# US 2021/0240183 A1 · Output device, drive device, mobile device, mobile body system, output method, and computer readable medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0240183 A1 - Document ID: US20210240183A1 - Status: Published application - Kind: A1 - Application number: 17/052,616 - Filed: 2019-05-23 - Published: 2021-08-05 - Earliest claimed: 2018-05-31 - Assignees: NEC Corporation - Applicants: NEC Corporation - Inventors: Shinya YASUDA - Web page: https://patentgrep.com/patent/US20210240183A1 ## CPC - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0282: {generated in a local control room} - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract To make high precision movement possible when performing sending of positioning information to a mobile body via a wireless network, this output device comprises: a movement status derivation unit that derives a first status information which is information expressing the movement status of a mobile body, derived from status information expressing the execution status of an operation for a movement performed by each moveable part that executes the movement of the mobile body; a speed derivation unit that derives from the first status information a speed information that is information expressing the speed of the movement and the direction of the movement made possible by each of the moveable parts; and a speed correction unit that corrects the latest speed information from the relationship between error information expressing an error in the speed information and the speed information, and the latest speed information, and outputs the corrected speed information. ## Claims ### Claim 1 An output device comprising: movement status a derivation unit configured to derive first status information that is information representing a movement status of a mobile body and is derived from status information representing an execution status of an operation for movement of the mobile body being performed by each of movement enabling units configured to execute the movement; a speed derivation unit configured to derive, from the first status information, speed information that is information representing a magnitude and a direction of a speed of the movement being enabled by each of the movement enabling units; and a speed correction unit configured to correct the latest speed information from the latest speed information and a relationship between the speed information and error information representing an error in the speed information, and configured to output corrected speed information that is the speed information after correction. ### Claim 2 (depends on 1) The output device according to claim 1, further comprising: a speed error derivation unit configured to derive the error information from the first status information and second status information that is information representing the movement status acquired by an acquisition unit outside the mobile body and sent through communication of a wireless network, and configured to cause storage unit to store a combination of the error information and the speed information at a time of deriving the error information; and a relationship derivation unit configured to derive the relationship from a plurality of the combinations previously stored in the storage unit. ### Claim 3 (depends on 2) The output device according to claim 2, wherein the output is more frequently performed than the storage. ### Claim 4 (depends on 2) The output device according to claim 2, wherein the speed correction unit derives the corrected speed information, by correcting the speed information by using speed correction information that is information for correcting the speed information and is derived by linear approximation of the combination belonging to a group of the combinations. ### Claim 5 (depends on 2) The output device according to claim 2, wherein the speed correction unit derives the corrected speed information, by classifying the combination belonging to a group of the combinations into predetermined ranges and correcting the speed information by using speed correction information that is information for correcting the speed information and is derived from each of the ranges. ### Claim 6 (depends on 2) The output device according to claim 2, wherein the speed error derivation unit derives the error information from the latest first status information and the latest second status information. ### Claim 7 (depends on 2) The output device according to claim 2, further comprising a delay derivation unit configured to derive communication delay time relating to the communication, wherein the speed error derivation unit derives the error information from the latest first status information and the second status information received earlier by a period of time substantially equal to the communication delay time through the communication. ### Claim 8 (depends on 2) The output device according to claim 2, wherein the speed error derivation unit derives the error information from difference information representing a difference between the first status information and the second status information. ### Claim 9 (depends on 2) The output device according to claim 2, further comprising a correction unit configured to correct the first status information by using the second status information. ### Claim 10 (depends on 2) The output device according to claim 2, wherein the speed error derivation unit is included in the mobile body. ### Claim 11 (depends on 2) The output device according to claim 2, wherein the speed error derivation unit is included in a second movement information derivation device that derives the second status information and sends the second status information to the mobile body. ### Claim 12 (depends on 1) The output device according to claim 1, wherein the movement status is a position where the mobile body is present. ### Claim 13 (depends on 1) The output device according to claim 1, wherein the movement enabling units are drive wheels constituting a two-wheeled shaft, and the status information is information representing a number of rotations of each of the drive wheels. ### Claim 14 (depends on 13) The output device according to claim 13, wherein the speed information is information representing a circumferential speed of each of the drive wheels. ### Claim 15 (depends on 1) The output device according to claim 1, wherein the movement enabling units include a direction operation unit configured to determine a direction of the movement and a drive wheel for the movement, and the status information includes information representing an angle being operated by the direction operation unit and information representing a number of rotations of the drive wheel. ### Claim 16 (depends on 15) The output device according to claim 15, wherein the speed information is information representing the angle and a circumferential speed of the drive wheel. ### Claim 17 (depends on 1) The output device according to claim 1, wherein the status information is derived inside the mobile body. ### Claim 18 (depends on 1) The output device according to claim 1, wherein at least one of the movement status derivation unit, the speed derivation unit and the speed correction unit is included in the mobile body. ### Claim at position 19 -24. (canceled) ### Claim 25 An output method comprising: deriving first status information that is information representing a movement status of a mobile body and is derived from status information representing an execution status of an operation for movement of the mobile body being performed by each of movement enabling units configured to execute the movement; deriving, from the first status information, speed information that is information representing a magnitude and a direction of a speed of the movement being enabled by each of the movement enabling units; and correcting the latest speed information from the latest speed information and a relationship between the speed information and error information representing an error in the speed information, and outputting corrected speed information that is the speed information after correction. ### Claim 26 A non-transitory computer readable medium on which an output program is recorded, the output program causing a computer to execute: processing of deriving first status information that is information representing a movement status of a mobile body and is derived from status information representing an execution status of an operation for movement of the mobile body being performed by each of movement enabling units configured to execute the movement; processing of deriving, from the first status information, speed information that is information representing a magnitude and a direction of a speed of the movement being enabled by each of the movement enabling units; and processing of correcting the latest speed information from the latest speed information and a relationship between the speed information and error information representing an error in the speed information, and outputting corrected speed information that is the speed information after correction.