Title:
MOBILE BODY AND LOCATION ESTIMATION METHOD
Document Type and Number:
Japanese Patent JP2021149229
Kind Code:
A
Abstract:
To improve the accuracy of position estimation of a mobile body.SOLUTION: Mobile bodies 100, 100', and 100'' include a traveling unit 2, an object information acquisition sensor 4, a magnetic sensor 3, rotation amount measurement sensors 25a and 25b, a storage unit 51, and a control unit 5. The object information acquisition sensor 4 acquires object information around the traveling unit. The magnetic sensor 3 measures a magnetic field vector. The rotation amount measurement sensors 25a and 25b measure a rotation amount of wheels 21a and 21b of the traveling unit 2. The storage unit 51 stores an environment map EM. The control unit 5 estimates second position information on the basis of first position information before a movement, a movement amount by the wheels 21a and 21b, a change amount of the magnetic field vector before and after the movement, and a map matching result between a local map and an environment map EM after the movement.SELECTED DRAWING: Figure 3
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Inventors:
SAKAI TSUKASA
Application Number:
JP2020045943A
Publication Date:
September 27, 2021
Filing Date:
March 17, 2020
Export Citation:
Assignee:
MURATA MACHINERY LTD
International Classes:
G05D1/02; G01C21/30
Attorney, Agent or Firm:
Shinki Global IP Patent Corporation