 at the stop position and the direction of arrival of the radio wave. Then, the autonomous mobile device 100 proceeds to step S500.

[0068] In step S500, the motion control unit 135 determines the direction of movement of the autonomous moving device 100 and controls the drive unit 160 and the moving unit 170 to move in the determined direction. Furthermore, regarding several specific examples of step 500, using... Figures 4 to 6 The explanation is as follows. Next, the autonomous mobile device 100 proceeds to step S600.

[0069] In step S600, the motion control unit 135 determines whether the autonomous moving device 100 has reached the target object. This can be configured such that the target object emits radio waves, or it can be configured such that radio waves are emitted from a transmitting device 200 disposed around the target object. If the autonomous moving device 100 has reached the target object (step S600: Yes), the autonomous moving device 100 terminates the process. If the autonomous moving device 100 has not reached the target object (step S600: No), the autonomous moving device 100 returns to step S100.

[0070] Based on the above structure, a simple structure can be adopted in mobile devices such as autonomous guidance devices, reducing costs and enabling them to autonomously reach the target object.

[0071] Next, refer to Figure 4 ,about Figure 3 Here is an example illustrating the details of step S500. Figure 4 This means that when the difference between the predicted direction of arrival of the radio wave and the direction of movement of the autonomous mobile device 100 is large, the action of reserving a predetermined time for judgment is taken into account the influence caused by radio wave interference, etc., in order to determine whether the predicted direction of arrival of the radio wave is correct.

[0072] In step S501, the motion control unit 135 determines whether the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 exceeds a predetermined threshold. The predetermined threshold can be any value determined in the autonomous mobile device 100 or the autonomous mobile system 1000. If the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 exceeds the predetermined threshold (step S501: Yes), the motion control unit 135 proceeds to step S502. If the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 is below the predetermined threshold (step S501: No), the motion control unit 135 proceeds to step S505.

[0073] In step S502, the motion control unit 135 decrements the variable N. The value of variable N can be any value determined in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S503.

[0074] In step S503, the motion control unit 135 determines whether variable N is zero. If variable N is zero (step S503: Yes), the motion control unit 135 proceeds to step S504. If variable N is not zero (step S503: No), the motion control unit 135 returns to step S100.

[0075] In step S504, the motion control unit 135 sets the variable N to any value determined in the autonomous mobility device 100 or the autonomous mobility system 1000. Then, the autonomous mobility device 100 proceeds to step S505.

[0076] In step S505, the direction of arrival of the radio wave, as predicted by the motion control unit 135, is determined as the movement direction of the autonomous mobile device 100, and movement direction information is generated. Then, the autonomous mobile device 100 proceeds to step S600.

[0077] Based on the above structure, when the difference between the predicted direction of arrival of the radio wave and the direction of movement of the autonomous mobile device 100 is large, considering the influence caused by radio wave interference, there is a situation where the direction of movement of the autonomous mobile device 100 does not change within a specified time, and the appropriateness of the predicted direction of arrival of the radio wave can be judged.

[0078] Next, refer to Figure 5 about Figure 3 Another example of the details of step S500 will be explained. Figure 5 Indicates in Figure 4 Based on the action, avoid the movement direction that has been passed in the past so that the movement path does not repeat.

[0079] In step S511, the motion control unit 135 determines whether the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 exceeds a predetermined threshold. If the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 exceeds the predetermined threshold (step S511: Yes), the motion control unit 135 proceeds to step S512. If the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 is below the predetermined threshold (step S511: No), the motion control unit 135 proceeds to step S517.

[0080] In step S512, the motion control unit 135 decrements the variable N. The value of variable N can be determined as any value in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S513.

[0081] In step S513, the motion control unit 135 determines whether variable N is zero. If variable N is zero (step S513: Yes), the motion control unit 135 proceeds to step S514. If variable N is not zero (step S513: No), the motion control unit 135 returns to step S100.

[0082] In step S514, the motion control unit 135 sets the variable N to any value determined by the autonomous mobility device 100 or the autonomous mobility system 1000. Then, the autonomous mobility device 100 proceeds to step S515.

[0083] In step S515, the motion control unit 135 determines whether the predicted direction of arrival of the radio wave is consistent with the past movement path. If the predicted direction of arrival of the radio wave is consistent with the past movement path (step S515: Yes), the motion control unit 135 proceeds to step S516. If the predicted direction of arrival of the radio wave is inconsistent with the past movement path (step S515: No), the motion control unit 135 proceeds to step S517.

[0084] In step S516, the motion control unit 135 determines whether there is a direction from which a radio wave with a higher reception strength is coming in sequence. If there is a direction from which a radio wave with a higher reception strength is coming in sequence (step S516: Yes), the motion control unit 135 proceeds to step S515. If there is no direction from which a radio wave with a higher reception strength is coming in sequence (step S516: No), the motion control unit 135 proceeds to step S518.

