JP5361257B2 - Autonomous mobile device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous mobile device to efficiently move while reliably avoiding an overhung obstacle and a moving obstacle smoothly without generating any hunting phenomenon in a simple configuration. <P>SOLUTION: This device 1 is provided with: a first environment information acquisition means 21 for acquiring obstacle position information from information in a face in parallel with a traveling surface R and a second environment information acquisition means 22 for acquiring obstacle position information from information in a face which is not in parallel with the traveling surface R. Information excluding information within a predetermined range acquired by the first environment information acquisition means 21 among the obstacle position information acquired by the second environment information acquisition means 22 is stored (in the figure, the position of a point b1 is stored for a fixed time, and the position of a point b2 is not stored). A route creation means creates a traveling route based on obstacle position information to be acquired by the first environment information acquisition means 21 and obstacle position information stored in a storage means 4. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an autonomous mobile device that autonomously moves and performs a desired operation while avoiding a collision with an obstacle in an environment where a moving body that becomes an obstacle such as a person or a carriage exists.

  Traditionally, in environments where there are moving objects that can be obstacles such as people and trolleys, such as factories, hospitals, and general buildings, they move autonomously while avoiding obstacles, and are transported, delivered, guarded, cleaned, etc. An autonomous mobile device that performs the above-described work is known. In such an autonomous mobile device, usually, position information of an obstacle is obtained using a plurality of distance sensors, and the output from each sensor is combined and processed to efficiently avoid the obstacle and move. The idea to do is made.

For example, a two-dimensional information that includes a lower sensor that scans diagonally forward and a front sensor that scans a front horizontal plane, and three-dimensional information of measurement points acquired by both sensors during traveling, excluding coordinates in the height direction. Thus, an autonomous mobile device that detects an overhanging obstacle, that is, an obstacle shaped so that the lower part of the apparatus body does not collide but the upper part collides is known. In addition, this apparatus stores the three-dimensional information of the measurement point acquired by the lower sensor as two-dimensional information based on coordinates in the horizontal direction and the height direction excluding the coordinates in the traveling direction, and moves the two-dimensional information. The obstacle on the floor surface is detected by comparing before and after (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 2005-157689

  However, the autonomous mobile device and the conventional device shown in Patent Document 1 described above still have the following problems in the processing and storage of obstacle information. For example, when the autonomous mobile device detects an obstacle, the route is changed, but the obstacle is not detected because the route is changed, and the autonomous mobile device tries to return to the original route. Then, since an obstacle is detected again, an unnatural operation (so-called hunting) of changing the course again is caused. Therefore, in order to avoid such a phenomenon, the position of the obstacle is stored. However, when the obstacle is memorized, if the target obstacle is a moving object, the obstacle position is also memorized for the point after moving, so it is impossible to move to that point Occurs.

  The present invention solves the above-mentioned problems, and with a simple configuration, it can reliably avoid overhanging obstacles, does not cause a hunting phenomenon, and moves against obstacles that are moving. It is another object of the present invention to provide an autonomous mobile device that can move efficiently by performing a smooth avoidance operation.

In order to achieve the above object, the invention of claim 1 is directed to environmental information acquisition means for acquiring position information of an obstacle existing in its surrounding space, position information acquisition means for acquiring its own position, and the environment. Route generating means for determining a travel route for traveling so as to avoid the obstacle based on the obstacle position information acquired by the information acquiring means, and self along the travel route determined by the route generating means An autonomous mobile device comprising: a first environmental information acquisition unit and a second environmental information acquisition unit, wherein the environmental information acquisition unit includes at least partly different areas for acquiring obstacle position information. And the first environment information acquisition means continuously overlaps the obstacle position during any traveling operation of the apparatus by partially overlapping the area for acquiring the obstacle position information before and after the movement of the apparatus. A means for obtaining information, the second environmental information acquisition means is a means for obtaining a gradual new obstacle position information without overlapping before and after the movement of the device, acquired by the second environment information acquisition means Of the obstacle position information thus obtained, information excluding information within a certain fixed range around the obstacle position information acquired by the first environment information acquisition means is stored in the storage means, and the route generation means A travel route is generated based on the obstacle position information acquired by the environment information acquisition means and the obstacle position information stored in the storage means.

  According to a second aspect of the present invention, in the autonomous mobile device according to the first aspect, the obstacle position information stored in the storage means is erased after a predetermined time.

  According to a third aspect of the present invention, in the autonomous mobile device according to the first aspect, the obstacle position information stored in the storage means is erased after a certain distance of movement.

  According to a fourth aspect of the present invention, in the autonomous mobile device according to any one of the first to third aspects, the first environment information acquisition unit is configured to obtain obstacle position information from information in a plane parallel to the traveling surface. It is a means to acquire.

  According to a fifth aspect of the present invention, in the autonomous mobile device according to any one of the first to third aspects, the first environment information acquisition unit is configured to obtain obstacle position information from information in a plane parallel to the traveling surface. The second environment information acquisition means is means for acquiring obstacle position information from information in a plane that is not parallel to the traveling surface.

  A sixth aspect of the present invention is the autonomous mobile device according to any one of the first to fifth aspects, wherein the second environment information acquisition means scans from above to below or from below to above. The sensor is provided.

  According to a seventh aspect of the present invention, in the autonomous mobile device according to any one of the first to sixth aspects, the second environmental information acquisition means includes two scan-type sensors that scan downward from above. It is provided on the left and right.

  The invention of claim 8 is the autonomous mobile device according to any one of claims 1 to 7, wherein the rear plan view shape of the autonomous mobile device is circular.

  The invention of claim 9 is the autonomous mobile device according to any one of claims 1 to 8, wherein the storage means stores obstacle position information in a grid space composed of a finite number of cells. is there.

  The invention according to claim 10 is the autonomous mobile device according to any one of claims 1 to 9, wherein the grid space is set by coordinate axes that move together with the autonomous mobile device, and each cell in the grid space is assigned to each cell. The obstacle position information of one point at maximum is stored, and the position information in each cell is converted and stored so as to follow the change in the relative position between the autonomous mobile device and the obstacle.

  The invention of claim 11 is the autonomous mobile device according to any one of claims 1 to 10, wherein the storage means is obstacle position information as two-dimensional coordinate information obtained by mapping the obstacle position to a horizontal plane. Is memorized.

  A twelfth aspect of the invention is the autonomous mobile device according to any one of the first to eleventh aspects, wherein the first environmental information among the obstacle position information acquired by the second environmental information acquisition means. Information farther from the obstacle position information acquired by the acquisition means is not stored in the storage means.

