Moving amount estimating apparatus, autonomous mobile body, and moving amount estimating method

Patent metadata

Field	Value
Publication number	US-9802619-B2
Application number	US-201514933263-A
Country	US
Kind code	B2
Filing date	Nov 5, 2015
Priority date	Nov 28, 2014
Publication date	Oct 31, 2017
Grant date	Oct 31, 2017

Abstract

A moving amount estimating apparatus includes a position data obtaining unit, a first estimating unit, and a second estimating unit. The position data obtaining unit obtains a plurality of position data used to form a projection object image before and after movement of a mobile body. The first estimating unit calculates a moving amount of a parallel movement and/or a rotational movement of second position data as a moving amount of a mobile body when a plurality of moving position data is calculated. A second estimating unit compensates for a wheel moving amount based on a comparison between a second reference moving amount based on a rotating amount of a wheel during a predetermined period and a first reference moving amount obtained by calculating the moving amount of the mobile body in the first estimating unit during the predetermined period, and estimates the moving amount of the mobile body.

First claim

What is claimed is:

1. A moving amount estimating apparatus for estimating a moving amount of a mobile body moving according to rotation of a wheel, the apparatus comprising:
a position data detector that obtains a plurality of position data to form a projection object image obtained by projecting an object around the mobile body onto a predetermined coordinate; and
a processor configured or programmed to include:
a first estimator that calculates, when a first projection object image formed by a plurality of first position data obtained one of before and after the mobile body moves matches with a moving projection object image formed by a plurality of moving position data obtained by a parallel movement and/or a rotational movement of a plurality of second position data obtained the other of before and after the movement on the predetermined coordinate, a moving amount of the parallel movement and/or a moving amount of the rotational movement of the plurality of second position data as a moving amount in which the mobile body moves;
a second estimator that compensates for a wheel moving amount to be calculated based on a rotating amount of the wheel based on a comparison between a second reference moving amount calculated based on the rotating amount of the wheel for a predetermined period during which the mobile body is moving and a first reference moving amount that is a calculated value of the moving amount in the first estimator when the mobile body moves during the predetermined period so as to estimate the compensated wheel moving amount as the moving amount of the mobile body; and
a compensation coefficient calculator that calculates a compensation coefficient as a result of comparing the second reference moving amount with the first reference moving amount based on the first reference moving amount and the second reference moving amount; wherein

the second estimator compensates for the wheel moving amount using the compensation coefficient, and calculates a compensation wheel diameter based on a reference wheel diameter as a predetermined diameter of the wheel and the compensation coefficient so as to calculate the moving amount of the mobile body based on the compensation wheel diameter and the rotating amount of the wheel.

2. The moving amount estimating apparatus according to claim 1 , wherein the processor is further configured or programmed to include an evaluator that evaluates whether the compensation coefficient is calculated appropriately based on a result of comparing a past compensation coefficient calculated during a past period before the predetermined period with the compensation coefficient.

3. The moving amount estimating apparatus according to claim 2 , wherein when a determination is made that the compensation coefficient is not appropriately calculated, the second estimator uses the past compensation coefficient as the compensation coefficient.

4. The moving amount estimating apparatus according to claim 1 , wherein the compensation coefficient calculator calculates the compensation coefficient based on the first reference moving amount, the second reference moving amount, and an updated coefficient having a predetermined value.

5. The moving amount estimating apparatus according to claim 1 , wherein the second estimator calculates the wheel moving amount based on a reference wheel diameter as a predetermined diameter of the wheel and the rotating amount of the wheel so as to compensate for the wheel moving amount based on the compensation coefficient.

6. The moving amount estimating apparatus according to claim 1 , wherein the processor is further configured or programmed to include a diameter change calculator that calculates a change in the diameter of the wheel based on a comparison between the compensation wheel diameter and the reference wheel diameter.

7. The moving amount estimating apparatus according to claim 1 , wherein the processor is further configured or programmed to include a compensation data obtaining commander that specifies the predetermined period in which the first reference moving amount and the second reference moving amount are calculated.

8. An autonomous mobile body comprising:
a travelling unit that includes a wheel and is capable of travelling according to rotation of the wheel;
a position data detector that obtains a plurality of position data to form a projection object image obtained by projecting an object around the mobile body onto a predetermined coordinate; and
a processor configured or programmed to include:
a first estimator that calculates, when a first projection object image formed by a plurality of first position data obtained one of before and after the mobile body moves matches with a moving projection object image formed by a plurality of moving position data obtained by a parallel movement and/or a rotational movement of a plurality of second position data obtained the other of before and after the movement on the predetermined coordinate, a moving amount of the parallel movement and/or a moving amount of the rotational movement of the plurality of second position data as a moving amount in which the mobile body moves;
a second estimator that compensates for a wheel moving amount to be calculated based on a rotating amount of the wheel based on a comparison between a second reference moving amount calculated based on the rotating amount of the wheel for a predetermined period during which the mobile body is moving and a first reference moving amount that is a calculated value of the moving amount in the first estimator when the mobile body moves during the predetermined period so as to estimate the compensated wheel moving amount as the moving amount of the mobile body;
a compensation coefficient calculator that calculates a compensation coefficient as a result of comparing the second reference moving amount with the first reference moving amount based on the first reference moving amount and the second reference moving amount;
a position estimator that estimates a current position based on a moving amount to be estimated in a moving amount estimating apparatus; and
a travelling controller that controls the travelling unit so that the travelling unit travels from the current position to a predetermined target position; wherein

the second estimator compensates for the wheel moving amount using the compensation coefficient, and calculates a compensation wheel diameter based on a reference wheel diameter as a predetermined diameter of the wheel and the compensation coefficient so as to calculate the moving amount of the mobile body based on the compensation wheel diameter and the rotating amount of the wheel.

9. A moving amount estimating method for estimating a moving amount of a mobile body moving according to rotation of a wheel, the method comprising:
obtaining a plurality of position data to form a projection object image obtained by projecting an object present around the mobile body onto a predetermined coordinate before and after the mobile body moves during a predetermined period;
moving a plurality of second position data obtained one of before and after the movement parallelly and/or rotationally on the predetermined coordinate so as to calculate a plurality of moving position data;
calculating, when the plurality of moving position data is obtained such that a first projection object image to be formed by a plurality of first position data obtained the other of before and after the movement matches with a moving projection object image to be formed by the plurality of moving position data, a first reference moving amount based on a moving amount of the parallel movement and/or a moving amount of the rotational movement of the plurality of second posi

Assignees

• Murata Machinery Ltd

Inventors

• Denda Yuki

Classifications

• B60W2556/00

  Input parameters relating to data · CPC title

• B60W40/101

  Side slip angle of tyre · CPC title

• B60W40/12

  related to parameters of the vehicle itself {, e.g. tyre models} · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• B60W40/10 Primary

  related to vehicle motion · CPC title