[0085] In step S517, the motion control unit 135 determines the predicted direction of arrival of the radio wave as the movement direction of the autonomous mobile device 100 and generates movement direction information. Furthermore, if the process proceeds from step S522 or step S523 to step S517, the current movement direction is maintained. Next, the autonomous mobile device 100 proceeds to step S600.

[0086] In step S518, the motion control unit 135 discards the predicted direction of arrival of the radio wave and maintains the current direction of movement of the autonomous mobile device 100. Next, the autonomous mobile device 100 proceeds to step S519.

[0087] In step S519, the motion control unit 135 decrements the variable N. The value of variable N can be determined as any value in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S520.

[0088] In step S520, the motion control unit 135 determines whether variable N is zero. If variable N is zero (step S520: Yes), the motion control unit 135 proceeds to step S521. If variable N is not zero (step S520: No), the motion control unit 135 returns to step S100.

[0089] In step S521, the motion control unit 135 sets the variable N to any value determined in the autonomous mobility device 100 or the autonomous mobility system 1000. Then, the autonomous mobility device 100 proceeds to step S522.

[0090] In step S522, the motion control unit 135 determines whether the received intensity of the received radio waves has changed. If the received intensity has not changed, it can be assumed that the autonomous moving device 100 is unable to move because it is in contact with an obstacle. If the received intensity of the received radio waves has changed (step S522: Yes), the motion control unit 135 proceeds to step S517. If the received intensity of the received radio waves has not changed (step S522: No), the motion control unit 135 proceeds to step S523.

[0091] In step S523, the motion control unit 135 moves the autonomous moving device 100 by moving backward, thereby changing the received intensity of the radio waves and the direction of arrival of the radio waves. By combining the receiving elements of the receiving unit 110, the direction in which the direction of arrival of the radio waves changes can be searched. Next, the motion control unit 135 proceeds to step S517.

[0092] Based on the above actions, in Figure 4 Based on the actions, it can avoid previously traversed movement directions to perform actions in a way that prevents the movement path from repeating. Furthermore, when the autonomous movement device 100 cannot move forward due to obstacles, it can autonomously change its movement direction to search for a new direction.

[0093] Next, refer to Figure 6 ,about Figure 3 Another example of the details of step S500 will be explained. Figure 6 It means in Figure 4 Based on the action, when there is an obstacle in the direction of movement, the action is performed in a way that does not contact the obstacle.

[0094] In step S530, the motion control unit 135 determines whether the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 exceeds a predetermined threshold. If the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 exceeds the predetermined threshold (step S530: Yes), the motion control unit 135 proceeds to step S531. If the difference between the predicted direction of arrival of the radio wave and the movement direction of the autonomous mobile device 100 is below the predetermined threshold (step S530: No), the motion control unit 135 proceeds to step S534.

[0095] In step S531, the motion control unit 135 decrements the variable N. The value of variable N can be determined as any value in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S532.

[0096] In step S532, the motion control unit 135 determines whether variable N is zero. If variable N becomes zero (step S532: Yes), the motion control unit 135 proceeds to step S533. If variable N is not zero (step S532: No), the motion control unit 135 returns to step S100.

[0097] In step S533, the motion control unit 135 sets the variable N to any value determined in the autonomous mobility device 100 or the autonomous mobility system 1000. Then, the autonomous mobility device 100 proceeds to step S534.

[0098] In step S534, when the autonomous mobile device 100 moves in the predicted direction of the incoming radio wave, the motion control unit 135 determines whether there is a possibility that the autonomous mobile device 100 will come into contact with an obstacle. As described above, there are cases where the possibility of contact with an obstacle can be determined based on the information received by the receiving unit 110 of the autonomous mobile device 100. Alternatively, there are cases where the motion control unit 135 can determine this based on the information acquired by the information acquisition unit 150. If there is no possibility that the autonomous mobile device 100 will come into contact with an obstacle (step S534: Yes), the motion control unit 135 proceeds to step S535. If there is a possibility that the autonomous mobile device 100 will come into contact with an obstacle (step S534: No), the motion control unit 135 proceeds to step S536.

[0099] In step S535, the motion control unit 135 determines the predicted direction of arrival of the radio wave as the movement direction of the autonomous mobile device 100 and generates movement direction information. Furthermore, when entering step S535 from step S537 or step S540, the movement direction determined in each step is maintained. Next, the autonomous mobile device 100 enters step S600.