  According to a thirteenth aspect of the present invention, in the autonomous mobile device according to any one of the first to twelfth aspects, the obstacle according to the obstacle position information acquired by the first environment information acquisition means is moving. Obstacle position determination means for determining whether or not the obstacle movement determination means determines that the obstacle is moving, the obstacle position information acquired by the second environment information acquisition means. A certain range that is not memorized is expanded.

  According to the first aspect of the present invention, since the route generation unit generates a travel route with reference to past information stored in the storage unit, an unnatural so-called hunting phenomenon that repeats obstacle avoidance and course return is avoided. it can. That is, since necessary information is stored among the obstacle information acquired by the second environment information acquisition means, the hunting phenomenon can be avoided. Further, of the obstacle position information acquired by the second environment information acquisition means, within a certain range around the obstacle position information that is continuously acquired partially before and after the movement by the first environment information acquisition means. Therefore, smooth avoidance operation can be realized even for moving obstacles. In addition, since the vehicle travels based on the obstacle position information acquired by the first environment information acquisition means and the obstacle position information stored in the storage means, even an obstacle with an overhang shape can be surely avoided. it can. That is, the autonomous mobile device of the present invention can avoid a collision with an overhanging obstacle by using two types of environmental information acquisition means, and can store the selected obstacle information to prevent the hunting phenomenon. On the contrary, by not storing the obstacle information other than the selected obstacle information, a smooth avoidance operation can be performed even on the moving obstacle, and the movement can be performed efficiently.

  According to the invention of claim 2, the hunting phenomenon can be avoided by referring to the stored obstacle position information, and the obstacle moves by erasing the stored obstacle position information after a predetermined time. It becomes possible to move to the place after. Also, when the detected obstacle is a moving object and the detection information changes frequently in a short time by entering and exiting the obstacle detection range of the environmental information acquisition means, or the stored obstacle is due to noise or the like Even if it is based on false detection, the movement can be continued efficiently under a stable and natural movement, and even a moving obstacle can be smoothly moved and efficiently moved.

  According to the invention of claim 3, the same effect as that of claim 2 can be obtained. In addition, since information on obstacles located at a certain distance or more from the autonomous mobile device is not stored, the storage capacity for storing information on obstacles can be reduced.

  According to the invention of claim 4, since the obstacle position information in the plane parallel to the running surface is not stored, the storage capacity can be reduced and the obstacle can be efficiently operated without a hunting phenomenon. Can be moved. That is, the obstacle position information in the plane parallel to the traveling surface is information continuously acquired during traveling, and such information does not need to be stored.

  According to the invention of claim 5, the same effect as that of claim 4 can be obtained. In addition, since the obstacle position information in the plane that is not parallel to the traveling surface is stored, even if the obstacle has an overhanging shape, a collision can be avoided.

  According to invention of Claim 6, a 2nd environment information acquisition means can be comprised by simple structure. The autonomous mobile device can acquire position information of an obstacle that is overhanged by scanning from above or below from above by the second environment information acquisition means, and can avoid collision with such an obstacle. .

  According to the seventh aspect of the present invention, obstacle detection can be realized with a minimum sensor configuration, and the obstacle avoiding operation can be performed smoothly and efficiently moved.

  According to the invention of claim 8, since the possibility of collision with an obstacle in the rear during the turning operation of the autonomous mobile device can be reduced, the environment information acquisition means for the rear can be simplified, the storage capacity can be reduced, You can reduce the amount of calculation, and you can move smoothly and efficiently. Note that it is more preferable that the rear shape is a circle concentric with its own turning center because the turning operation can be performed without considering a collision with an obstacle in the rear.

  According to the invention of claim 9, the storage capacity can be reduced by appropriately adjusting the grid space in accordance with the width and height of the autonomous mobile device.

  According to the invention of claim 10, since the position of the obstacle is coordinate-transformed with the movement of the autonomous mobile device and moves within the cell and between the cells, the memory of the obstacle position around the autonomous mobile device is moved autonomously. It can be performed appropriately according to the movement of the apparatus.

  According to the eleventh aspect of the present invention, since the obstacle information can be compressed, the storage capacity can be reduced. In addition, since the amount of data to be handled is suppressed, a smooth and efficient obstacle avoidance operation can be realized with a small amount of arithmetic processing.

  According to the twelfth aspect of the present invention, only the obstacle position information necessary for movement is stored, so that the storage capacity for storing the obstacle information can be reduced. In addition, since obstacle positions that can be reliably avoided without being stored are not stored, calculation processing for avoidance is simplified, and smooth avoidance operation for obstacles such as moving objects can be realized.

  According to the invention of claim 13, since the area that is not stored around the moving object detected as an obstacle is widened, even if the obstacle is a protruding object or a undulating moving object like a person, Without memorizing such an obstacle position, it is possible to smoothly avoid and move.

  Hereinafter, an autonomous mobile device according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 shows a block configuration of the autonomous mobile device according to the first embodiment, FIGS. 2, 3A, 3B, and 3C show the appearance of the device, and FIG. 4 shows storage means of the device. The distribution of the obstacle position information stored in is shown. The block configuration of the autonomous mobile device shown in FIG. 1 is common to autonomous mobile devices in other embodiments, and is referred to as appropriate in each embodiment.

  As shown in FIG. 1, the autonomous mobile device 1 includes an environment information acquisition unit 2 that sequentially acquires position information of obstacles existing in its surrounding space, a position information acquisition unit 3 that acquires its own position, Based on the obstacle position information acquired by the storage unit 4 for storing the map information of the area and the parameters necessary for driving, and the environment information acquiring unit 2, a travel route for avoiding the obstacle is determined. And a movement control means 7 for controlling the movement means 6 so as to move its own position along the travel route determined by the route generation means 5.

  The environmental information acquisition means 2 includes two types of first environmental information acquisition means 21 and second environmental information acquisition means 22 that are different from each other in the manner of acquiring environmental information, and these are in the peripheral space of the autonomous mobile device 1. A distance sensor that detects the distance and direction from the self-position to the object in the obstacle detection area and the obstacle, and the coordinates of the object surface position obtained by the distance sensor are processed to detect obstacles such as walls and moving objects. An arithmetic unit for recognition is provided.

