Autonomous mobile device, autonomous movement system, and autonomous movement method

Patent metadata

Field	Value
Publication number	US-9475194-B2
Application number	US-201214396887-A
Country	US
Kind code	B2
Filing date	Apr 26, 2012
Priority date	Apr 26, 2012
Publication date	Oct 25, 2016
Grant date	Oct 25, 2016

Abstract

An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.

First claim

The invention claimed is:

1. An autonomous mobile device comprising:
an environment recognizing unit configured to recognize a plurality of mobile obstacles, including a first mobile obstacle,
an avoidance pattern determining unit configured to determine an avoidance pattern-and determine a travelling pattern for the autonomous mobile device in accordance with a motion status of the first mobile obstacle relative to the autonomous mobile device;
a travelling control unit configured to cause the autonomous mobile device to travel in accordance with the travelling pattern determined by the avoidance pattern determining unit;
wherein the avoidance pattern determining unit determines the travelling pattern comprises maintaining a motion direction of the autonomous mobile device when a value obtained by subtracting a velocity of the autonomous mobile device from a velocity of the mobile obstacle is equal to or greater than a first value; and
the first value is determined in accordance with a congestion factor of the plurality of the mobile obstacles.

2. The autonomous mobile device as claimed in claim 1 , wherein the avoidance pattern determining unit determines the travelling pattern comprises changing direction of the autonomous mobile device when the value obtained by subtracting the velocity of the autonomous mobile device from the velocity of the first mobile obstacle is less than a second value, and wherein the first value is greater than the second value.

3. The autonomous mobile device as claimed in claim 2 , wherein the second value is determined in accordance with the congestion factor of the plurality of the mobile obstacles.

4. The autonomous mobile device as claimed in claim 1 , wherein the avoidance pattern determining unit determines the travelling pattern comprises providing deceleration of the autonomous mobile device when the value obtained by subtracting the velocity of the autonomous mobile device from the velocity of the first mobile obstacle is within a predetermined range.

5. The autonomous mobile device as claimed in claim 1 , wherein the avoidance pattern determining unit determines the travelling pattern comprises providing deceleration of the autonomous mobile device when the value obtained by subtracting the velocity of the autonomous mobile device from the velocity of the first mobile obstacle is smaller than the first value and larger than a second value.

6. The autonomous mobile device as claimed in claim 5 , wherein the second value is determined in accordance with the congestion factor of the plurality of the mobile obstacles.

7. The autonomous mobile device as claimed in claim 1 , wherein the environment recognizing unit comprises a camera capturing a front view, wherein the avoidance pattern determining unit estimates the motion status of the first mobile obstacle in accordance with a type of the first mobile obstacle in an image captured by the camera.

8. An autonomous mobile system comprising:
an environment recognizing unit configured to recognize a plurality of mobile obstacles, including a first mobile obstacle,
an autonomous mobile device having an avoidance pattern determining unit configured to determine an avoidance pattern and determine a travelling pattern for the autonomous mobile device in accordance with a motion status of the first mobile obstacle relative to the autonomous mobile device; and
a travelling control unit configured to cause the autonomous mobile device to travel in accordance with the travelling pattern determined by the avoidance pattern determining unit;
wherein the avoidance pattern determining unit determines the avoidance pattern comprises maintaining a motion direction of the autonomous mobile device when a value obtained by subtracting a velocity of the autonomous mobile device from a velocity of the first mobile obstacle is equal to or greater than a first value; and
the first value is determined in accordance with a congestion factor of the plurality of the mobile obstacles.

9. The autonomous mobile system as claimed in claim 8 , further comprising a data processing unit configured to calculate the congestion factor of the plurality of mobile obstacles, wherein
the autonomous mobile device changes a reference of a motion status in accordance with the congestion factor calculated by the data processing unit and determines the travelling pattern on the basis of the changed reference.

10. An autonomous movement method by an autonomous mobile device performing an autonomous travelling comprising:
recognizing, by an environment recognizing unit, a plurality of mobile obstacles, including a first mobile obstacle,
determining whether or not the autonomous mobile device avoids the first mobile obstacle;
determining a travelling pattern of the autonomous mobile device in accordance with a motion status of the first mobile obstacle relative to the autonomous mobile device; and
causing the autonomous mobile device to travel in accordance with the determined travelling pattern;
wherein the travelling pattern comprises maintaining a motion direction of the autonomous mobile device when a value obtained by subtracting a velocity of the autonomous mobile device from a velocity of the first mobile obstacle is equal to or greater than a first value; and
the first value is determined in accordance with a congestion factor of the plurality of mobile obstacles.

Assignees

• UEDA Taishi
• Nakamura Ryosuke
• Amino Azusa
• Hitachi Ltd

Inventors

• UEDA Taishi
• Nakamura Ryosuke
• Amino Azusa

Classifications

• Y10S901/46

  Sensing device · CPC title

• Y10S901/40

  Vacuum or mangetic · CPC title

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• Y10S901/01

  Mobile robot · CPC title

• G05D1/024 Primary

  in combination with a laser (lasers per se H01S) · CPC title