[0100] In step S536, the motion control unit 135 determines whether there is a direction of movement from a straight line perpendicular to the predicted direction of arrival of the radio wave toward the predicted direction of arrival of the radio wave, in which the autonomous moving device 100 can move without contacting an obstacle. If there is a direction of movement in which the autonomous moving device 100 can move without contacting an obstacle (step S536: Yes), the motion control unit 135 proceeds to step S537. If there is no direction of movement in which the autonomous moving device 100 can move without contacting an obstacle (step S536: No), the motion control unit 135 proceeds to step S538.

[0101] In step S537, the motion control unit 135 changes the movement direction of the autonomous moving device 100 to a direction in which the autonomous moving device 100 can move without contacting obstacles, from a straight line perpendicular to the predicted direction of arrival of the radio wave towards the predicted direction of arrival of the radio wave. Then, the motion control unit 135 proceeds to step S535.

[0102] In step S538, the motion control unit 135 determines whether there is a next direction of arrival with a higher reception strength. If there is a next direction of arrival with a higher reception strength (step S538: Yes), the motion control unit 135 proceeds to step S534. If there is no next direction of arrival with a higher reception strength (step S538: No), the motion control unit 135 proceeds to step S539.

[0103] In step S539, the motion control unit 135 causes the autonomous moving device 100 to move in the reverse direction. Next, the motion control unit 135 proceeds to step S540.

[0104] In step S540, the motion control unit 135 estimates the source of the incoming radio wave based on the ratio of radio wave intensity attenuation in the direction of arrival as it moves in the opposite direction, estimates the radius of the incoming radio wave, and moves along an arc with the radius of the incoming radio wave as the arc, while avoiding obstacles. Next, the motion control unit 135 proceeds to step S535.

[0105] Based on the above actions, when there is an obstacle in the direction of movement, there are situations where it is possible to avoid contact with the obstacle.

[0106] (Modified Example)

[0107] Because the autonomous mobile device 100 can detect multiple directions of arrival of radio waves, it can deduce the existence of a radio wave source caused by a virtual or real image at the intersection of these directions. Furthermore, since a radio wave source caused by a virtual image is formed through interference such as reflection and diffraction, the likelihood of it being located at the same position is relatively low. Additionally, if the movement direction is changed considering radio wave sources caused by virtual or real images, and it can be deduced that the source is caused by a virtual image, then the likelihood of discarding the virtual image source and narrowing down the range of the real image source is high. Therefore, it is advantageous for the autonomous mobile device 100 to consider radio wave sources caused by virtual or real images when changing its movement direction.

[0108] That is, when the reception strength determination unit 132 of the autonomous mobile device 100 determines that the output information has a reception strength exceeding a predetermined threshold, it is preferable for the autonomous mobile device 100 to move a predetermined distance. In this case, it is preferable for the angle estimation unit 134 to estimate the direction of arrival of the output information during movement. Furthermore, the motion control unit 135 estimates the output position of the output information obtained from a real image or a virtual image based on the angle of arrival of the output information and the moving distance, and it is preferable to correct the estimated direction of arrival of the output information based on the output position. In addition, when estimating the output position obtained from multiple real images or virtual images, it is possible to estimate the output position with more repetitions as the output position obtained from a real image. When the autonomous mobile device 100 moves in a changed direction and the output position obtained from a virtual image is estimated, this position can also be taken as the output position obtained from a virtual image, and the movement direction can be determined from the next determination without considering the output position obtained from the virtual image.

[0109] (Based on the features and effects of the implementation method)

[0110] Hereinafter, the features and effects of the autonomous mobile device 100 and the autonomous mobile system 1000 of this embodiment will be described.

[0111] The autonomous mobile device 100 of the first embodiment of the present invention, which receives output information from a target object and autonomously moves to the target object, preferably has an antenna section for receiving output information and an angle estimation section 134 for estimating the arrival direction of the output information. The antenna section corresponds to the receiving section 110. Furthermore, the autonomous mobile device 100 preferably has a reception strength determination section 132 for determining the reception strength of the output information from the estimated arrival direction. Also, the autonomous mobile device 100 preferably has a motion control section 135 that generates movement direction information, including the movement direction, for moving the autonomous mobile device, corresponding to the magnitude or change of the reception strength and the estimated arrival direction. Furthermore, the autonomous mobile device 100 preferably has a drive section 160 that generates drive information corresponding to the movement direction information.

[0112] Based on the above structure, a simple structure can be adopted in mobile devices such as autonomous guidance devices, reducing costs and enabling them to autonomously reach the target object.

[0113] In the second aspect of the autonomous mobile device 100 of the present invention, the motion control unit 135 preferably takes the direction of arrival of the output information with the greatest intensity as the movement direction.

[0114] Based on the above structure, the autonomous mobile device 100 always takes the direction of high reception intensity as the direction of movement, thereby reducing costs while simplifying the structure and enabling it to autonomously reach the target object.

