Position Identification Device and Mobile Robot Provided with Same

摘要

Position identification means (7) for estimating the position of a mobile robot (1) includes a laser distance sensor (6) that measures a distance from the mobile robot (1) to an object, means for recognizing an object from data of the measured distance from the mobile robot (1) to the object and map data, travel area storage means (12) for storing a travel area of the mobile robot (1), specified area storage means (13) for storing a specified area that is separate from the travel area of the mobile robot (1), and object determination means (14) for determining whether an object is present within the travel area of the mobile robot (1) that is stored in the travel area storage means (12).

主权项

1. A position identification device that identifies an object provided in an ambient environment from reflected light of emitted laser light, and estimates a position and an angle of a mobile body which is movably disposed within a surrounding environment, in which map data of the surrounding environment where the mobile body travels is stored, the position identification device comprising:
a distance sensor that measures a distance from the mobile body to an object provided in the ambient environment; means for recognizing the object provided in the ambient environment, according to distance data from the mobile body to the object that is measured by the distance sensor and the map data; travel area storage means for storing a travel area of the mobile body; and object determination means for determining whether or not the object is placed within the travel area of the mobile body that is stored in the travel area storage means.