Title:
AUTONOMOUS MOBILE APPARATUS, SOIL DETECTION METHOD FOR LENS OF AUTONOMOUS MOBILE DEVICE AND PROGRAM
Document Type and Number:
Japanese Patent JP2020027443
Kind Code:
A
Abstract:
To provide a method for appropriately detecting soil on a lens of an imaging unit.SOLUTION: An autonomous mobile apparatus 100 comprises: a drive unit 32 that moves and rotates an own machine to change the position and direction of the own machine; an imaging unit 33 that captures an image via a lens; an image storage unit 21 that stores the captured image; and a control unit 10 that calculates a degree of sharpness of an image, indicating the fineness of the image or a structure composing an object detection area of an object detected in the image. The control unit 10 calculates: a first image sharpness degree of a first image stored in the image storage unit 21; and a second image sharpness degree of a second image captured in the position and direction of the own machine within a predetermined range from the position and direction of the own machine when the first image is captured, or the second image sharpness degree of the second image including a second object detection area of an object in a reference area from the first object detection area of the object detected by the first image. If the second image sharpness degree is lower than the first image sharpness degree, it is determined that a lens is soiled.SELECTED DRAWING: Figure 4
Inventors:
NAKAJIMA MITSUYASU
Application Number:
JP2018152021A
Publication Date:
February 20, 2020
Filing Date:
August 10, 2018
Export Citation:
Assignee:
CASIO COMPUTER CO LTD
International Classes:
G05D1/02
Domestic Patent References:
| JP2006230954A | 2006-09-07 | |||
| JP2011223181A | 2011-11-04 | |||
| JP2019168938A | 2019-10-03 | |||
| JP2015184903A | 2015-10-22 | |||
| JP2017538208A | 2017-12-21 |
Foreign References:
| WO2012160901A1 | 2012-11-29 | |||
| WO2013129361A1 | 2013-09-06 | |||
| US20130211659A1 | 2013-08-15 |
Attorney, Agent or Firm:
Kimura Mitsuru