[0115] The motion control unit 135 of the third aspect of the present invention preferably changes the movement direction of the autonomous mobile device 100 to the new arrival direction when it anticipates a new direction of arrival for output information having a reception strength greater than that of the direction of movement.

[0116] Based on the above structure, the autonomous mobile device 100 always takes the direction of high reception intensity as the direction of movement, thereby reducing costs while simplifying the structure and enabling it to autonomously reach the target object.

[0117] The motion control unit 135 of the autonomous mobile device 100 according to the fourth aspect of the present invention preferably performs the following processing when, during the movement of the autonomous mobile device 100, a new direction of arrival of output information with a reception strength greater than that of the direction of movement is deduced. That is, preferably, the motion control unit 135 can change the movement direction of the autonomous mobile device 100 to the angle between the new direction of arrival and the movement direction of the autonomous mobile device 100.

[0118] Based on the above structure, even when the receiving strengths of multiple devices vary significantly, the direction of movement can be changed smoothly without significant changes, thus achieving power saving.

[0119] The angle between the new arrival direction and the moving direction of the autonomous mobile device 100 in the fifth aspect of the present invention is preferably an angle that is close to the new arrival direction or the moving direction of the autonomous mobile device by weighting the difference in received intensity.

[0120] Based on the above structure, since the autonomous mobile device 100 changes its movement direction based on the magnitude of the received signal strength, even if there are inconsistencies in the received signal strength, it can smoothly change its movement direction without causing a large change, thus achieving power saving.

[0121] In the sixth aspect of the present invention, when the autonomous mobile device 100 is traveling in a changed direction and it is predicted that the autonomous mobile device 100 will come into contact with an obstacle, the following processing is preferably performed: that is, the motion control unit 135 preferably keeps the direction of travel of the autonomous mobile device unchanged until it predicts a position where contact with the obstacle can be avoided.

[0122] Based on the above structure, even if there is a risk that the autonomous moving device 100 will come into contact with an obstacle when it immediately turns to the new direction of arrival and moves, it is possible to select a path in a way that the autonomous moving device 100 does not come into contact with the obstacle.

[0123] In the seventh embodiment of the present invention, the motion control unit 135 of the autonomous mobile device 100 preferably moves a distance longer than the radius of the largest arc formed by the shape of the autonomous mobile device 100 when the autonomous mobile device 100 turns to a new direction of arrival. Then, the motion control unit 135 preferably changes the direction of movement of the autonomous mobile device 100 to the new direction of arrival.

[0124] Based on the above structure, even if the autonomous mobile device 100 is at high risk of contacting an obstacle in the width direction due to immediately turning and moving in the new direction of arrival, it can still select a path in a way that does not involve contact with the obstacle in the shape of the autonomous mobile device 100.

[0125] In the eighth aspect of the present invention, when the received intensity of the output information determined by the received intensity determination unit 132 vibrates periodically, the motion control unit 135 preferably changes the moving direction of the autonomous moving device 100 from the moving direction of the received intensity vibration to another moving direction.

[0126] Based on the above structure, even if the autonomous moving device 100 moves behind an obstacle whose output information is diffracted, it can detect the situation and autonomously bypass the obstacle.

[0127] In the ninth aspect of the autonomous mobile device 100 of the present invention, the motion control unit 135 preferably sets the direction in which the receiving intensity is a certain to another movement direction.

[0128] Based on the above structure, even when the autonomous mobile device 100 moves to the back of an obstacle that diffracts the output information, it can still move in a direction that bypasses the obstacle.

[0129] In the tenth aspect of the autonomous mobile device 100 of the present invention, the motion control unit 135 preferably travels a predetermined distance without changing the direction of movement when the received intensity of the output information determined by the received intensity determination unit 132 is lower than a predetermined threshold.

[0130] Based on the above structure, even if the output information is interfered with by reflection, diffraction, etc., the correct path can be selected without being affected by the interference.

[0131] In the eleventh aspect of the present invention, the motion control unit 135 preferably uses the direction of arrival of the next output information with a stronger reception intensity as the new direction of movement when the movement direction is the direction in which the autonomous moving device 100 has previously moved, and generates movement direction information.

[0132] Based on the above structure, the autonomous mobile device 100 can move based on its past mobile history, and can autonomously select the correct path even when the reception strength is low.

[0133] In the twelfth aspect of the autonomous mobile device 100 of the present invention, the motion control unit 135 preferably performs the following processing when the motion direction indicated by the motion direction information is the direction in which the autonomous mobile device 100 has previously moved. That is, the motion control unit 135 preferably generates motion direction information by taking a direction that is different from the motion direction indicated by the motion direction information and is not the direction in which the autonomous mobile device 100 has previously moved as a new motion direction.

[0134] Based on the above structure, the autonomous mobile device 100 can move based on past movement history, thus reducing the probability of movement failure due to the same path.

