Autonomous movement device, autonomous movement method and non-transitory recording medium
First Claim
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1. An autonomous movement device comprising:
- a driver which includes a motor and which drives the autonomous movement device to move;
an image picker which includes a camera and which picks up a plurality of images;
a map memory that stores a map created using information on the plurality of images picked up by the image picker; and
at least one hardware processor which is configured to;
measure a local device position based on an amount of movement by the driver;
estimate the local device position based on the information on the plurality of images picked up by the image picker and information on the map stored in the map memory;
determine whether or not a difference between the measured local device position and the estimated local device position is within a predetermined error range; and
edit the map stored in the map memory when it is determined that the difference between the measured local device position and the estimated local device position is out of the predetermined error range,wherein the driver drives the autonomous movement device to move based on the edited map.
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Abstract
A determination on whether or not a local device position and a map contain an error is made. A position measurer of an autonomous movement device measures a local device position. A map memory stores the created map. A position estimator estimates the local device position. A determiner determines whether or not a difference between the measured position by the position measurer and the estimated position by the position estimator is within a predetermined error range. A map editor edits the stored map in the map memory when the determiner determines that the difference is out of the predetermined range.
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Citations
14 Claims
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1. An autonomous movement device comprising:
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a driver which includes a motor and which drives the autonomous movement device to move; an image picker which includes a camera and which picks up a plurality of images; a map memory that stores a map created using information on the plurality of images picked up by the image picker; and at least one hardware processor which is configured to; measure a local device position based on an amount of movement by the driver; estimate the local device position based on the information on the plurality of images picked up by the image picker and information on the map stored in the map memory; determine whether or not a difference between the measured local device position and the estimated local device position is within a predetermined error range; and edit the map stored in the map memory when it is determined that the difference between the measured local device position and the estimated local device position is out of the predetermined error range, wherein the driver drives the autonomous movement device to move based on the edited map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An autonomous movement method for an autonomous movement device comprising a driver which includes a motor and which drives the autonomous movement device to move, and an image picker which includes a camera, the method comprising:
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measuring a local device position based on an amount of movement by the driver; creating a map using information on a plurality of images picked up by the image picker; estimating the local device position based on the information on the plurality of images picked up by the image picker and information on the created map; determining whether or not a difference between the measured local device position and the estimated local device position is within a predetermined error range; editing the created map when a determination is made in the determining that the difference between the measured local device position and the estimated local device position is out of the predetermined error range; and driving the autonomous movement device to move with the driver, based on the edited map.
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14. A non-transitory computer-readable recording medium having stored therein a program that is executable by a computer which controls an autonomous movement device comprising a driver which includes a motor and which drives the autonomous movement device to move, and an image picker which includes a camera, the program being executable by the computer to cause the computer to perform functions comprising:
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measuring a local device position based on an amount of movement by the driver; creating a map using information on a plurality of images picked up by the image picker; estimating the local device position based on the information on the plurality of images picked up by the image picker and information on the created map; determining whether or not a difference between the measured local device position and the estimated local device position is within a predetermined error range; editing the created map when a determination is made in the determining that the difference between the measured local device position and the estimated local device position is out of the predetermined error range; and driving the autonomous movement device to move with the driver, based on the edited map.
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Specification