  The position information acquisition means 3 detects environmental component information such as characteristic wall information included in the map information of the travel area and landmarks provided in the actual travel area to detect the map information and The self-position of the autonomous mobile device 1 is acquired by comparison. Moreover, the following information from the moving means 6 is used for self-position acquisition. Information acquired by the position information acquisition unit 3 is stored in the storage unit 4 as self-location information 12 and is referred to by the route generation unit 5 and the movement control unit 7.

  The moving means 6 includes a motor driven by the battery BT and driving wheels 61 (FIG. 2). The motor is provided with an encoder for measuring the rotation speed and rotation speed. The movement control means 7 of the autonomous mobile device 1 can roughly know the movement distance and movement direction from the output of this encoder, and based on this, performs dead reckoning (dead reckoning estimation navigation).

  In addition, the calculation unit, the position information acquisition unit 3, the storage unit 4, the route generation unit 5, the movement control unit 7, and the like of the environment information acquisition unit 2 constitute a control unit 10 as a whole. In order to configure the control unit 10, an electronic computer having a general configuration including a CPU, a memory, an external storage device, a display device, an input device, and the like, and a set of processes or functions thereon can be used. .

  Next, details of the two types of environment information acquisition means 2 described above will be described. The first environment information acquisition unit 21 continuously acquires obstacle position information partially overlapping before and after the movement of the autonomous mobile device 1, and the second environment information acquisition unit 22 moves the autonomous mobile device 1. The obstacle position information is gradually acquired without substantially overlapping before and after. Here, for example, the first environment information acquisition means 21 acquires obstacle position information from information in a plane parallel to the traveling surface, and the second environment information acquisition means 22 is a surface that is not parallel to the traveling surface. The obstacle position information is obtained from the information inside. As a result, the information acquisition scan plane A partially overlaps before and after the movement of the autonomous mobile device 1, and the latter does not overlap the information acquisition scan plane B before and after the movement.

  Since the obstacle position information acquired by the first environment information acquisition means 21 is acquired from information in a plane parallel to the traveling surface, the autonomous mobile device 1 performs any traveling operation such as forward, backward, and turning. Even in such a case, the position information has a certain height from the traveling surface (usually a horizontal surface) of the autonomous mobile device 1. When the coordinate system xyz that moves with the autonomous mobile device 1 is an orthogonal coordinate system of the traveling direction x and the height direction z, the z coordinate value in the obstacle position information is constant.

  The obstacle position information acquired by the second environment information acquisition means 22 is acquired from information in a plane that is not parallel to the traveling surface, and therefore obtained as obstacle position information when the autonomous mobile device 1 performs a traveling operation. There is no guarantee that any of the coordinate values obtained will be constant. As a special example in which the coordinate value is constant in relation to the movement of the autonomous mobile device 1, for example, the obstacle position information is obtained from information in a plane that is not parallel to the traveling surface but parallel to the traveling direction. In the case of the second environment information acquisition means 22 that performs this, obstacle position information with a constant y coordinate value is acquired while the autonomous mobile device 1 goes straight.

  Next, a specific example of the autonomous mobile device 1 will be described. As shown in FIGS. 2, 3A, 3B, and 3C, the autonomous mobile device 1 according to the present embodiment has a substantially circular vehicle body in a plan view, and moves to the left and right in the lower center of the vehicle body. The driving wheel 61 as 6 is provided and moves in the forward direction indicated by the traveling direction x. The drive wheels 61 can be driven independently. The autonomous mobile device 1 drives the driving wheel 61 in the same direction to move forward or backward, drive in the opposite directions with the same driving force, and turns right or left around the rotation center G on the spot. If the left and right driving forces at the time of turning are different, the autonomous mobile device 1 turns right or left while proceeding forward or backward. The horizontal direction orthogonal to the axle of the drive wheel 61 is the traveling direction x.

  The first environmental information acquisition means 21 is provided with a laser radar that is provided at the center of the lower front portion of the vehicle body and scans the front horizontal plane, more generally the plane parallel to the traveling plane R (scan plane A). Yes. The second environment information acquisition means 22 is composed of two laser radars on the left and right that scan downward from above. The surface (scanning surface B) from which the left and right second environmental information acquisition means 22 acquire information is a surface that is non-parallel to the traveling surface R and intersects each other in front of the vehicle body. These three laser radars oscillate a laser beam at a predetermined constant angle in each of the scan planes A and B, and acquire a distance to an object or an obstacle in a semicircular obstacle detection area having a predetermined radius. .

  In addition to the radar radar described above, an ultrasonic array sensor that obtains a three-dimensional or two-dimensional distance image by electronic scanning by arranging a plurality of ultrasonic receiving elements in an array as the distance sensor of the environmental information acquisition means 2 Can be used. Further, the shape of the obstacle detection area of each laser radar is not limited to a semicircular shape, and can be a narrower angular range or a wider angular range.

  The first environment information acquisition unit 21 acquires the position coordinates of the point a on the outer circumference of the obstacle M1 in the front obstacle detection area, and the second environment information acquisition unit 22 is in each obstacle detection area. The position coordinates of the point b on the outer periphery of the cross section obtained by obliquely cutting the obstacles M1 and M2 are acquired.

  The point a detected by the first environment information acquisition unit 21 is detected as the same point even when the autonomous mobile device 1 performs a small-scale traveling operation and the relative position with the obstacle is changed, and is continuously tracked. Detection points from which position information can be acquired.

  However, the point b detected by the second environment information acquisition unit 22 is detected as the same point when the relative position with the obstacle changes, no matter how small the traveling operation performed by the autonomous mobile device 1 is. The measurement point is not limited and cannot be obtained by continuously tracking. When the autonomous mobile device 1 travels so that any one of the scan planes B moves in parallel in the plane, the point b in the scan plane B is detected in a traceable state.

  Next, storage of the obstacle position information acquired by the second environment information acquisition unit 22 described above, generation of a travel route based on the storage, and travel operation will be described.

  The obstacle position information acquired by the second environment information acquisition unit 22 is not stored entirely, but is stored in the storage unit 4 as the obstacle position information 11 in a limited state. This obstacle position information 11 is information obtained by excluding information within a certain range around the obstacle position information acquired by the first environment information acquisition means 21 from the information acquired by the second environment information acquisition means 22. is there.

  That is, as shown in FIG. 4, among the measurement points b shown in the coordinate space xyz (z axis is omitted), the measurement points b that are within a certain distance d from the measurement point a are not stored in the storage means. The position coordinates of the measurement point b outside the range of the fixed distance d from the measurement point a are stored in the storage unit 4 as the obstacle position information 11.