[0135] The new direction of movement of the autonomous mobile device 100 according to the thirteenth aspect of the present invention is preferably assumed to be the direction in which the received strength of the output information of the movement direction, represented by the movement direction information, decreases. Alternatively, the new direction of movement is preferably assumed to be the direction in which the received strength of the output information of the movement direction, represented by the aforementioned movement direction information, increases.

[0136] Based on the above structure, in a mobile device such as an autonomous guidance device, when output information is received from a previous direction of movement, the direction of movement can be determined according to the change in the intensity of the received output information. This allows contact with obstacles to be avoided.

[0137] The motion control unit 135 of the fourteenth aspect of the present invention preferably generates motion direction information as a new motion direction when the reception intensity of the output information of the motion direction represented by the motion direction information remains unchanged.

[0138] Based on the above structure, when the autonomous mobile device 100 collides with an obstacle and cannot move forward, it can receive new output information by moving backward.

[0139] The autonomous mobile device 100 of the fifteenth aspect of the present invention has its movement direction information associated with the time the autonomous mobile device 100 moves in the movement direction. Preferably, it also includes a movement direction information storage unit that stores movement direction information associated with the time of movement in the movement direction. The motion control unit 135 preferably generates movement history information of the autonomous mobile device based on past movement direction information, and infers whether there is an obstacle based on the movement history information, and changes the movement direction information used to move the autonomous mobile device 100 in a way that avoids the obstacle.

[0140] Based on the above structure, a simple structure is adopted in mobile devices such as autonomous guidance devices to reduce costs, and the device can autonomously reach the target object by utilizing movement history information created based on past movement direction information.

[0141] The autonomous mobile device 100 according to the sixteenth aspect of the present invention preferably includes an information acquisition unit 150 for acquiring information about obstacles located around the autonomous mobile device. Furthermore, the autonomous mobile device 100 preferably includes a contact determination unit 136, which predicts and determines whether the autonomous mobile device is in contact with an obstacle based on the acquisition information and movement direction information acquired by the information acquisition unit 150. The contact determination unit 136 preferably outputs contact prediction information or contact information between the autonomous mobile device 100 and the obstacle to the motion control unit 135.

[0142] Based on the above structure, the autonomous mobile device 100 can infer and determine the contact between the autonomous mobile device 100 and the obstacle based on the acquired information and movement direction information from the information acquisition unit 150.

[0143] The motion control unit 135 of the autonomous moving device 100 of the seventeenth aspect of the present invention preferably changes the movement direction information to the direction of avoiding obstacles based on contact prediction information or the contact information mentioned above.

[0144] Based on the above structure, the autonomous mobile device 100 can change its movement direction information when it anticipates contact with an obstacle or when it has already contacted an obstacle.

[0145] In the eighteenth aspect of the autonomous mobile device 100 of the present invention, the reception strength determination unit 132 preferably moves the autonomous mobile device 100 a predetermined distance when it determines that the output information has a reception strength exceeding a predetermined threshold. The angle estimation unit 134 preferably estimates the direction of arrival of the output information during movement. The motion control unit 135 preferably estimates the output position obtained from the real or virtual image of the output information based on the angle of arrival of the output information and the moving distance, and corrects the estimated direction of arrival of the output information based on the output position.

[0146] Based on the above structure, the autonomous moving device 100 can predict the output position obtained from the real or virtual image of the output information by moving autonomously, so that it can reach the target object by trial and error by moving relative to the output position and correcting the direction of arrival of the radio wave.

[0147] In the nineteenth aspect of the present invention, the autonomous mobile device 100, when there are multiple output positions to be predicted, preferably predicts the output position with the most repetitions as the output position obtained from the real image, and corrects the direction of arrival of the predicted output information based on the output position obtained from the real image.

[0148] Based on the above structure, since the real image position of the target object can be inferred, the direction of arrival can be corrected to approach the real image position. At the same time, a simple structure can be formed, reducing costs, and autonomously reaching the target object.

[0149] The autonomous mobility system 1000 of the twentieth aspect of the present invention preferably includes an autonomous mobility device 100 and a target object, which are any of the first to nineteenth aspects. The autonomous mobility device 100 preferably has an antenna section, which includes a plurality of receiving elements that receive output information that is periodically or irregularly output. The antenna section corresponds to the receiving section 110.

[0150] Based on the above structure, a simple structure can be adopted in mobile devices such as autonomous guidance devices, reducing costs and enabling autonomous arrival at the target object.

[0151] The output information of the autonomous mobile system 1000 according to the twenty-first aspect of the present invention preferably includes at least one or two of electromagnetic waves and sound waves, including radio waves, microwaves, visible light and infrared light.

