| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an autonomous moving apparatus capable of suppressing lowering of resolution, even when a shape at a location distant from a distance measuring device on a measuring surface is measured. <P>SOLUTION: This autonomous moving apparatus 18 has a laser range sensor 20 for performing measurement to acquire distance data, a rotator 30 for rotating the range sensor 20, a moving body 16 on which the rotator 30 is mounted, an encoder 38 for detecting a rotational angle of the rotator 30, a computation portion 52a for computing three-dimensional distance data by using data input from the range sensor 20 and the encoder 38, and a rotation controller 52b for controlling the rotator 30. When a location distant from the range sensor 20 on a floor surface is scanned with a laser beam on the occasion of measuring the shape of the floor surface, the rotation controller 52b rotates the rotator 30 with a slower angular velocity, as compared with that on the occasion of scanning a location near the range sensor 20 on the floor surface with a laser beam. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
