Title:
MOVING DEVICE, INFORMATION PROCESSING PROGRAM, AND INFORMATION PROCESSING METHOD
Document Type and Number:
WIPO Patent Application WO/2023/058322
Kind Code:
A1
Abstract:
[Problem] To reduce noise more reliably from a sensor of a moving device that moves autonomously in an environment, and improve the accuracy of environmental recognition. [Solution] Provided is a moving device comprising: an environment observation unit that generates environment information on the basis of a sensing result from a sensor; a movement mechanism control unit that generates, on the basis of the environment information, a movement mechanism control command value for controlling the motion of a movement mechanism, and outputs the movement mechanism control command value to the movement mechanism to drive the movement mechanism; a sensor attitude estimation unit that estimates, on the basis of the environment information, the attitude of the sensor as the movement mechanism moves through the environment and generates a sensor attitude estimation value; and a sensor attitude stabilization unit that generates, on the basis of the movement mechanism control command value, a sensor attitude control command value for stabilizing the attitude of the sensor to make the relative change in the sensor attitude estimation value with respect to the environment information when the movement mechanism is driven on the basis of the movement mechanism control command value be less than a threshold value, and outputs the sensor attitude control command value to a sensor attitude control mechanism to stabilize the attitude of the sensor.
Inventors:
FUKUI AKIRA (JP)
Application Number:
PCT/JP2022/030386
Publication Date:
April 13, 2023
Filing Date:
August 09, 2022
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
G05D1/02
Foreign References:
| JPH08339227A | 1996-12-24 | |||
| JP2021136009A | 2021-09-13 | |||
| JP2006262009A | 2006-09-28 |
Attorney, Agent or Firm:
MINAMI AOYAMA PATENT AND TRADEMARK ATTORNEYS (JP)
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