[0152] Based on the above structure, the autonomous mobile device 100 can select output information from various output information according to the surrounding situation.

[0153] The autonomous mobile system 1000 of the twenty-second aspect of the present invention preferably has a frequency that changes, and the frequency change pattern information is stored in the autonomous mobile device 100.

[0154] Based on the above structure, by changing the frequency, there are cases where the autonomous mobile device 100 can receive output information even when it is located at a relatively far position. Furthermore, there are cases where the autonomous mobile device 100 can receive output information even when it is hidden behind an obstacle.

[0155] The autonomous mobile system 1000 of the twenty-third aspect of the present invention further includes a mobile unit 170 driven by a drive unit 160, and the mobile unit 170 preferably has a structure that enables it to move on the ground, in the air or in water.

[0156] Based on the above structure, the autonomous mobile device 100 can move on the ground, in the air or in the water.

[0157] (Supplement to the implementation method)

[0158] The embodiments of the present invention have been described above. The disclosed invention is not limited to these embodiments, and those skilled in the art will conceive of various modifications, alterations, substitutions, and replacements. Specific numerical examples have been used to facilitate understanding of the invention; unless otherwise specified, these values ​​are merely examples, and any appropriate values ​​may be used. The distinctions between items in the above description are not essential to the invention; items 2 or more may be combined as needed, and items described in one item may be applied to items described in other items (provided there is no contradiction). The boundaries of functional units or processing units in the functional block diagram do not necessarily correspond to the boundaries of physical components. The operation of multiple functional units may be physically performed by one component, or the operation of one functional unit may be physically performed by multiple components. Regarding the processing order described in the embodiments, the processing order may be interchanged as long as there is no contradiction. For ease of explanation, the autonomous mobile device 100 is described using a functional block diagram, but such a device may also be implemented by hardware, software, or a combination thereof. According to this embodiment, the software that operates via the processor of the autonomous mobile device 100 can also be stored in random access memory (RAM), flash memory, read-only memory (ROM), EPROM, EEPROM, or registers. Alternatively, according to this embodiment, the software that operates via the processor of the autonomous mobile device 100 can also be stored in a hard disk (HDD), removable disk, CD-ROM, database, server, or any other suitable storage medium.

[0159] Furthermore, the notification of information is not limited to the forms / implementations described in this invention. For example, other methods may be used, such as physical layer signaling, upper layer signaling, other signals, or combinations thereof. Additionally, the notification of specified information (e.g., a "Yes X" notification) is not limited to explicit notification; it may also be implicit (e.g., not notifying the specified information).

[0160] The various forms / implementations described in this invention can also be used in combination of multiple systems.

[0161] The processing order, flow charts, etc., in the various forms / implementations described in this invention may be rearranged as long as there is no contradiction. For example, in the description of the method in this invention, the illustrated order is used to indicate the elements of various steps, but it is not limited to the specific order indicated.

[0162] Input and output information can be stored in a specific location such as memory, or managed using a management table, and can be overwritten, updated, or appended. Output information can also be deleted. Input information can also be sent to other devices.

[0163] The determination in this invention can be made by comparing a numerical value with a specified value, or by a value represented by a single bit (0 or 1), or by a Boolean value (Boolean: true or false).

[0164] The various forms / implementations described in this invention can be used individually, in combination, or switched as needed during execution.

[0165] Software should be broadly interpreted to refer to: code, code segments, program code, programs, subroutines, software modules, application programs, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc. Additionally, software can also be called firmware, middleware, microcode, hardware description languages, or other names.

[0166] Furthermore, software and information can be sent and received via a transmission medium. For example, when software is sent from a webpage, server, or other remote source using wired technology, that wired technology is included within the definition of a transmission medium. Wired technologies include coaxial cable, fiber optic cable, twisted pair, digital subscriber line, etc. Additionally, when software or information is sent from a webpage, server, or other remote source using wireless technologies such as infrared or microwave, that wireless technology is also included within the definition of a transmission medium.

[0167] The information, signals, bits, etc. described in this invention may be represented, for example, by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any combination thereof, using any of various different technologies.

[0168] Furthermore, the terms used in this invention and those necessary for understanding this invention can be replaced with terms that have the same or similar meanings.

[0169] Furthermore, the information, parameters, etc. described in this invention can be represented by relative values ​​or absolute values ​​relative to specified values, or by other corresponding information.

[0170] The names used in the parameters described above are not restrictive in any respect. Various information elements can be identified by all appropriate names; therefore, the various names assigned to these information elements are not restrictive in any respect.

