JP2017167625A5

JP2017167625A5 -

Info

Publication number: JP2017167625A5
Application number: JP2016049544A
Authority: JP
Filing date: 2016-03-14
Publication date: 2019-03-14
Anticipated expiration: 2036-03-14

Description

上記目的を達成するため、本発明の自律移動装置は、
撮像部が撮影した複数の画像の情報を用いて地図を作成する地図作成部と、
前記撮像部が撮影した複数の画像の情報を用いて自機位置を推定する位置推定部と、
外部の通信機と通信する際の通信品質を測定する通信品質測定部と、
前記位置推定部が推定した自機位置と前記通信品質測定部が測定した通信品質とを用いて通信品質地図を作成する通信品質地図作成部と、
前記地図作成部が作成した地図と、前記通信品質地図作成部が作成した通信品質地図とを用いて、目的地までの経路を探索する経路探索部と、
を備えることを特徴とする。 In order to achieve the above object, the autonomous mobile device of the present invention provides:
A map creation unit that creates a map using information of a plurality of images taken by the imaging unit;
A position estimation unit that estimates the position of the device using information of a plurality of images captured by the imaging unit;
A communication quality measurement unit for measuring communication quality when communicating with an external communication device;
A communication quality map creating unit that creates a communication quality map using the own device position estimated by the position estimating unit and the communication quality measured by the communication quality measuring unit;
And map the map creation unit has been created and have use the communication quality map of the communication quality map creation unit has been created, and the route search unit for searching for a route to the destination,
It is characterized by providing.

Claims

A map creation unit that creates a map using information of a plurality of images taken by the imaging unit;
A position estimation unit that estimates the position of the device using information of a plurality of images captured by the imaging unit;
A communication quality measurement unit for measuring communication quality when communicating with an external communication device;
A communication quality map creating unit that creates a communication quality map using the own device position estimated by the position estimating unit and the communication quality measured by the communication quality measuring unit;
Using a map in which the map creation unit creates, and a communication quality map the communication quality mapping unit creates a route search unit for searching for a route to a destination,
An autonomous mobile device comprising:

The route search unit searches for a route that does not pass through a communication failure region that is a region where the communication quality is lower than a predetermined threshold in the communication quality map created by the communication quality map creation unit.
The autonomous mobile device according to claim 1.

Furthermore, a communication failure time acquisition unit that acquires a communication failure time that is a time required to pass through a communication failure region that is a region where communication quality is lower than a predetermined threshold in the route searched by the route search unit,
The route search unit searches for a route that does not pass through the communication failure area when the communication failure time acquired by the communication failure time acquisition unit exceeds the allowable latency, and when the communication failure time is equal to or less than the allowable latency. Search for a route through the poor communication area,
The autonomous mobile device according to claim 1.

In addition, an allowable latency setting unit that sets the allowable latency based on the task content of the own machine,
The autonomous mobile device according to claim 3.

In addition, it has a speed setting unit that sets the speed of its own machine,
The communication failure time acquisition unit acquires the communication failure time when the autonomous mobile device moves at the maximum speed,
When the communication failure time when the autonomous mobile device moves at the maximum speed is equal to or less than the allowable latency, the route search unit searches for a route passing through the communication failure region, and the speed setting unit Set the speed to the maximum speed,
The autonomous mobile device according to claim 3 or 4.

The route search unit sets a route that avoids a communication failure area in which the communication quality is lower than a predetermined threshold in the communication quality map created by the communication quality map creation unit even when the destination is not set. To
The autonomous mobile device according to claim 1.

The autonomous mobile device according to any one of claims 1 to 6,
An external communicator communicating with the autonomous mobile device;
An autonomous mobile system comprising:

An autonomous movement method for autonomously moving while communicating with an external communication device,
Searching for a route through which a communication quality at the time of communicating with the communication device is lower than a predetermined threshold and only passes a time equal to or less than the allowable latency ,
Autonomous movement method.

An autonomous movement method for autonomously moving while communicating with an external communication device,
Even when a destination is not set, a route that avoids a communication failure area that is an area where the communication quality when communicating with the communication device is lower than a predetermined threshold is set.
Autonomous movement method.

A map creation step of creating a map using information of a plurality of images taken by the imaging unit;
A position estimation step of estimating the position of the device using information of a plurality of images captured by the imaging unit;
A communication quality measurement step for measuring communication quality when communicating with an external communication device;
A communication quality map creating step of creating a communication quality map using the own device position estimated in the position estimating step and the communication quality measured in the communication quality measuring step;
A route search step for searching for a route to a destination using the map created in the map creation step and the communication quality map created in the communication quality map creation step;
An autonomous movement method comprising:

On the computer,
A map creation step of creating a map using information of a plurality of images taken by the imaging unit;
A position estimation step of estimating the position of the device using information of a plurality of images captured by the imaging unit;
Communication quality measurement step for measuring communication quality when communicating with an external communication device,
A communication quality map creating step for creating a communication quality map using the own device position estimated in the position estimating step and the communication quality measured in the communication quality measuring step;
A route search step for searching for a route to a destination using the map created in the map creation step and the communication quality map created in the communication quality map creation step;
A program for running