Autonomous moving body

• US 9,740,209 B2
• Filed: 04/11/2014
• Issued: 08/22/2017
• Est. Priority Date: 05/01/2013
• Status: Active Grant

• Current Assignee: Murata Machinery Limited (Muratec)
• Original Assignee: Murata Machinery Limited (Muratec)
• Inventors: Nakano, Tsuyoshi, Tanaka, Shoji
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US14/888,261
• Publication Number:
  US 20160062361A1
• Time in Patent Office: 1,229 Days
• Field of Search: 701 25
• CPC Class Codes: G01C 21/3804 Creation or updating of map data
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

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.

Claims

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;

wherein

the 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.

2. The autonomous moving body according to claim 1, wherein:

the control circuitry further includes;

a memory that stores data; and

a teaching data generator that generates the travelling schedule and stores the travelling schedule in the memory when executing the teaching mode;

when the teaching mode is executed, the travelling controller generates the control value of the at least one motor according to a travelling instruction input by a user and outputs the control value to the travelling unit, and, when the replication mode is executed, travelling controller generates the control value of the at least one motor such that the travelling unit travels in accordance with the travelling schedule and outputs the control value to the travelling unit.

3. The autonomous moving body according to claim 2, further comprising:

an obstacle information detector that obtains position information of obstacles existing in an surrounding area;

a map generator that, when the teaching mode is executed, stores the position information of the obstacles as environment map restoration data in the storage while associating the position information of the obstacles with a time at which the position information of the obstacles has been obtained, and, when the replication mode is executed, reads out the environment map restoration data corresponding to the estimated self-position to update the environment map; and

a position estimator that estimates a self-position on an environment map, the environment map being generated based on the position information of the obstacles obtained by the obstacle information detector;

wherein

the travelling controller, in the replication mode, generates the control value of the at least one motor such that the travelling unit travels on an updated environment map in accordance with the travelling schedule and outputs the control value to the travelling unit.

4. The autonomous moving body according to claim 3, wherein the teaching data generator associates the self-position and an orientation on the environment map as the passing point data, with the time at which the position information of the obstacles has been obtained at every predetermined time schedule, when the teaching mode is executed.

5. The autonomous moving body according to claim 3, wherein, when the replication mode is executed, at every predetermined time schedule, the map generator updates the environment map that has already been generated, based on the environment map restoration data corresponding to a time later than a time of a present passing point.

6. The autonomous moving body according to claim 5, further comprising a map matching controller that generates a local map based on the position information of the obstacles obtained by the obstacle information detector, compares the updated environment map with the generated local map, and corrects the self-position and the orientation estimated by the position estimator based on a result of a comparison of the generated local map and the updated environment map;

wherein

the passing point data in the travelling schedule corresponding to the self-position on the environment map is estimated based on the result of the comparison performed by the map matching controller.

7. The autonomous moving body according to claim 3, wherein the map generator deletes data of the environment map for an area that has already been passed, at every predetermined time schedule.

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:

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.

9. The method of generating the travelling schedule according to claim 8, wherein, in generating the travelling schedule, the self-position and an orientation on the environment map as the passing point data are associated with the time at which the position information of the obstacles has been obtained.

10. The method of generating the travelling schedule according to claim 8, further comprising deleting data of the environment map for an area that has already been passed.

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:

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.

12. The method of moving the autonomous moving body according to claim 11, wherein, in updating the environment map based on the environment map restoration data corresponding to the estimated self-position, the environment map that has already been generated is updated based on the environment map restoration data corresponding to a time later than a time of a present passing point.

13. The method of moving the autonomous moving body according to claim 12, further comprising generating a local map based on the position information of the obstacles that is obtained, and comparing the updated environment map with the generated local map, wherein

in estimating the self-position on the environment map, the self-position and an orientation on the environment map, and a passing point data in the travelling schedule corresponding to the self-position on the environment map are estimated, in accordance with a result of comparing the updated environment map with the generated local map.

14. The method of moving the autonomous moving body according to claim 11, further comprising deleting data of the environment map for an area that has already been passed.