  The above-mentioned “certain range” can be set arbitrarily by setting a different range width for each axial direction of the coordinate space xyz, making it the same in any axial direction, setting a range according to the radius from the measurement point a it can. For example, as shown in FIG. 4, it can be set as a range within the radius d in the xy plane, and can be an infinite range in the z-axis direction. The size of the certain range may be, for example, several cm to several tens cm as the distance d. In addition, this fixed range includes the dimensions (vehicle width, vehicle height, etc.) and outer shape of the autonomous mobile device, the moving speed and obstacle avoiding operation speed of the autonomous mobile device 1, a predetermined travel area classification, or other in the travel area. Depending on the characteristics and presence of the moving body, it may be widened or narrowed statically or dynamically.

  In the situation shown in FIG. 2, the obstacle position information regarding all points b in the obstacle M1 is not stored. Further, since the obstacle M2 is not detected by the first environment information acquisition unit 21, the obstacle position information regarding all points b in the obstacle M2 is stored as the obstacle position information 11. Further, even if the obstacle position information is stored once, if the obstacle position information is within a certain range of the obstacle position acquired by the first environment information acquisition means, the obstacle position information is stored. Is erased and removed from memory.

  Then, the route generation unit 5 is based on the obstacle position information (sequential information) sequentially acquired by the first environment information acquisition unit 21 and the obstacle position information 11 (storage information) stored in the storage unit 4. To generate a travel route.

  The autonomous mobile body 1 moves to a predetermined destination while generating a travel route by the route generation means 5 and avoiding an obstacle by the movement control means 7. The autonomous movement performed while avoiding the collision with the obstacle based on the obstacle position information (in the case of this example, the sequential information and the stored information) is based on, for example, the method and apparatus disclosed in Japanese Patent No. 3648604. Can be done.

  According to the autonomous mobile device 1 of the present embodiment, the information stored in the storage unit 4 as the obstacle position information 11 is obtained by the first environment information acquisition unit 21 from the information acquired by the second environment information acquisition unit 22. This is information that excludes information that is within a certain range around the acquired obstacle position information. By using two types of environmental information acquisition means, collision with an overhanging obstacle can be avoided and selected. Hunting phenomenon is not caused by memorizing the obstruction information, and conversely, smooth avoidance action is also performed for moving obstacles by not memorizing obstruction information other than the selected obstacle information. And can therefore be moved efficiently. Further, the storage capacity for storing the obstacle position information can be reduced.

  Moreover, since the route generation means 5 generates a travel route based on the obstacle position information sequentially acquired by the first environment information acquisition means 21 and the obstacle position information 11 stored in the storage means 4, It is possible to avoid an unnatural so-called hunting phenomenon that repeats obstacle avoidance and course return.

  Further, since the second environment information acquisition means 22 is composed of two left and right laser radars that scan downward from above, the second environment information acquisition means 22 can be configured with a small number of sensors, and the autonomous mobile device 1 It can move efficiently by performing obstacle avoidance smoothly. Obstacles such as overhangs on the left and right of the autonomous mobile device 1 and obstacle position information of a moving body approaching from the left and right can be acquired.

  In addition, since the rear shape of the autonomous mobile device 1 is circular in plan view (see FIG. 3A), it is possible to reduce the possibility of a collision with an obstacle behind the turning operation of the autonomous mobile device 1, It is possible to simplify the environment information acquisition means for the rear, reduce the storage capacity, reduce the amount of calculation, and move smoothly and efficiently. That is, in this embodiment, the environment information acquisition means regarding the back is simplified as a configuration in which the two scan planes B are mainly concentrated in front of the autonomous mobile device 1.

  In addition, although the 1st environmental information acquisition means 21 (scanning surface A) is not provided in back, since the autonomous mobile device 1 can face back if it rotates on the spot, there is no problem also about this point. Further, if the rear shape is a circle concentric with its own turning center G, it is more preferable because the turning operation can be performed without considering any collision with an obstacle behind the turning.

(Second Embodiment)
FIG. 5 shows the appearance of the autonomous mobile device according to the second embodiment, and FIGS. 6A and 6B show the obstacle position information on the obstacle acquired by the device, that is, the detection point and the obstacle. . In the present embodiment, the operation when the autonomous mobile device 1 in the first embodiment detects an overhung obstacle is described.

  The obstacles M1 and M2 constitute so-called overhanging obstacles in which the lower part of the autonomous mobile device 1 does not collide but the upper part collides. Since the obstacle M2 is on the obstacle M1, and the obstacle M2 protrudes to the outside of the obstacle M1 below, the autonomous mobile device 1 does not collide with the obstacle M1. It may collide with the object M2.

  The first environment information acquisition unit 21 acquires the position coordinates of the points a and a on the outer periphery of the obstacle M1 in the front obstacle detection area, and the second environment information acquisition unit 22 enters the obstacle detection area. The position coordinates of the points b1 and b2 on the outer periphery of the cross section obtained by obliquely cutting an obstacle M1 and M2 are acquired. The point b1 is a point on the obstacle M1, and the point b2 is a point on the obstacle M2. It is determined that the position of the point b1 is within a certain range from the point a, and the position of the point b2 is not within the certain range from the point a. Therefore, only the position information of the point b2 is stored in the storage unit 4 as the obstacle position information 11. The route generation means 5 generates a travel route based on the position information of the obstacle M1 acquired by the first environment information acquisition means 21 and the obstacle position information 11 of the obstacle M2 stored in the storage means 4. Therefore, the autonomous mobile device 1 can travel and avoid collision with the obstacles M1 and M2.

  As described above, the autonomous mobile device 1 includes the first environment information acquisition unit 21 and the second environment information acquisition unit 22 for acquiring the obstacle position information. Since the obstacle position information is stored in the storage means, it is possible to smoothly and efficiently travel without performing an unnatural operation such as so-called hunting. The obstacle position information stored in the storage unit 4 is time-controlled, and is appropriately deleted after a predetermined time has elapsed.

(Third embodiment)
7, 8 (a), 8 (b), and (c) show the appearance of the autonomous mobile device according to the third embodiment, and FIGS. 9 (a) and 9 (b) show how obstacle position information is acquired by the same device. Show. The autonomous mobile device 1 of the present embodiment has the above-described first configuration except that the outer shape of the vehicle body is substantially rectangular and the scan plane B of the second environment information acquisition unit 22 is parallel to the traveling direction x. It is the same as the autonomous mobile device 1 of the embodiment.

