AUTONOMOUS MOBILE BODY
1 Assignment
0 Petitions
Accused Products
Abstract
An autonomous mobile body includes a laser range sensor and an electronic control device. The electronic control device includes a storage unit that stores a size D2 of the autonomous mobile body, a width identification unit that identifies a spatial size D1 in a width direction of a passage which is a region where the autonomous mobile body can move, a calculation unit that calculates a size 8 of an interfering obstacle in a direction which is substantially perpendicular to a moving target direction on a road surface based on obstacle information, an action selection unit that selects a stopping action or a retreat action based on the spatial size D1, the size D2 of the autonomous mobile body, and the size D8 of the interfering obstacle, and a mobile control unit that controls the autonomous mobile body to stop when the stopping action is selected and control the autonomous mobile body to retreat when the retreat action is selected.
-
Citations
40 Claims
-
1-20. -20. (canceled)
-
21. An autonomous mobile body which autonomously moves along a planned path, the autonomous mobile body comprising:
-
a storage unit arranged to store a size of the autonomous mobile body in a horizontal direction; a width identification unit arranged to identify a passage width of a passage which is a region where the planned path is set and the autonomous mobile body can move; an obstacle information acquisition unit arranged to acquire obstacle information of obstacles around the autonomous mobile body; a calculation unit arranged to calculate, based on the obstacle information acquired by the obstacle information acquisition unit, a size of an obstacle existing in a moving target direction with respect to a direction which is perpendicular or substantially perpendicular to the moving target direction of the autonomous mobile body on a plane which is parallel or substantially parallel to a passage plane; a selection unit arranged to select a stopping action or a retreat action based on the size of the autonomous mobile body stored in the storage unit, the passage width identified by the width identification unit, and the obstacle size calculated by the calculation unit; and a mobile controller that is arranged and programmed to control the autonomous mobile body to stop when the selection unit selects the stopping action, and to control the autonomous mobile body to retreat when the selection unit selects the retreat action. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
-
-
32. An autonomous mobile body which autonomously moves along a planned path, the autonomous mobile body comprising:
-
a width identification unit arranged to identify a movement clearance that is a distance that the autonomous mobile body can move in a width direction within a passage on which the planned path is set; an obstacle information acquisition unit arranged to acquire obstacle information of obstacles around the autonomous mobile body; a calculation unit arranged to calculate, based on the obstacle information acquired by the obstacle information acquisition unit, a size of an obstacle existing in a moving target direction with respect to a direction which is perpendicular or substantially perpendicular to the moving target direction of the autonomous mobile body on a plane which is parallel or substantially parallel to a passage plane; a selection unit arranged to select a stopping action or a retreat action based on the movement clearance identified by the width identification unit and the obstacle size calculated by the calculation unit; and a mobile controller arranged and programmed to control the autonomous mobile body to stop when the selection unit selects the stopping action, and to control the autonomous mobile body to retreat when the selection unit selects the retreat action. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40)
-
Specification