Autonomous Mobile System

摘要

The invention includes a shape detector and travel distance detector for measuring whether objects are present in set regions determined by dividing a three-dimensional space into a plurality of segments, a storage device into which map data is stored that indicates a region of the set regions that has been set as having a stationary object in the region, a determining section that determines, from frequency of the object detection by the shape detector during a predetermined time for each of the set regions, whether the object that has been detected in each set region is a stationary object or a moving object, and a localizer that localizes a vehicle “v” by matching the region that the determining section has determined to have a stationary object in the region, and the map data. Thus, highly accurate detection of positions can be realized, even in an environment with moving objects.

主权项

1. An autonomous mobile system for a mobile body which moves while localizing itself in a space, the system comprising:
measuring means for measuring whether objects are present or absent in each of regions determined by dividing the space into a plurality of segments according to a predetermined rule; storage means into which map data is stored that indicates a region of the determined regions that has been set as having a stationary object in the region; means for determining, from frequency of the object detection by the measuring means during a predetermined time for each of the determined regions, whether the object that has been detected in the region is a stationary object or a moving object; and means for localizing the mobile body by matching the region having therein the stationary object which the determining means has determined to be present, and the region that was set in the map data as having a stationary object in the region.