US 11,054,837 B2
Autonomous mobile apparatus adaptable to change in height, autonomous movement method and non-transitory computer-readable recording medium
Akira Hamada, Sagamihara (JP)
Assigned to CASIO COMPUTER CO., LTD., Tokyo (JP)
Filed by CASIO COMPUTER CO., LTD., Tokyo (JP)
Filed on Mar. 14, 2018, as Appl. No. 15/920,618.
Claims priority of application No. JP2017-061857 (JP), filed on Mar. 27, 2017.
Prior Publication US 2018/0275677 A1, Sep. 27, 2018
Int. Cl. G05D 1/02 (2020.01); G06N 3/00 (2006.01); A63H 29/22 (2006.01); A63H 11/00 (2006.01)
CPC G05D 1/0246 (2013.01) [A63H 11/00 (2013.01); A63H 29/22 (2013.01); G05D 1/0221 (2013.01); G05D 1/0274 (2013.01); G06N 3/008 (2013.01); A63H 2200/00 (2013.01); G05D 2201/0214 (2013.01); Y10S 901/01 (2013.01); Y10S 901/47 (2013.01)] 13 Claims
OG exemplary drawing
 
1. An autonomous mobile apparatus comprising:
a processor configured to;
refer to environment map information of an environment that was previously generated;
control the autonomous mobile apparatus to autonomously move to a portion of the environment; detect a change in height of the portion of the environment relative to a reference height;
determine whether the change in height is equal to or larger than a reference threshold; and
in response to detecting that the change in height is equal to or larger than the reference threshold, stop updating the environment map information with respect to the height of the portion of the environment or delete the environment map information that has been updated with respect to the height of the portion of the environment.