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Autonomous movement device, autonomous movement method and non-transitory recording medium

  • US 10,012,989 B2
  • Filed: 09/28/2016
  • Issued: 07/03/2018
  • Est. Priority Date: 12/17/2015
  • Status: Active Grant
First Claim
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1. An autonomous movement device for performing movement while creating a map, the autonomous movement device comprising:

  • an image picker including a camera;

    a driver including a motor;

    a controller including a processor; and

    a memory which stores the map, which is created using information on a plurality of stored images picked up by the image picker,wherein the controller is configured to;

    cause the image picker to pick up an image while causing the driver to rotate the autonomous movement device;

    store, in the memory, information on the image picked up by the image picker in association with information on a position of the autonomous movement device when the image is picked up;

    search, from among the plurality of stored images in the memory, for an image that has a similarity level to the picked-up image equal to or greater than a predetermined similarity level;

    determine, when the image that has the similarity level equal to or greater than the predetermined similarity level is found, that the autonomous movement device has returned to a site recognized as a site where the autonomous movement device has traveled to in the past;

    correct the map stored in the memory using information indicating a position expressed by coordinates on the map, corresponding to the found image stored in the memory; and

    control the driver to move the autonomous movement device based on the corrected map.

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