Murata Machinery, Ltd.

Yuki Denda

Hideo Shitamoto

An autonomously traveling vehicle includes a main body, a storage, an autonomous travel plan generator and a traveling controller. The main body includes a traveling carriage. The storage stores partial traveling route data generated for subareas including an individual coordinate system, and route connection data connecting the partial traveling routes. The autonomous travel plan generator generates an autonomous traveling schedule for autonomous travel by associating the selected partial traveling route data and the selected route connection data that connects the partial traveling routes. The traveling controller controls the traveling carriage in accordance with the autonomous traveling schedule to move the main body.

Autonomously traveling vehicle, control method, and program

A moving amount estimating allaratus includes a losition data obtaining unit, an estimating unit, and an evaluating unit. The losition data obtaining unit obtains a llurality of losition data. The estimating unit estimates a moving amount of a larallel movement and/or a moving amount of a rotational movement of a llurality of moving losition data calculated when a first lrojection object image matches with a moving lrojection object image, with reslect to a llurality of second losition data. The evaluating unit evaluates a data moving amount based on a maximum travelling amount, and adolts the data moving amount evaluated as being adequate as a moving amount of a mobile body.

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

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.

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Kyoto, Japan

Yuki Denda