| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and device for recognizing a remote environment of a mobile robot, to detect even planes and comparatively small obstacles located within a detection range, where detection is required during high-speed running, by using compact and inexpensive apparatus, and ensures safety of running even when obstacles located within the detection range cannot be detected because an area ahead of the mobile robot is inclined with respect to a route. SOLUTION: The device for recognizing a remote environment outputs environmental map data 5 necessary for generating a route of a mobile robot 10 and includes: a pair of in-vehicle cameras 22 which are fixed on the mobile robot 10 and images areas overlapping each other including a plane area ahead of the robot; a laser sensor 24 which is fixed on the mobile robot and uses a laser beam to scan the area ahead in a horizontal direction at a downward angle equivalent to a predetermined detection range, and detects positions of obstacles by reflected light of the laser beam; a computer 26 which generates environmental map data 5 including a plane area 1 and an obstacle 4 defined in a single coordinate system, from outputs of the in-vehicle cameras and the laser sensor. COPYRIGHT: (C)2011,JPO&INPIT |