  The scan plane B of the second environment information acquisition unit 22 extends to the left and right rear, and the first environment information acquisition unit 21 and the second environment information acquisition unit 22 cause an obstacle in the peripheral area space other than the back of the autonomous mobile device 1. Object information can be acquired.

  As long as the autonomous mobile device 1 moves straight along the traveling direction x, the second environment information acquisition unit 22 continues to track the same point on the obstacle existing in the obstacle detection area, that is, the obstacle position information You can get it. Further, when the autonomous mobile device 1 performs a turning motion, as shown in FIGS. 9A and 9B, the position information of the obstacle M is acquired discontinuously (that is, information on points that are not the same point). Acquired). Since it can be detected to the left and right rear, even if the shape of the autonomous mobile device 1 is rectangular, it can move without colliding with the obstacles on the left and right rear.

(Fourth embodiment)
10 and 11 show an autonomous mobile device according to the fourth embodiment. In the present embodiment, the second environment information acquisition unit 22 includes a scanning sensor that scans upward from below in a plane that is not parallel to the traveling surface, and the scanning surface B is the autonomous mobile device 1. It spreads upward from below. By the upward scanning from the lower side by the second environment information acquisition means 22, it is possible to acquire the position information of the obstacle that is overhanging from the upper side and hangs down, thereby avoiding a collision.

  The autonomous mobile device 1 shown in the present embodiment is different from the autonomous mobile devices in the first and third embodiments described above in the arrangement configuration of the first environment information acquisition means 21 and the second environment information acquisition means 22. However, the setting of the obstacle position information 11 stored in the storage unit 4 and the generation method of the travel route by the route generation unit 5 are the same.

(Fifth embodiment)
FIG. 12 shows an autonomous mobile device according to the fifth embodiment and a grid space around it. The storage means 4 in the present embodiment is configured to store the obstacle position information 11 corresponding to the grid space GR composed of a finite number of cells CL. The configuration other than the configuration related to the grid space GR is the same as that of the autonomous mobile device 1 of the first embodiment. The grid space GR is provided so as to cover the front, rear, left and right peripheral spaces of the autonomous mobile device 1 and a space below the height at which obstacle position information can be acquired by the second environment information acquisition means 22.

  The grid space GR is set by a coordinate system xyz that moves with the autonomous mobile device 1, and at most one obstacle position information is stored in each cell CL in the grid space GR. The position information in each cell CL is converted and stored in each cell CL and between each cell CL so as to follow a change in the relative position between the autonomous mobile device 1 and the obstacle.

  In general, the grid space GR has a three-dimensional configuration. However, in order to compress the amount of data to be stored, the two-dimensional grid space GR in which the height position is ignored, that is, the two-dimensional map of the obstacle position on the horizontal plane. The obstacle position information 11 may be stored as the coordinate information.

  FIGS. 13A, 13 </ b> B, and 13 </ b> C show the relationship between the grid space GR and the obstacle position information 11 when the two-dimensional grid space GR moves with the movement of the autonomous mobile device 1. The autonomous mobile device 1 moves while moving forward and turning from a position 1a to a position 1b in a fixed coordinate system XY fixed in the travel area (shown from the fixed coordinate system XY).

  The autonomous mobile device 1 detects obstacles M1 and M2 in the scan area B of the second environment information acquisition means 22 provided on the right side at the position 1a, and points p1, p2, as obstacle position information 11 The position information of p3 is acquired and stored in each cell of the grid space GR.

  Thereafter, the autonomous mobile device 1 moves leftward and avoids collision with the obstacles M1 and M2, changes its posture, and reaches the position 1b. In this state, the obstacles M1 and M2 do not exist in the scan area B of the second environment information acquisition unit 22, but the obstacles M1 and M2 are detected from the points p1, p2, and p3 in the grid space GR. Coordinates are converted to stored points q1, q2, and q3 and stored. This coordinate conversion is easily performed based on movement information of the autonomous mobile device 1. In this state, the obstacle positions p1, p2, and p3 stored in each cell (according to the xy coordinate system that moves with the autonomous mobile device) are the movement information (translational movement amount, rotational movement amount) of the autonomous mobile device 1. Are converted into new coordinates and stored as new obstacle positions q1, q2, and q3 in the cell. At this time, p1, p2, and p3 are erased. Thereafter, since the autonomous mobile device continues the avoidance operation based on the obstacle position information of q1, q2, and q3, the obstacles M1 and M2 do not exist in the scan area B, but the obstacles M1 and M2 are avoided. However, it is possible to travel without hunting.

  14A and 14B show the movement of points in cells c1 to c6 in the grid space GR before and after the movement of the autonomous mobile device 1 (GR1 before movement, GR2 after movement) (from the movement coordinate system xy). This is what you see). The points p1, p2, and p3 in the grid GR1 are coordinate-transformed and moved (in other words, left behind) as the autonomous mobile device 1, and thus the grid space moves.

  However, since at most one obstacle position information is stored in one cell, when the cells to which the points p1, p2, and p3 move are competing for a plurality of points, 1 cell according to a predetermined priority order. Focused on one point. For example, the point p3 competes with the point p1 and tries to move to the cell c5. For example, the point p3 is erased in accordance with the priority order in which the shorter moving distance is given priority. The priority order can be set such that, for example, when coordinate conversion is simply performed along a sequence of cells, a point that is processed first is prioritized, or a point that is later overwritten is prioritized. .

  According to the autonomous mobile device 1 of the present embodiment, the storage capacity of the storage unit 4 can be reduced by appropriately adjusting the grid space GR according to the width and height of the autonomous mobile device 1. In addition, since the position of the obstacle is coordinate-transformed with the movement of the autonomous mobile device 1 and moves within the cell CL and between the cells CL, the location of the obstacle around the autonomous mobile device 1 is stored in the autonomous mobile device 1. It can be done appropriately according to the movement. In addition, since the obstacle information can be compressed by using the two-dimensional grid space, the storage capacity of the storage unit 4 can be reduced. Furthermore, since the autonomous mobile device 1 suppresses the amount of data to be handled, it can realize a smooth and efficient obstacle avoidance operation with a small amount of arithmetic processing. In this embodiment, the grid space is created around the autonomous mobile device. However, a grid may be created in the global space, and the autonomous mobile device may be designed to move in the grid.

