Autonomous moving body
First Claim
1. An autonomous moving body comprising:
- a travelling unit including at least one motor and at least one wheel; and
control circuitry including a travelling controller that generates a control value and outputs to the control value to the travelling unit;
whereinthe at least one motor drives the at least one wheel according to the control value;
the autonomous moving body executes a teaching mode and a replication mode;
the teaching mode is a mode in which a travelling schedule is generated while the autonomous moving body travels from a starting position to an end position, the travelling schedule including a set of passing times and passing point data at the passing times; and
the replication mode is a mode in which the autonomous moving body autonomously travels from the starting position to the end position by replicating the travelling schedule.
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Accused Products
Abstract
An autonomous moving body executes a mode in which an autonomous moving body: outputs a motor control amount from travel commands input by an operator; estimates the position of the autonomous moving body on an environment map, obtains position information of obstacles near the autonomous moving body, associates position information of the obstacles with times that the position information of the obstacles were obtained, stores the same in the storage unit as environment map restoration data, generates a travel schedule, and stores the same in the storage unit. In a replication mode, the autonomous moving body estimates the position of the autonomous moving body on the environment map, obtains position information of the obstacles near the autonomous moving body, reads the environment map restoration data that corresponds to the estimated position of the autonomous moving body, updates the environment map, creates a control amount for the motor, so as to travel on the updated environment map in accordance with the schedule, and inputs the same to the travel unit.
17 Citations
14 Claims
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1. An autonomous moving body comprising:
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a travelling unit including at least one motor and at least one wheel; and control circuitry including a travelling controller that generates a control value and outputs to the control value to the travelling unit;
whereinthe at least one motor drives the at least one wheel according to the control value; the autonomous moving body executes a teaching mode and a replication mode; the teaching mode is a mode in which a travelling schedule is generated while the autonomous moving body travels from a starting position to an end position, the travelling schedule including a set of passing times and passing point data at the passing times; and the replication mode is a mode in which the autonomous moving body autonomously travels from the starting position to the end position by replicating the travelling schedule. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of generating a travelling schedule, the travelling schedule including a set of passing times and passing point data at the passing times, while an autonomous moving body travels from a starting position to an end position, the method comprising:
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controlling at least one motor of the autonomous moving body to drive at least one wheel of the autonomous moving body in response to a travelling instruction input by a user; estimating a self-position on an environment map; obtaining position information of obstacles around the autonomous moving body; storing the position information of the obstacles as environment map restoration data while associating the position information of the obstacles with time at which the position information of the obstacles has been obtained; and generating the travelling schedule based on the estimated self-position. - View Dependent Claims (9, 10)
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11. A method of moving an autonomous moving body, in which the autonomous moving body autonomously travels from a starting position to an end position by replicating a travelling schedule, the method comprising:
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estimating a self-position on an environment map; obtaining position information of obstacles around the autonomous moving body; updating the environment map based on an environment map restoration data corresponding to an estimated self-position; and controlling at least one motor of the autonomous moving body to drive at least one wheel of the autonomous moving body based on a control value, the control value being generated such that the autonomous moving body travels on an updated environment map in accordance with the travelling schedule. - View Dependent Claims (12, 13, 14)
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Specification