Self-location estimation apparatus and self-location estimation method

Patent metadata

Field	Value
Publication number	US-2018199162-A1
Application number	US-201715691619-A
Country	US
Kind code	A1
Filing date	Aug 30, 2017
Priority date	Jan 10, 2017
Publication date	Jul 12, 2018
Grant date	—

Abstract

A self-location estimation apparatus and a self-location estimation method which can more accurately estimate a self-location are provided. A self-location estimation apparatus according to an embodiment is installable at a cart which is movable on the basis of an environment map. The self-location estimation apparatus according to the embodiment includes a distance sensor device configured to measure a distance thereof from an object, an angle sensor device configured to measure a measurement range of the distance sensor device, which fluctuates due to rocking along with movement of the cart, and an estimation device configured to estimate a self-location on the basis of a position of a mark installed at the environment and which is identified using the environment map, the distance, intensity of reflected light, and the measurement range.

First claim

What is claimed is:

1 . A self-location estimation apparatus installable at a cart which is movable on the basis of an environment map, the self-location estimation apparatus comprising:
a distance sensor device configured to measure a distance thereof from an object; an angle sensor device configured to measure a measurement range of the distance sensor device, which fluctuates due to rocking along with movement of the cart; and an estimation device configured to estimate a self-location on the basis of a position of a mark installed on the object and which is identified using the environment map, the distance, and the measurement range.

2 . A self-location estimation apparatus installable at a cart which is movable on the basis of an environment map, the self-location estimation apparatus comprising:
a distance sensor device configured to measure a distance thereof from an object; a wireless tag reader device configured to detect a wireless tag installed near a mark installed on the object; and an estimation device configured to estimate a self-location on the basis of a position of the mark identified using the environment map and the distance, and the wireless tag.

3 . The self-location estimation apparatus according to claim 1 , wherein the distance sensor device measures intensity of reflected light from the object, and
the estimation device estimates the self-location on the basis of a position of the mark identified using the intensity of the reflected light.

4 . The self-location estimation apparatus according to claim 2 , wherein the distance sensor device measures intensity of reflected light from the object, and
the estimation device estimates the self-location on the basis of a position of the mark identified using the intensity of the reflected light.

5 . The self-location estimation apparatus according to claim 1 , comprising:
a wireless tag reader device configured to detect a wireless tag installed near the mark, wherein the estimation device estimates the self-location on the basis of the wireless tag.

6 . The self-location estimation apparatus according to claim 1 , comprising:
a rocking part configured to rock the distance sensor device in accordance with the rocking along with the movement of the cart.

7 . The self-location estimation apparatus according to claim 2 , comprising:
a rocking part configured to rock the distance sensor device in accordance with the rocking along with the movement of the cart.

8 . The self-location estimation apparatus according to claim 1 , comprising:
a mark identification part configured to identify the mark on the basis of a width of the mark or the number of strips of a mark installed in a horizontal strip shape.

9 . The self-location estimation apparatus according to claim 2 , comprising:
a mark identification part configured to identify the mark on the basis of a width of the mark or the number of strips of a mark installed in a horizontal strip shape.

10 . The self-location estimation apparatus according to claim 1 , wherein the estimation device estimates the self-location on the basis of a position of a mark of a curved surface shape.

11 . The self-location estimation apparatus according to claim 2 , wherein the estimation device estimates the self-location on the basis of a position of a mark of a curved surface shape.

12 . The self-location estimation apparatus according to claim 1 , comprising:
a storage device configured to store the environment map.

13 . The self-location estimation apparatus according to claim 2 , comprising:
a storage device configured to store the environment map.

14 . A self-location estimation method using a computer of a self-location estimation apparatus installable at a cart which is movable on the basis of an environment map, the self-location estimation method comprising:
a distance sensor step of measuring, by a distance sensor device, a distance thereof from an object; an angle sensor step of measuring, by an angle sensor device, a measurement range of the distance sensor device, which fluctuates due to rocking along with the movement of the cart; and an estimation step of estimating, by an estimation device, a self-location on the basis of a position of a mark installed on the object, which is identified using the environment map, the distance, and the measurement range.

15 . A self-location estimation method using a computer of a self-location estimation apparatus installable at a cart which is movable on the basis of an environment map, the self-location estimation method, comprising:
a distance sensor step of measuring, by a distance sensor device, a distance thereof from an object; a wireless tag reader step of detecting, by a wireless tag reader device, a wireless tag installed near a mark installed on the object; and an estimation step of estimating, by an estimation device, a self-location on the basis of a position of the mark identified using the environment map and the distance, and the wireless tag.

Assignees

• Toshiba Kk

Inventors

• Yamamoto Daisuke
• Sonoura Takafumi

Classifications

• G01S17/931

  of land vehicles · CPC title

• H04W4/02

  Services making use of location information · CPC title

• G01S17/06 Primary

  Systems determining position data of a target · CPC title

• H04W4/027

  using movement velocity, acceleration information · CPC title

• H04W4/33

  for indoor environments, e.g. buildings · CPC title