(Sixth embodiment)
FIG. 15 shows a flowchart of the movement operation of the autonomous mobile device according to the sixth embodiment. This embodiment describes a series of processes in which the autonomous mobile device 1 described in the first embodiment and the fifth embodiment described above moves while detecting and avoiding an obstacle. When the autonomous mobile device 1 starts traveling, the autonomous mobile device 1 moves while recognizing its own position by dead reckoning or the like, and compares the past self position with the current self position to calculate a movement amount (S1).

  Next, the obstacle position registered (stored) in the grid GR based on the calculated movement amount is changed from the coordinates before the movement to the coordinates after the movement, as described above with reference to FIGS. The coordinates are converted to (S2). Next, the obstacle position information acquired by the second environment information acquisition means 22 is registered as the obstacle position information 11 in the grid GR (S3). At this time, the obstacle position information acquired by the second environment information acquisition unit 22 is coordinate-converted from a coordinate system unique to the second environment information acquisition unit 22 to a common coordinate system xyz of the autonomous mobile device 1. .

  Next, the obstacle position information acquired by the first environment information acquisition means 21 is converted into the common coordinate system xyz of the autonomous mobile device 1 in the same manner as described above, and the grid GR within the fixed range around the obstacle position information is converted. The existing obstacle position information is deleted from the grid GR (S4). The obstacle position information in this state becomes the original obstacle position information 11 stored in the storage unit 4.

  Next, the path generation means 5 avoids the obstacle using the obstacle position information 11 registered in the grid GR and the obstacle position information (sequential information) acquired by the first environment information acquisition means 21. A travel route is generated as follows. The autonomous mobile device 1 controls the moving means 6 by the movement control means 7 and moves along the travel route (S6). Thereafter, the autonomous mobile device 1 determines whether the system has been terminated by reaching the destination or receiving a stop instruction from another (S7). If not (No in S7), the above processing is performed. Is repeated from step S1 according to a predetermined control cycle.

(Seventh embodiment)
FIG. 16 is a flowchart of obstacle position information processing when the autonomous mobile device according to the seventh embodiment moves while detecting an obstacle, and FIGS. 17A and 17C are grids before and after the movement. The relationship between the space and the obstacle position information is shown, and FIG. 17B shows a calculation grid space used when the obstacle position information is coordinate-transformed. In this embodiment, the autonomous mobile device 1 described in the first embodiment and the above-described fifth embodiment stores the obstacle position information 11 stored in the storage unit 4 as obstacle position information to be newly stored. This is related to a process of erasing data after a predetermined time since it is no longer acquired by the second environment information acquisition means.

  The obstacle position information 11 stored in the storage means 4 is obtained by converting the information of the obstacle acquired by the second environment information acquisition means 22 in the past to the current position (outside the obstacle detection area). This is information that is not acquired by the second environmental information acquisition means 22 but is converted into a position that is assumed to exist if the obstacle is not a moving object and stored. . It is possible that the destination after the coordinate conversion is within the obstacle detection area.

  Therefore, if the obstacle is a person or a moving body and moves from a position detected in the past, the obstacle position information 11 becomes useless information, and in the worst case, the movement of the autonomous mobile device 1 Will be limited. Therefore, it is necessary to delete the obstacle position information 11 as appropriate.

  The obstacle position information 11 is stored in each cell CL (i), i = 1,. Therefore, a timer variable t (i) is provided for each cell CL (i) in order to monitor the passage of time after the obstacle is detected by the second environment information acquisition unit 22. When the movement control means 7 of the autonomous mobile device 1 starts moving, it resets all timer variables t (i) set for each cell CL (i) so that t (i) = 0, i = 1, .., M (S1). Here, m is the number of cells.

  Next, the obstacle position information (hereinafter also simply referred to as data) acquired by the second environment information acquisition means 22 is stored in each cell CL (k), and the timer t (k) is reset (S2). Here, k = 1,..., N is an identification code of the acquired data, n is the number of data, and n ≦ m.

  Next, the data of the obstacle position existing in the fixed range around the obstacle position (for example, the range of the fixed distance d described in the first embodiment) acquired by the first environment information acquisition unit 21 is stored in the cell CL. Erase from (p) and reset the timer t (p) (S3). Here, p is an identification code of the acquired data, and this process is performed for the number of data.

  Next, the route generation means 5 determines the travel route based on the obstacle position information 11 stored in the storage means 4 and the obstacle position information acquired by the first environment information acquisition means 21, and the autonomous mobile device 1 moves along the travel route by the moving means 6 and obtains a movement amount (translational movement amount and rotational movement amount before and after movement) from a change in the self-position before and after movement (S4). After that, based on the amount of movement, the coordinate data of the obstacle position information 11 is converted, the coordinates before the movement are converted to the coordinates after the movement, and the data is moved within the cell or between the cells. It is stored in DL (j) (S5).

  FIG. 17A shows a grid GR before coordinate conversion and data p1, p2, etc. in each cell CL therein, and FIG. 17B shows a calculation grid GR0 after coordinate conversion. Data g1, g2, etc. in the cell DL are shown. In this example, data p1 and p2 belonging to different cells CL before coordinate conversion belong to the same calculation cell DL after coordinate conversion. For such data, the loop processing LP1 and LP2 narrows the data in the calculation cell DL (i) to one so as to be one data in one cell (S6). The processing is performed by a method of leaving the latest obstacle position data and deleting others. Whether it is the latest or not is determined by the value of the timer t (i) stored with each data.

  The data (identification code α) that has been updated and continues to exist in the calculation cell DL (i) has its timer t (α) updated as the affiliation of the cell DL (i). t (i) = t (α) + Δt (S7).

  When the loop processes LP1 and LP2 are completed, the contents of the calculation grid GR0 are replaced with the normal grid GR (S8). That is, for each cell, data is moved from DL (i) to CL (i) and stored in the state shown in FIG.

  Thereafter, the next loop processing LP10, LP20 checks the passage of time after the obstacle detection by the second environment information acquisition means 22 by comparing the value of the timer t (i) with the upper limit value tm (S9). If the timer value does not exceed the upper limit value tm and t (i)> tm is not satisfied (No in S9), the process is repeated for the next variable i incremented from the current variable i.

  If the timer value exceeds the upper limit value tm and t (i)> tm (Yes in S9), the obstacle position information 11 relating to the cell CL (i) in the storage means 4 is deleted, and the timer variable t (i ) Is reset, t (i) = 0 is set (S10), and the process is repeated for the next variable i obtained by incrementing the current variable i. When the above processing loops LP10 and LP20 are finished, it is determined whether or not the processing is to be finished (S11). If finished, the processing is finished (Yes in S11). If not finished (No in S11), the control returns to Step S2. Thus, the above-described processing is repeated under a predetermined control cycle.

