| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem wherein an environment map that self-propelled equipment stores to store an area to be traveled must be updated externally when a new obstruction is disposed in the travel area of the self-propelled equipment. SOLUTION: The self-propelled equipment comprises a range finding sensor 4 for detecting an obstruction, traveling position detecting means 5 for detecting a traveling position, environment map storing means 6 storing an environment map of an area to be traveled, and environment map correcting means 7 for correcting the environment map. As an environmental base is held, a change can be accommodated to dispense with an external update of the environment map. Only if the range finding sensor 4 detects an obstruction whose detection count reaches a given threshold in the area to be traveled, the traveling position detecting means 5 and environment map correcting means 7 can update the environment map by themselves. COPYRIGHT: (C)2005,JPO&NCIPI
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