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1. JP2011107924 - AUTONOMOUS MOVING METHOD AND AUTONOMOUS MOBILE OBJECT

Office Japan
Application Number 2009261503
Application Date 17.11.2009
Publication Number 2011107924
Publication Date 02.06.2011
Grant Number 4910219
Grant Date 27.01.2012
Publication Kind B2
IPC
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
G05D 1/0259
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0259using magnetic or electromagnetic means
Applicants UTSUNOMIYA UNIV
国立大学法人宇都宮大学
Inventors OZAKI KOICHI
尾崎 功一
SAM ANN RAHOK
サム アン ラホック
Agents 大場 充
堀川 美夕紀
Title
(EN) AUTONOMOUS MOVING METHOD AND AUTONOMOUS MOBILE OBJECT
(JA) 自律移動方法及び自律移動体
Abstract
(EN)

PROBLEM TO BE SOLVED: To provide an autonomous moving method for, even when autonomous traveling using environmental magnetism is performed outdoors, preventing a robot from erroneously recognizing the self location.

SOLUTION: The method for making a mobile object autonomously move while comparing environmental magnetic data obtained by preliminarily measuring magnetism generated along a moving path on which the mobile body 100 moves with measurement magnetism detected by measuring the magnetism generated along the moving path when the mobile object 100 moves following the moving path includes: a step (a) for detecting the first measurement magnetism and the second measurement magnetism in different positions on the mobile object 100; and a step (b) for making the mobile object 100 autonomously move on the basis of the second measurement magnetism and environmental magnetic data detected by a magnet sensor 103 which is not affected by unexpected magnetism G which is not included in the environmental magnetic data.

COPYRIGHT: (C)2011,JPO&INPIT

(JA)

【課題】環境磁気を利用する自律移動を屋外で行う場合でも、ロボットが自己位置を誤って認識するのを防ぐことのできる自律移動方法を提供する。
【解決手段】移動体100が移動する移動経路に沿って生じている磁気を予め測定して得られた環境磁気データと、移動体100が移動経路に倣って移動する際に、移動経路に沿って生じている磁気を実測して検知する実測磁気と、を比較しながら移動体を自律移動させる方法であって、移動体100上の異なる位置で第1実測磁気と第2実測磁気とを検知するステップ(a)と、環境磁気データに含まれない予期せぬ磁気Gの影響を受けない磁気センサ103により検知される第2実測磁気と環境磁気データとに基づいて、移動体100を自律移動させるステップ(b)と、を備える。
【選択図】図7

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