Environment identification device, environment identification method, and robot device
First Claim
1. A robot apparatus adapted to move in an environment containing one or more than one landmarks located therein, the robot apparatus comprising:
- environment map building means for building an identifiable unique environment map by means of the location or the number of one or more than one landmarks according to the result of observation of the one or more than one landmarks and the movement/state quantity of the robot apparatus;
environment map storage means for storing a plurality of environment maps as registered environment maps; and
environment identifying means for determining if the current environment is identical with the environment indicated by the registered environment maps by comparing the registered environment maps stored in the environment map storage means and the current environment map built by the environment map building means.
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Accused Products
Abstract
An environment identifying apparatus (400) is adapted to be mounted in a robot apparatus that moves in an identifiable unique environment in which a plurality of landmarks are located so as to identify the current environment by means of a plurality of registered environments. The environment identifying apparatus comprises an environment map building section (402) for recognizing the landmarks in the current environment, computing the movement/state quantity of the robot apparatus itself and building an environment map of the current environment containing information on the positions of the landmarks in the current environment on the basis of the landmarks and the movement/state quantity, an environment map storage section (403) having a data base of registered environment maps containing positional information on the landmarks and environment IDs, an environment identifying section (404) for identifying the current environment on the basis of the degree of similarity between the environment map of the current environment and each of the registered environment maps and an environment exploring section (405) for exploring a new environment.
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Citations
26 Claims
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1. A robot apparatus adapted to move in an environment containing one or more than one landmarks located therein, the robot apparatus comprising:
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environment map building means for building an identifiable unique environment map by means of the location or the number of one or more than one landmarks according to the result of observation of the one or more than one landmarks and the movement/state quantity of the robot apparatus;
environment map storage means for storing a plurality of environment maps as registered environment maps; and
environment identifying means for determining if the current environment is identical with the environment indicated by the registered environment maps by comparing the registered environment maps stored in the environment map storage means and the current environment map built by the environment map building means.
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2. An environment identifying apparatus to be used by a mobile body to identify the environment containing one or more than one landmarks located therein, while moving in the environment, the apparatus comprising:
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environment map building means for building an identifiable unique environment map by means of the location or the number of one or more than one landmarks according to the result of observation of the one or more than one landmarks and the movement/state quantity of the mobile body;
environment map storage means for storing a plurality of environment maps as registered environment maps; and
environment identifying means for determining if the current environment is identical with the environment indicated by the registered environment maps by comparing the registered environment maps stored in the environment map storage means and the current environment map built by the environment map building means. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. An environment identifying method to be used by a mobile body to identify the environment containing one or more than one landmarks located therein, while moving in the environment, the method comprising:
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an environment map building step of building an identifiable unique environment map by means of the location or the number of one or more than one landmarks according to the result of observation of the one or more than one landmarks and the movement/state quantity of the mobile body; and
an environment identifying step of determining if the current environment is identical with the environment indicated by a plurality of registered environment maps stored in an environment map storage means as registered environment maps by comparing the registered environment maps and the current environment map built in the environment map building step. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. A program for causing a computer to execute an operation of driving a mobile body to move in an environment containing one or more than one landmarks located therein, while moving in the environment, and identify the environment, the program comprising:
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an environment map building step of building an identifiable unique environment map by means of the location or the number of one or more than one landmarks according to the result of observation of the one or more than one landmarks and the movement/state quantity of the mobile body; and
an environment identifying step of determining if the current environment is identical with the environment indicated by a plurality of registered environment maps stored in an environment map storage means as registered environment maps by comparing the registered environment maps and the current environment map built in the environment map building step.
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26. A storage medium storing a program for causing a computer to execute an operation of driving a mobile body to move in an environment containing one or more than one landmarks located therein, while moving in the environment, and identify the environment, the program comprising:
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an environment map building step of building an identifiable unique environment map by means of the location or the number of one or more than one landmarks according to the result of observation of the one or more than one landmarks and the movement/state quantity of the mobile body; and
an environment identifying step of determining if the current environment is identical with the environment indicated by a plurality of registered environment maps stored in an environment map storage means as registered environment maps by comparing the registered environment maps and the current environment map built in the environment map building step.
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Specification