[0171] The terms "determining" and "determining" used in this invention can encompass a variety of actions, including judging, calculating, computing, processing, and deriving. Furthermore, "determining" and "determining" can also include investigating or searching tables or databases, as well as confirming. Additionally, "determining" and "determining" can include receiving (e.g., receiving information), transmitting (e.g., sending information), inputting, and outputting. Moreover, "determining" and "determining" can also include accessing data in memory. Furthermore, "determining" and "determining" can include resolving, selecting, choosing, establishing, and comparing. In short, "determining" and "determining" can be used to "determine" or "determine" any action. In addition, "judgment (decision)" can also be rewritten as "assuming", "expecting", "considering", etc.

[0172] The term "connected," or all variations thereof, refers to any direct or indirect link between two or more elements. This can include situations where one or more intermediate elements exist between the two mutually "connected" elements. In the context of this invention, it can be considered that two elements are "connected" using at least one of one or more wires, cables, and printed electrical connections. Furthermore, as several non-limiting and non-exclusive examples, situations where electromagnetic energy with wavelengths in the radio frequency region, microwave region, and light (both visible and invisible) region is used for mutual "connection" can be considered.

[0173] The term "based on" as used in this invention, unless otherwise specified, does not mean "based on only". In other words, the term "based on" refers to both "based on only" and "based on at least".

[0174] The “component” in the above-mentioned device configurations can also be replaced with “means”, “circuit”, “device”, etc.

[0175] The terms "include," "including," and their variations used in this invention, like the term "comprising," refer to inclusion. Furthermore, the term "or" used in this invention refers to a non-incompatible choice.

[0176] In this invention, for example, when articles are added through translation, such as in English (e.g., a, an, and the), the invention may also include cases where the nouns following these articles are in plural form.

[0177] In this invention, the term "A is different from B" can also mean "A and B are different from each other". Furthermore, this term can also mean "A and B are different from C respectively".

[0178] The present invention has been described in detail above. Those skilled in the art should understand that the present invention is not limited to the embodiments described herein. The present invention can be implemented as modifications and variations as long as it does not depart from the spirit and scope of the invention as defined by the technical solution described. Therefore, the description of the present invention is for illustrative purposes only and does not have any limiting significance for the present invention.

[0179] Explanation of reference numerals in the attached figures

[0180] 100 Autonomous Mobile Devices

[0181] 110 Receiving Department

[0182] 132 Receiver Strength Judgment Unit

[0183] 134 Angle Speculation Section

[0184] 135 Motion Control Department

[0185] 136 Contact Judgment Unit

[0186] 142 Movement Direction Information Storage Unit

[0187] 150 Information Acquisition Department

[0188] 160 Drive Unit

[0189] 170 Mobile Department

[0190] 1000 Autonomous Mobile System.

Claims

1. An autonomous mobile device that receives output information from a target object and autonomously moves to the target object, characterized in that it comprises: The antenna section receives the output information; An angle estimation unit, which estimates the direction of arrival of the output information; The reception strength determination unit determines the reception strength of the output information from the predicted direction of arrival. The motion control unit generates movement direction information, including the movement direction, for moving the autonomous mobile device, in accordance with the magnitude or change of the received intensity and the predicted direction of arrival. and The driving unit generates driving information corresponding to the movement direction information. When the motion control unit, during the movement of the autonomous mobile device, deduces a new direction of arrival for output information with a reception strength greater than that of the direction of current movement, it changes the movement direction of the autonomous mobile device to the new direction of arrival. When the autonomous mobile device is moving in the changed direction of movement, if it is predicted that the autonomous mobile device will come into contact with an obstacle, the motion control unit will keep the direction of movement of the autonomous mobile device unchanged until it is predicted that contact with the obstacle can be avoided.

2. An autonomous mobile device that receives output information from a target object and autonomously moves to the target object, characterized in that it comprises: The antenna section receives the output information; An angle estimation unit, which estimates the direction of arrival of the output information; The reception strength determination unit determines the reception strength of the output information from the predicted direction of arrival. The motion control unit generates movement direction information, including the movement direction, for moving the autonomous mobile device, in accordance with the magnitude or change of the received intensity and the predicted direction of arrival. and The driving unit generates driving information corresponding to the movement direction information. When the motion control unit, during the movement of the autonomous mobile device, deduces a new direction of arrival for output information with a reception strength greater than that of the direction of current movement, it changes the direction of movement of the autonomous mobile device to the angle between the new direction of arrival and the direction of movement of the autonomous mobile device. When the autonomous mobile device is moving in the changed direction of movement, if it is predicted that the autonomous mobile device will come into contact with an obstacle, the motion control unit will keep the direction of movement of the autonomous mobile device unchanged until it is predicted that contact with the obstacle can be avoided.

3. The autonomous mobile device as described in claim 2, characterized in that: The angle between the new direction of arrival and the direction of movement of the autonomous mobile device is an angle that is close to the new direction of arrival or the direction of movement of the autonomous mobile device by weighting the difference in the received intensity.