  According to the series of processes described above, the storage unit 3 retains the obstacle position information even after the side obstacle information is not acquired, and after a certain time (upper limit tm) has elapsed since the acquisition of the obstacle information, The object position information 11 is deleted.

  Therefore, according to the autonomous mobile device 1 of the present embodiment, the hunting phenomenon can be avoided by referring to the stored obstacle position information 11, and the stored obstacle position information 11 is erased after a certain time. By doing so, it becomes possible to move to a place after the obstacle has moved. In addition, when the detected obstacle is a moving object and the detection information frequently changes in a short time by entering or exiting the obstacle detection range of the environmental information acquisition means 2, the stored obstacle is noise or the like Even if it is based on false detection by, you can continue to move efficiently under stable and natural movement, and you can move efficiently by performing smooth avoidance action against moving obstacles .

(Eighth embodiment)
FIG. 18 shows a flowchart of obstacle position information processing when the autonomous mobile device according to the eighth embodiment moves while detecting an obstacle. In this embodiment, the autonomous mobile device 1 described in the first embodiment and the above-described fifth embodiment stores the obstacle position information 11 stored in the storage unit 4 as obstacle position information to be newly stored. This is related to the process of erasing after moving a certain distance after the second environment information acquisition means is not acquired.

  The processing shown by the flowchart of the present embodiment uses the moving distance d (i) instead of using the timer t (i) in the flowchart of the seventh embodiment described above. Therefore, in the processing according to this flowchart, steps S1, S2, S3, S7, S9, and S10 in FIG. 16 are changed to steps # 1, # 2, # 3, # 7, # 9, and # 10 in FIG. The other steps are the same as those of the seventh embodiment shown in FIG. Further, the same effect as in the seventh embodiment can be obtained.

(Ninth embodiment)
FIG. 19 shows an autonomous mobile device according to the ninth embodiment. This embodiment is an obstacle position acquired by the second environment information acquisition means 22 in the autonomous mobile device 1 having the same configuration as the autonomous mobile device 1 described in the first embodiment and the fifth embodiment described above. Of the information, information farther from the obstacle position information acquired by the first environment information acquisition unit 21 is not stored in the storage unit 4.

  For example, the measurement point b1 by the second environment information acquisition unit 22 regarding the obstacle M1 in FIG. 19 is information that is not within a certain range around the obstacle position information (point a1) acquired by the first environment information acquisition unit 21. However, since it is far from each point a1, it is not stored in the storage means 4. Note that the measurement point b2 by the second environment information acquisition unit 22 regarding the obstacle M2 is stored in the storage unit 4.

  According to the autonomous mobile device 1 of this embodiment, since it stores only the obstacle position information necessary for movement, the storage capacity for storing the obstacle information can be reduced. In addition, since the obstacle positions (points b1 and the like) that can be reliably avoided without being memorized are not memorized, calculation processing for avoidance is simplified, and smooth avoidance operation for obstacles such as moving objects is performed. realizable.

(Tenth embodiment)
FIG. 20 shows a block configuration of the autonomous mobile device according to the tenth embodiment. The autonomous mobile device 1 according to the present embodiment includes an obstacle movement determination unit 8 that determines whether an obstacle related to the obstacle position information acquired by the first environment information acquisition unit 21 is moving. . Therefore, the block configuration of the autonomous mobile device 1 of the present embodiment includes the obstacle movement determination means 8 in the block configuration of FIG. 1 in the first embodiment.

  Furthermore, the autonomous mobile device 1 according to the present embodiment stores the obstacle position information acquired by the second environment information acquisition unit 22 when the obstacle movement determination unit 8 determines that the obstacle is moving. Do not expand the “certain constant range”. For example, when the point b shown in FIG. 4 relates to the moving object, the fixed distance d (see FIG. 4) is set to a larger value.

  The movement of the object can be determined by the presence or absence of movement of the position coordinates. Therefore, for example, the obstacle movement determination for determining whether or not the obstacle is moving by comparing whether or not the obstacle position information acquired by the first environment information acquisition means 21 is moving in time. The means 8 can be easily configured.

  According to the autonomous mobile device 1 of the present embodiment, since a region that is not stored around the moving object detected as an obstacle is widened, the obstacle is, for example, a protrusion like a person shown in FIG. Even a mobile object whose undulation changes with time can be smoothly avoided and moved without storing such an obstacle position.

(Eleventh embodiment)
22 (a) and 22 (b) show the traveling state of the autonomous mobile device according to the eleventh embodiment. The first environment information acquisition means 21 and the second environment information acquisition means 22 in the present embodiment are provided in the upper front part of the autonomous mobile device 1.

  The first environment information acquisition means 21 is configured by arranging a plurality of ultrasonic distance sensors, and acquires obstacle position information in the detection space V in the forward direction. The second environment information acquisition unit 22 is configured using a laser radar, and acquires obstacle position information on the scan plane B in the forward and downward direction.

  Unlike the first environment information acquisition unit 21 in each embodiment described above, the first environment information acquisition unit 21 is a plane parallel to the traveling surface R (for example, the scan plane A of the first embodiment, that is, a two-dimensional space). The obstacle position information in the three-dimensional detection space V defined by a predetermined solid angle is acquired instead of acquiring only the obstacle position information in (). Information acquired within such a solid angle is information obtained by continuously detecting a specific surface position of an obstacle when the autonomous mobile device 1 travels. This is equivalent to the fact that the specific surface position of the obstacle can be continuously detected in the scan plane A parallel to the traveling surface R.

  That is, the obstacle position information acquired by the first environment information acquisition unit 21 in the present embodiment is information that is continuously acquired partially overlapping before and after the movement of the device during traveling. There is no need to remember. However, the obstacle position information acquired by the second environment information acquisition unit 22 is information that is gradually acquired without duplication before and after the movement of the device during traveling, and is not always acquired continuously. There is no information. By storing and referring to such information, an appropriate avoidance operation can be performed even for a moving obstacle, and an unnatural so-called hunting phenomenon in which the obstacle avoidance and the course return are repeated can be avoided.

  In the present embodiment, the obstacle position information acquired by the second environment information acquisition unit 22 is stored in the storage unit 4, but the information is acquired by the first environment information acquisition unit 21. In the case where the information is within a certain range, the information is not stored, the storage of redundant information can be eliminated, and the storage capacity of the storage means 4 can be reduced.

