SURROUNDING ENVIRONMENT RECOGNITION DEVICE, AUTONOMOUS MOBILE SYSTEM USING SAME, AND SURROUNDING ENVIRONMENT RECOGNITION METHOD
First Claim
1. A surrounding environment recognition device, comprising:
- a distance sensor;
a concave part judgment portion that judges at least a concave area lower than a floor surface based on distance data acquired from the distance sensor;
an overhead view data creation portion that performs coordinate conversion of the distance data with the floor surface as a reference to create overhead view data, anda correction processing portion that, in the overhead view data, corrects deviation of a position of a border between a concave area which is caused by a blind spot of the distance sensor and an area other than the concave area.
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Abstract
A cleaning robot (1) which is an autonomous mobile system performs coordinate conversion of three-dimensional coordinate data acquired by measurement in a distance image sensor (20) which is arranged in a frontward and obliquely downward direction to generate three-dimensional coordinate data of a floor surface reference. Labels are applied to this data by judging a level difference or an obstacle according to height from a floor surface (F) to create overhead view image data seen from directly above a cleaning robot main body. The overhead view image data is scanned, and only when the labels are arranged in a specific order, processing for substituting an unspecified area with a level difference is performed. Thereby, positional deviation of an edge of the level difference, which is caused by a blind spot, is corrected and a position of the level difference is able to be grasped accurately.
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Citations
5 Claims
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1. A surrounding environment recognition device, comprising:
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a distance sensor; a concave part judgment portion that judges at least a concave area lower than a floor surface based on distance data acquired from the distance sensor; an overhead view data creation portion that performs coordinate conversion of the distance data with the floor surface as a reference to create overhead view data, and a correction processing portion that, in the overhead view data, corrects deviation of a position of a border between a concave area which is caused by a blind spot of the distance sensor and an area other than the concave area. - View Dependent Claims (2, 3, 4)
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5. A surrounding environment recognition method, comprising:
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measuring a floor surface by a distance sensor which is arranged in a frontward and obliquely downward direction to generate three-dimensional coordinate data of a floor surface reference, judging a floor surface area and a concave area lower than the floor surface based on the three-dimensional coordinate data and labeling the three-dimensional coordinate data to create overhead view data, and scanning the overhead view data, and when the labels are arranged in a specific order, performing correction of deviation of a position of a border between a concave area which is caused by a blind spot of the distance sensor and an area other than the concave area.
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Specification