Autonomous mobile device
First Claim
1. An autonomous mobile device, comprising:
- an obstacle sensor that acquires peripheral obstacle information;
a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited;
an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map;
a synthesizing device that generates a composite map by synthesizing the environment map and the no-entry zone map;
a calculation device that calculates avoidance information based on the obstacle zone and the no-entry zone by using the self-location estimated by the estimation device and the composite map generated by the synthesizing device; and
a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map;
whereinthe controller is arranged and programmed to control the autonomous mobile device to not enter the no-entry zone even if the peripheral obstacle information indicates that no obstacle exists in the no-entry zone;
the estimation device estimates the self-location of the mobile device without using the no-entry zone map; and
the controller performs control to avoid the obstacle by using the avoidance information calculated by the calculation device and the obstacle information acquired by the obstacle sensor.
1 Assignment
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Accused Products
Abstract
An autonomous mobile device that moves while autonomously avoiding zones into which entry should be avoided even if no obstacle exists therein includes a laser range finder that acquires peripheral obstacle information, a storage unit that stores an environment map that shows an obstacle zone where an obstacle exists, and a no-entry zone map which shows a no-entry zone into which entry is prohibited, a self-location estimation unit that estimates the self-location of a host device by using the obstacle information acquired by the laser range finder and the environment map, and a travel control unit that controls the host device to autonomously travel to the destination by avoiding the obstacle zone and the no-entry zone based on the estimated self-location, the environment map, and the no-entry zone map.
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Citations
20 Claims
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1. An autonomous mobile device, comprising:
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an obstacle sensor that acquires peripheral obstacle information; a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited; an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map; a synthesizing device that generates a composite map by synthesizing the environment map and the no-entry zone map; a calculation device that calculates avoidance information based on the obstacle zone and the no-entry zone by using the self-location estimated by the estimation device and the composite map generated by the synthesizing device; and a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map;
whereinthe controller is arranged and programmed to control the autonomous mobile device to not enter the no-entry zone even if the peripheral obstacle information indicates that no obstacle exists in the no-entry zone; the estimation device estimates the self-location of the mobile device without using the no-entry zone map; and the controller performs control to avoid the obstacle by using the avoidance information calculated by the calculation device and the obstacle information acquired by the obstacle sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An autonomous mobile device, comprising:
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an obstacle sensor that acquires peripheral obstacle information; a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited; an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map; a synthesizing device that generates a composite map by synthesizing the environment map and the no-entry zone map; a calculation device that calculates avoidance information based on the obstacle zone and the no-entry zone by using the self-location estimated by the estimation device and the composite map generated by the synthesizing device; and a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map;
whereinthe controller is arranged and programmed to control the autonomous mobile device to not enter the no-entry zone even if the peripheral obstacle information indicates that no obstacle exists in the no-entry zone; the estimation device estimates the self-location of the mobile device without using the no-entry zone map; the synthesizing device generates the composite map that reflects both the obstacle zone shown on the environment map and the no-entry zone shown on the no-entry zone map for each of pixels corresponding mutually to the environment map and the no-entry zone map; and the controller performs control to avoid the obstacle by using the avoidance information calculated by the calculation device and the obstacle information acquired by the obstacle sensor. - View Dependent Claims (10, 11, 12, 13, 14)
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15. An autonomous mobile device, comprising:
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an obstacle sensor that acquires peripheral obstacle information; a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited; an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map; a synthesizing device that generates a composite map by synthesizing the environment map and the no-entry zone map; a planning device that plans a path to a destination by using the composite map generated by the synthesizing device; a calculation device that calculates avoidance information based on the obstacle zone and the no-entry zone by using the self-location estimated by the estimation device and the composite map generated by the synthesizing device; and a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map;
whereinthe controller is arranged and programmed to control the autonomous mobile device to not enter the no-entry zone even if the peripheral obstacle information indicates that no obstacle exists in the no-entry zone; the estimation device estimates the self-location of the mobile device without using the no-entry zone map; the controller controls the autonomous movement based on the path planned by the planning device; and the controller performs control to avoid the obstacle by using the avoidance information calculated by the calculation device and the obstacle information acquired by the obstacle sensor. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification