| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling area detection device and a traveling area detection method for dividing the front area of a mobile robot into an area fit for traveling and an area not fit for traveling only by simple condition setting. SOLUTION: This traveling area detection device is provided with a laser range finder 11; an external world measurement part 10 equipped with a vertical gyro 13 for converting sensor coordinate system data obtained by the laser range finder 11 into orthogonal coordinate system data; and a processing part 30 for dividing the front side of a mobile robot R into an area fit for traveling and an area not fit for traveling from preliminary data in a preliminary data memory 30a and the geometrical featured value of shape data. The preliminary data are configured of the geometrical featured values of the shape data acquired based on the traveling of a vehicle for measurement and the classification result of the area fit for traveling and the area not fit for traveling classified on a two-dimensional map where the shape data are mapped. The front side of the mobile robot R is divided into the area fit for traveling and the area not fit for traveling by applying a classification unit using the preliminary data as tutor data to the geometrical featured values of the shape data acquired by an external world measurement part 10. COPYRIGHT: (C)2009,JPO&INPIT
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