  The first environment information acquisition unit 21 may be configured by using an ultrasonic array sensor in which a plurality of ultrasonic receiving elements are arranged in an array and a distance image is obtained by electronic scanning. A plurality of such ultrasonic array sensors may be provided. Alternatively, a distance image may be obtained by processing a video.

  The present invention is not limited to the above-described configurations, and various modifications can be made. For example, the configurations of the above-described embodiments can be combined with each other within a consistent range. For example, the first environment information acquisition unit 21 and the second environment information acquisition unit 22 in each embodiment described above can be combined with each other between the embodiments.

The block block diagram about the autonomous mobile apparatus which concerns on the 1st Embodiment of this invention. The perspective view of an apparatus same as the above. (A) is a top view of the same apparatus, (b) is the side view, (c) is the front view. The distribution map of the positional information explaining the obstacle positional information memorize | stored in the memory | storage means of an apparatus same as the above. The perspective view of the autonomous mobile device which concerns on 2nd Embodiment. (A) is the front view of the obstruction seen from the apparatus same as the above, (b) is a side view of the obstruction. The perspective view of the autonomous mobile device which concerns on 3rd Embodiment. (A) is a top view of the same apparatus, (b) is the side view, (c) is the front view. (A) (b) is a top view which shows the mode of obstruction position information acquisition of an apparatus same as the above. The side view of the autonomous mobile device which concerns on 4th Embodiment. The perspective view which shows the modification of an apparatus same as the above. The perspective view of the autonomous mobile apparatus which concerns on 5th Embodiment, and the grid space around it. (A) is a plan view showing the relationship between the movement of the grid space and the obstacle position information, (b) is a plan view of the grid space before the movement, and (c) is a plan view after the movement. The relationship between each cell which comprises a grid space same as the above and obstacle position information is shown, (a) is a top view of the cell before a movement, (b) is a top view after a movement. The flowchart explaining operation | movement during movement of the autonomous mobile apparatus which concerns on 6th Embodiment. The flowchart of the obstacle position information processing at the time of moving while the autonomous mobile device which concerns on 7th Embodiment detects an obstacle. (A) is a plan view showing the relationship between the grid space before the movement and the obstacle position information, (b) is a plan view of a calculation grid space used for coordinate transformation of the obstacle position information, (c) ) Is a plan view showing the relationship between the grid space after movement and the obstacle position information. The flowchart of the obstacle position information processing when the autonomous mobile device which concerns on 8th Embodiment moves, detecting an obstacle. The top view of the autonomous mobile device which concerns on 9th Embodiment. The block block diagram about the autonomous mobile apparatus which concerns on 10th Embodiment. The side view explaining operation | movement of an apparatus same as the above. (A) and (b) are the side view and top view of the autonomous mobile device which concern on 11th Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous mobile device 2 Environment information acquisition means 4 Memory | storage means 5 Route generation means 6 Movement means 8 Obstacle movement judgment means 11 Obstacle position information 21 1st environment information acquisition means 22 2nd environment information acquisition means CL, c1-c6 cell GR Grid space M, M1, M2 Obstacle R Running surface

Claims (13)

Environmental information acquisition means for acquiring position information of obstacles existing in the surrounding space of the person, position information acquisition means for acquiring the position of the self, and based on the obstacle position information acquired by the environment information acquisition means In an autonomous mobile device comprising: route generation means for determining a travel route for traveling so as to avoid an obstacle; and movement means for moving the position of the vehicle along the travel route determined by the route generation means. ,
The environmental information acquisition means includes a first environmental information acquisition means and a second environmental information acquisition means that are different from each other in areas where obstacle position information is acquired.
The first environment information acquisition means is means for acquiring obstacle position information continuously during an arbitrary traveling operation of the apparatus by partially overlapping an area for acquiring obstacle position information before and after the movement of the apparatus. ,
The second environment information acquisition means is means for acquiring new obstacle position information gradually without duplication before and after the movement of the device ,
Information excluding information within a certain range around the obstacle position information acquired by the first environment information acquisition means among the obstacle position information acquired by the second environment information acquisition means is stored in the storage means,
The route generation means generates a travel route based on the obstacle position information acquired by the first environment information acquisition means and the obstacle position information stored in the storage means. apparatus.
  The autonomous mobile device according to claim 1, wherein the obstacle position information stored in the storage means is erased after a predetermined time.   The autonomous mobile device according to claim 1, wherein the obstacle position information stored in the storage unit is erased after moving a predetermined distance.   The autonomy according to any one of claims 1 to 3, wherein the first environment information acquisition means is means for acquiring obstacle position information from information in a plane parallel to the running surface. Mobile device. The first environment information acquisition means is means for acquiring obstacle position information from information in a plane parallel to the running surface,
The said 2nd environment information acquisition means is a means to acquire obstacle position information from the information in the surface which is not parallel to a driving | running | working surface, The Claim 1 thru | or 3 characterized by the above-mentioned. Autonomous mobile device.   The autonomous system according to any one of claims 1 to 5, wherein the second environment information acquisition unit includes a scan-type sensor that scans from above to below or from below to above. Mobile device.   The autonomous movement according to any one of claims 1 to 6, wherein the second environment information acquisition unit includes two scan-type sensors that scan downward from above. apparatus.   The autonomous mobile device according to any one of claims 1 to 7, wherein the shape of the rear plan view of the autonomous mobile device is circular.   The autonomous mobile device according to any one of claims 1 to 8, wherein the storage unit stores obstacle position information in a grid space including a finite number of cells.   The grid space is set by coordinate axes that move together with the autonomous mobile device, and each cell in the grid space stores obstacle position information of a maximum of one point. The autonomous mobile device according to claim 9, wherein the autonomous mobile device is converted and stored so as to follow a change in relative position.   11. The autonomous mobile device according to claim 1, wherein the storage unit stores obstacle position information as two-dimensional coordinate information obtained by mapping the obstacle position on a horizontal plane.   Of the obstacle position information acquired by the second environment information acquisition means, information farther than the obstacle position information acquired by the first environment information acquisition means is not stored in the storage means. The autonomous mobile device according to any one of claims 1 to 11. An obstacle movement determining means for determining whether or not an obstacle related to the obstacle position information acquired by the first environment information acquiring means is moving;
When the obstacle movement determination means determines that the obstacle is moving, the fixed range not stored for the obstacle position information acquired by the second environment information acquisition means is widened. The autonomous mobile device according to any one of claims 1 to 12.

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