4. The autonomous mobile device as described in any one of claims 1 to 3, characterized in that: The motion control unit moves the autonomous moving device by a distance longer than the radius of the largest arc formed by the shape of the autonomous moving device when it turns toward the new direction of arrival, after the position of the autonomous moving device when the new direction of arrival is predicted. Then, the moving direction of the autonomous moving device is changed to the new direction of arrival.

5. The autonomous mobile device as described in any one of claims 1 to 3, characterized in that: When the received intensity of the output information, as determined by the received intensity determination unit, is periodically vibrating, the motion control unit changes the movement direction of the autonomous moving device from the movement direction where the received intensity is vibrating to another movement direction.

6. The autonomous mobile device as described in claim 5, characterized in that: The motion control unit uses the direction of the received intensity as the other movement direction.

7. The autonomous mobile device as described in any one of claims 1 to 3, characterized in that: When the output information determined by the receiving intensity determination unit is lower than a predetermined threshold, the motion control unit causes the movement direction indicated by the movement direction information to travel a predetermined distance without changing.

8. The autonomous mobile device as described in any one of claims 1 to 3, characterized in that: When the movement direction indicated by the movement direction information is a direction that the autonomous mobile device has moved in the past, the motion control unit generates movement direction information by taking the direction of arrival of the next output information with stronger reception intensity as the new movement direction.

9. The autonomous mobile device as described in any one of claims 1 to 3, characterized in that: When the movement direction indicated by the movement direction information is a direction that the autonomous mobile device has previously moved in, the motion control unit generates movement direction information by taking a direction that is different from the movement direction and is not a direction that the autonomous mobile device has previously moved in as a new movement direction.

10. The autonomous mobile device as described in claim 9, characterized in that: The new direction of movement is presumed to be either the direction in which the received strength of the output information of the direction of movement, represented by the movement direction information, decreases, or the direction in which the received strength of the output information of the direction of movement, represented by the movement direction information, increases.

11. The autonomous mobile device as described in any one of claims 1 to 3, characterized in that: If the receiving strength of the output information of the movement direction represented by the movement direction information remains unchanged, the motion control unit will generate movement direction information by taking the direction in which the autonomous moving device moves backward as the new movement direction.

12. The autonomous mobile device as described in any one of claims 1 to 3, characterized in that: The movement direction information is associated with the time the autonomous mobile device moves in the movement direction. The autonomous mobile device also includes a movement direction information storage unit, which stores the movement direction information associated with the time of movement in the movement direction. The motion control unit generates motion history information of the autonomous mobile device based on the past motion direction information, and infers whether there are obstacles based on the motion history information, so as to change the motion direction information used to move the autonomous mobile device in order to avoid the obstacles.

13. The autonomous mobile device as described in claim 1, characterized in that, include: An information acquisition unit acquires information about obstacles located around the autonomous mobile device; and The contact determination unit, based on the information acquired by the information acquisition unit and the movement direction information, infers and determines whether the autonomous moving device is in contact with the obstacle. The contact determination unit outputs the contact prediction information or contact information between the autonomous moving device and the obstacle to the motion control unit.

14. The autonomous mobile device as described in claim 13, characterized in that: The motion control unit changes the movement direction information to avoid the obstacle based on the contact prediction information or the contact information.

15. The autonomous mobile device as described in claim 1, characterized in that: When the receiving strength determination unit determines that the output information has a receiving strength exceeding a predetermined threshold, the autonomous moving device moves a predetermined distance, the angle estimation unit estimates the direction of arrival of the output information during the movement, and the motion control unit estimates the output position obtained from the real or virtual image of the output information based on the angle of the direction of arrival of the output information and the moving distance, and corrects the estimated direction of arrival of the output information based on the output position.

16. The autonomous mobile device as described in claim 15, characterized in that: When multiple output positions are predicted, the output position with the most repetitions is predicted as the output position obtained from the real image, and the direction of arrival of the predicted output information is corrected based on the output position obtained from the real image.

17. An autonomous mobile system, characterized in that, include: The autonomous mobile device according to any one of claims 1 to 16; and The target object, The output information is output periodically or irregularly. The autonomous mobile device includes an antenna section having multiple receiving elements that receive the output information.

18. The autonomous mobile system as described in claim 17, characterized in that: The output information is at least one or both of electromagnetic waves and sound waves, including radio waves, microwaves, visible light and infrared radiation.

19. The autonomous mobile system as described in claim 18, characterized in that: The frequency of the output information changes, and the frequency change pattern information is stored in the autonomous mobile device.

20. The autonomous mobile system as described in any one of claims 17 to 19, characterized in that: It also includes a moving part driven by the driving unit. The mobile part has a structure that enables it to move on the ground, in the air, or in water.

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