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Autonomous mobile apparatus returning to charger to be charged, autonomous moving method, and non-transitory computer-readable storage medium

A technology of mobile device and storage unit, which is applied in the direction of automatic control of traveling motion, circuit device, battery circuit device, etc., to achieve the effect of improving technology and improving movement

Inactive Publication Date: 2018-10-09
CASIO COMPUTER CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, in the existing autonomous mobile devices, there is still room for improvement in the technology of controlling the movement of autonomous mobile devices

Method used

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  • Autonomous mobile apparatus returning to charger to be charged, autonomous moving method, and non-transitory computer-readable storage medium
  • Autonomous mobile apparatus returning to charger to be charged, autonomous moving method, and non-transitory computer-readable storage medium
  • Autonomous mobile apparatus returning to charger to be charged, autonomous moving method, and non-transitory computer-readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0024] The autonomous mobile device according to the embodiment of the present invention creates a surrounding area Figure 1 The sides correspond to devices that use autonomous movement. Such uses include, for example, security monitoring, indoor cleaning, pet use, and toy use.

[0025] Autonomous mobile device 100 such as figure 1 As shown, it includes an obstacle sensor 31 , a return signal receiving unit 41 ( 41 a , 41 b ), a drive unit 42 ( 42 a , 42 b ), and a charging connection unit 45 in appearance. in addition, figure 1 Although not shown, an imaging unit may be provided. In addition, the charger 200 for charging the battery of the autonomous mobile device 100 such as figure 2 As shown, the return signal transmission part 51 (51a, 51b), the power supply part 52, and the guide rail 53 (53a, 53b) are provided externally.

[0026] By connecting the charging connection unit 45 of the autonomous mobile device 100 to the power supply unit 52 of the charger 200 , the ...

Embodiment approach 2

[0081] In the first embodiment described above, when the autonomous mobile device 100 cannot detect a person, the action planning unit 14 sets a large space with few surrounding obstacles 301 as the movement destination in the map stored in the map storage unit 21 . This is because there is a high probability that a person exists or passes in a large space. Next, Embodiment 2 will be described. When the autonomous mobile device cannot detect a person, the history is used to further increase the probability of being found by a person.

[0082] The functional configuration of the autonomous mobile device 101 according to Embodiment 2 of the present invention is as follows: Figure 11 As shown, the autonomous mobility device 100 according to the first embodiment has a configuration in which the history storage unit 23 and the ground sensor 33 are added. Other configurations are the same as those of the autonomous mobility device 100 according to the first embodiment.

[0083] ...

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Abstract

The present invention provides an autonomous mobile apparatus, an autonomous mobile method and a program storage medium which can improve the technology of control of movement of an autonomous mobileapparatus. The autonomous mobile apparatus (100) that returns to a charger to be charged, the apparatus comprises a determiner that determines whether the apparatus is able to return to the charger, alocation obtainer that obtains a predetermined location, an action planner (14) that sets a destination, and sets a route to the destination, and a movement controller (15) that controls a drive so that the apparatus is moved along the route that is set by the action planner, wherein, when the determiner determines that the apparatus is not able to return to the charger, the action planner (14) sets the predetermined location obtained by the location obtainer as the destination.

Description

[0001] associated reference [0002] This application claims the priority of the Japanese patent application No. 2017-59966 filed on March 24, 2017 as the basic application, and all the contents of the basic application are incorporated into the present application. technical field [0003] The present invention relates to technology for autonomous mobile devices that return to a charger for charging. Background technique [0004] Autonomous mobile devices such as cleaning robots that move autonomously for indoor cleaning are spreading. Since the autonomous mobile device is driven by a battery, if the remaining power of the battery becomes low, it is likely that the autonomous mobile device returns to the charger for charging. For example, JP-A-2008-181177 describes an autonomous mobile device that detects a return signal (beacon) sent from a charger and returns to the charger. [0005] However, even if the autonomous mobile device searches for a return signal from the cha...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0238G05D1/0242G05D1/0225A47L9/2826A47L9/2831A47L9/2847A47L9/2852A47L9/2868A47L11/4011A47L2201/04A47L2201/06B60L2200/40B60L53/14B60L53/36B60L53/66Y02T90/16Y02T10/70Y02T90/12Y02T10/7072Y02T90/14H02J7/0042A47L9/00
Inventor 中岛光康
Owner CASIO COMPUTER CO LTD
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