AUTONOMOUS MOBILE DEVICE

• Main Author: OISHI YASUNORI
• Format: Patent
• Language: English; Japanese
• Published: 18.02.2021
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CONTROLLING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

To provide an autonomous mobile device the position of which can be estimated with high precision.SOLUTION: An autonomous mobile device 10 includes: a main body part 12 that can autonomously move; markers 16a, 16b that are fixedly provided in prescribed positions on the main body part; and a measurement unit 14 that emits measurement light for scanning a prescribed detection range, and that is attached to the main body part in a direction capable of detecting the markers. The relative position of the measurement unit with respect to the main body part can be calculated on the basis of the relative position of the measurement unit with respect to the markers. Accordingly, the actual relative position of the measurement unit with respect to the main body part can be used to estimate the position of the device so that the deviation between a position obtained by estimation of the position of the autonomous mobile device and the actual position of the autonomous mobile device can be reduced.SELECTED DRAWING: Figure 2 【課題】自己位置推定を高精度に行うことができる自律移動装置を提供する。【解決手段】自律移動装置１０は、自律移動可能な本体部１２と、前記本体部の所定の位置に固定して設けられるマーカ１６ａ、１６ｂと、所定の検出範囲を走査する計測光を照光し、前記マーカを検出可能な向きに前記本体部に取り付けられる計測部１４と、を備える。マーカに対する計測部の相対位置に基づいて、本体部に対する計測部の相対位置を算出できるので、自己位置の推定に、本体部に対する実際の計測部の相対位置を用いることによって、自律移動装置の自己位置推定による位置と、実際の位置との誤差を減少させることができる。【選択図】図２