| 摘要 |
A cleaning robot (1), which is an autonomous mobile system, converts the coordinates of three-dimensional coordinate data obtained by measurement with a range image sensor (20) disposed facing at a forward decline, and creates floor-surface-reference three-dimensional coordinate data. A step, obstacle, etc. is distinguished according to height from a floor surface (F), to label the data, and bird's eye view image data as seen from directly above the cleaning robot main body is created. The bird's eye view image data is scanned, and as long as the labels are aligned in a specific sequence, a process for replacing an unconfirmed area as a step is carried out. It is thereby possible to correct positional misalignment of the edge of the step that occurs due to a blind spot, and the step position can be accurately perceived. |
