Title:
AUTONOMOUS MOBILE BODY
Document Type and Number:
WIPO Patent Application WO/2012/008085
Kind Code:
A1
Abstract:
Provided is an autonomous mobile body capable of moving in an autonomously set waiting-position direction without presetting a stop zone so that a movable obstacle can safely pass through. The autonomous mobile body (1) comprises: a storage unit (22) for storing the size (D2) of the autonomous mobile body (1); a laser range finder (12) for obtaining obstacle information; an obstacle specifying unit (233) for, on the basis of the obtained obstacle information, specifying edge points (86) indicating the positions of both ends of a region where an interference obstacle (66) is present, which are in a direction substantially orthogonal to the movement target direction (72) of the autonomous mobile body (1) in a plane parallel to a passage plane; a direction setting unit (237) for, on the basis of the size (D2) of the autonomous mobile body (1) and the edge points (86), setting the waiting-position direction; and a movement control unit (25) for performing control so that the autonomous mobile body (1) heads in the waiting-position direction.
Inventors:
SHITAMOTO, Hideo (136, Takeda Mukaishiro-cho, Fushimi-ku, Kyoto-sh, Kyoto 86, 〒6128686, JP)
下本 英生 (〒86 京都府京都市伏見区竹田向代町１３６番地 村田機械株式会社内 Kyoto, 〒6128686, JP)
NAKANO, Tsuyoshi (136, Takeda Mukaishiro-cho, Fushimi-ku, Kyoto-sh, Kyoto 86, 〒6128686, JP)
下本 英生 (〒86 京都府京都市伏見区竹田向代町１３６番地 村田機械株式会社内 Kyoto, 〒6128686, JP)
NAKANO, Tsuyoshi (136, Takeda Mukaishiro-cho, Fushimi-ku, Kyoto-sh, Kyoto 86, 〒6128686, JP)
Application Number:
JP2011/003103
Publication Date:
January 19, 2012
Filing Date:
June 02, 2011
Export Citation:
Assignee:
Murata Machinery, Ltd. (3 Minami Ochiai-cho, Kisshoin Minami-ku, Kyoto-sh, Kyoto 26, 〒6018326, JP)
村田機械株式会社 (〒26 京都府京都市南区吉祥院南落合町３番地 Kyoto, 〒6018326, JP)
SHITAMOTO, Hideo (136, Takeda Mukaishiro-cho, Fushimi-ku, Kyoto-sh, Kyoto 86, 〒6128686, JP)
下本 英生 (〒86 京都府京都市伏見区竹田向代町１３６番地 村田機械株式会社内 Kyoto, 〒6128686, JP)
村田機械株式会社 (〒26 京都府京都市南区吉祥院南落合町３番地 Kyoto, 〒6018326, JP)
SHITAMOTO, Hideo (136, Takeda Mukaishiro-cho, Fushimi-ku, Kyoto-sh, Kyoto 86, 〒6128686, JP)
下本 英生 (〒86 京都府京都市伏見区竹田向代町１３６番地 村田機械株式会社内 Kyoto, 〒6128686, JP)
International Classes:
G05D1/02
Attorney, Agent or Firm:
UEDA, Kazuhiro (Kudan Koie Bldg. 7F, 7-13 Kudanminami 3-chome, Chiyoda-k, Tokyo 74, 〒1020074, JP)
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Claims: