JP5380165B2 - Autonomous mobile device - Google Patents

Description

  The present invention relates to an autonomous mobile device that can move while avoiding obstacles efficiently.

  Conventionally, the environment recognition sensor, such as a distance sensor or an imaging device, acquires the information on the position of the environmental object itself, recognizes its own position on the stored map, and avoids collision with an obstacle autonomously. An autonomous mobile device that moves is known. As shown in FIGS. 29 (a) and 29 (b), the autonomous mobile device 9 is instructed to move linearly toward the destination T when there is no obstacle. However, as shown in FIG. 30 (a), if there is a wall W or the like that is an obstacle on a straight path toward the destination T, a predetermined distance range from the wall W is set as shown in FIG. 30 (b). A detour point M is set on a straight path that does not intersect with the dangerous area B as the dangerous area B. And as shown in FIG.30 (c), the autonomous mobile apparatus 9 can avoid the collision with the wall W by heading to the detour point M, and can head to the destination T. FIG.

  Next, an example will be described in which the moving direction frequently changes greatly and the autonomous mobile device 9 cannot move efficiently and smoothly. As shown in FIG. 31 (a), when the destination T is beyond the danger area B set at the plurality of obstacle detection points p detected by the environment recognition sensor 92, the detour point M is temporarily set. Is set. However, when the autonomous mobile device 9 starts moving toward the detour point M, only one obstacle detection point p is detected as shown in FIG. 31 (b), and a straight path to the destination T appears. Such a situation occurs, for example, when the environment recognition sensor 92 is a laser radar and an obstacle is detected in a horizontal plane 180 ° ahead of the autonomous mobile device 9. When a straight route to the destination T appears in this way, the autonomous mobile device 9 starts moving toward the destination T as shown in FIG. However, when going to the destination T, the obstacle detection point p that has not been detected is detected again, the straight path to the destination T disappears, and the detour M is set again. That is, the moving direction frequently changes greatly. Such a defect is caused when, for example, a leg such as a chair or a table, a human leg, or the like is detected as the obstacle detection point p, that is, when the obstacle is scattered in a plane or when a moving obstacle is present. This occurs when the position of the obstacle detection point p changes during the detour operation of the autonomous mobile device 9.

  By the way, for the purpose of enabling high-speed movement in an area where a moving obstacle exists, a detour point for passing around the obstacle is calculated, and the detour point is adjusted to travel without interfering with the obstacle. A moving device that generates a smooth avoidance trajectory is known (see, for example, Patent Document 1).

JP 2008-65555 A

  However, in the mobile device as described in Patent Document 1 described above, a bypass route that passes through the detour point generated with respect to the obstacle is smoothed. No consideration is given to fluctuations in the direction of movement caused by the point generation itself.

  The present invention solves the above-described problems, and provides an autonomous mobile device that can efficiently and smoothly move without greatly changing the direction of the detour point when moving around an obstacle. The purpose is to do.

In order to achieve the above-mentioned object, the invention of claim 1 includes an environmental information acquisition sensor for acquiring information on the position of an environmental object around itself, and a moving means based on the environmental information acquired by the environmental information acquisition sensor. controlling includes a control unit for moving the own position, the, in the autonomous moving device that moves autonomously while avoiding a collision with surrounding objects, the environment information acquired through road Let suited to their destinations When an obstacle is detected by the sensor, a detour point generation unit that sequentially generates a detour point for avoiding the obstacle is provided, and the control unit is configured to detect when the obstacle is not detected by the environmental information acquisition sensor. It controls the moving means so as to be directed directly to the destination, the destination being sequentially toward the bypass point where the bypass point generating unit is sequentially generated if an obstacle is detected by the environment information acquisition sensor Controls the moving means so as buy, said bypass point generation unit itself generates the following detour point angle in the direction is in the range of acceptance angles set in advance from the direction facing currently the allowable The angle range is narrower than the angle range of the environment information acquisition sensor and is included in the angle range of the environment information acquisition sensor .

According to a second aspect of the invention, baffle Autonomous mobile equipment according to claim 1, wherein the bypass point generation unit, Oite on the side where the self is currently facing around a direction toward the front Symbol destination, the obstacle This is a direction in which a predetermined first distance can be linearly moved without being generated , and the next detour point is generated.

The invention according to claim 3 is the autonomous mobile device according to claim 2, wherein the detour point generation unit is configured such that the direction toward the destination is within the allowable angle range from the direction in which the self is currently facing. In addition , if the next detour point cannot be generated between the direction toward the destination and the direction in which the user is currently facing, the destination is centered on the direction in which the user is currently facing. The next detour point is generated on the side opposite to the side.

According to a fourth aspect of the present invention, in the autonomous mobile device according to the third aspect, the detour point generation unit generates a next detour point on the side where the self is currently facing, with the direction toward the destination as a center. If this is not possible, the next detour point is generated on the side opposite to the side where the user is currently facing.

A fifth aspect of the present invention, the autonomous mobile apparatus according to any one of claims 2 to 4, wherein the bypass point generation unit, Ri by the inability moving said first distance next detour point If it is not possible to generate, the direction closer to advance the first direction toward the destination and a second direction which can move the above distance set distance shorter than the distance, the next detour A point is generated.

According to a sixth aspect of the invention, the autonomous mobile apparatus according to any one of claims 2 to 4, wherein the bypass point generation unit, Ri by the inability moving said first distance next detour point If it is not possible to produce a can move the longest distance without being disturbed by the pre-third obstacle in a direction in which the distance of the above distance can move the set shorter than the first distance direction, and generates the next detour point.

According to a seventh aspect of the invention, the autonomous mobile apparatus according to claim 6, wherein, be the detour point generating unit generates by Ri following bypass point can not be moved the third distance In the case where it is not possible, the rotation angle in the direction in which the distance to the obstacle detected by the environmental information acquisition sensor is further away from either the left or right direction rotated by a preset rotation angle from the direction in which it is currently facing It is something that only rotates itself.

The invention of claim 8, Autonomous mobile equipment according to any one of claims 2 to 4, wherein the bypass point generation unit, Ri by the inability moving said first distance next detour point Is not generated, the first distance is shortened based on a preset method.

The invention of claim 9, Autonomous mobile equipment according to any one of claims 1 to 8, further comprising a storage unit for storing sets the position of obstacles as the map information, the control unit , it said for the obstacle has been set as the map information, a distance to the obstacle detected by the environmental information acquisition sensor, and converted further than the detected distance.

According to a tenth aspect of the present invention, in the autonomous mobile device according to any one of the first to ninth aspects, an angle between a direction toward the destination and a direction in which the self is currently facing is a predetermined angle. If it is larger than the range, the range of the allowable angle is increased.

The invention of claim 11 is the autonomous mobile device according to any one of claims 1 to 10, wherein the first distance is changed in accordance with its own moving speed.

The invention of claim 12, in the autonomous mobile apparatus according to any one of claims 1 to 11, wherein the detour point generating unit, from the measurement points in the obstacle detected by the environmental information acquisition sensor the moving speed of the front side of the region excluding the predetermined distance range is set to safe area which can be moved without being obstructed by the obstacle and generates a periphrastic times points to the safe area, the predetermined distance range of the self in which it makes changes in accordance with the.

  According to the first aspect of the present invention, the direction in which the next detour point is generated is limited so as to be within the allowable angle range from the direction in which the next detour point is currently directed. Therefore, it is possible to realize efficient and smooth movement without greatly changing the direction of the detour points that are sequentially generated.

  According to the second aspect of the present invention, the movement distance is ensured within the limited angular range and the detour point is generated in the direction approaching the destination, so that efficient and smooth movement can be realized.

  According to the third aspect of the present invention, since the detour point is generated on the same angle change direction side as the angle change direction of the move direction changed with the previous change of the movement route, smooth movement can be realized. . That is, if the next detour point is generated on the side where the destination is in relation to the left and right of the direction in which it is currently facing, it is necessary to change the angle more than the angle between the direction of the destination and the direction in which it is currently facing. However, this inevitable change in angle can be avoided.

  According to the fourth aspect of the present invention, it is possible to increase the possibility that a detour point can be generated at least within a preset allowable angle range, and it is possible to efficiently and smoothly move.

  According to the invention of claim 5, since the distance condition for generating the detour point is relaxed, and the next detour point is generated in a direction close to the destination direction, for example, an obstacle near the wall It is possible to avoid the object and move on the wall side, and to realize efficient and smooth movement.

  According to the invention of claim 6, the distance condition for generating the detour point is relaxed and the next detour point is generated in the direction in which the longest distance can be moved. It can be generated by searching, and the movement can be continued.

  According to the seventh aspect of the present invention, when a detour point cannot be generated in an appropriate direction, a detour point can be generated with a new possibility, and movement can be continued.

  According to the eighth aspect of the present invention, since the condition for the distance for generating the detour point is relaxed, the detour point can be generated and moved even in a narrow passage.

  According to the invention of claim 9, since the area where the detour point can be generated, that is, the safety area can be widened, the detour point can be generated and moved even in a narrow passage. Also, if a safe area is set for obstacles such as walls that are stored in the same way as obstacles such as moving objects, a detour point may be generated on the opposite side of the destination direction. Such a situation can be avoided by widening the safety area within the margin.

  According to the invention of claim 10, since the angle condition for generating the detour point is relaxed, the detour point can be generated and moved even in a narrow passage. Also, when moving around an obstacle around a wall, a detour point may be generated on the opposite side of the destination direction even though it can move in the direction of the destination. However, this situation can be avoided by relaxing the angle condition.

  According to the invention of claim 11, for example, while moving at a high moving speed, the distance to the obstacle can be increased by increasing the first distance, and the obstacle can be traveled more safely. It can move smoothly without starting avoidance and slowing down. Also, in an environment where there are many obstacles, the moving speed is adjusted according to the distance to the obstacle, and the first distance is changed according to the moving speed. Detailed detour point generation and smooth movement according to the situation can be performed.

  According to the twelfth aspect of the present invention, the same effect as described above can be obtained, and in the case of a high speed, it is possible to move away from the obstacle, move more safely, and realize an efficient and smooth movement. .

The block block diagram of the autonomous mobile apparatus which concerns on the 1st Embodiment of this invention. The perspective view of the apparatus. The top view which shows a mode that the apparatus detours an obstruction and moves to the destination. The top view explaining the other example of the movable area | region of the apparatus. (A) is a top view which shows a mode that the same apparatus sets a detour point, (b) is a top view which shows a mode that the same apparatus sets a detour point next to the detour point set by (a). (A) is a plan view showing how the device sets the next detour point following FIG. 5 (a), and (b) shows the device moving directly to the destination after the state of (a). Plan view. The flowchart of the process performed while the same apparatus is moving. The top view which defines an angle in order to demonstrate the Example of 1st Embodiment. (A) is a top view which shows the relationship of each angle direction at the time of setting the next detour point in the 1st Example of 1st Embodiment, (b) is a left-right inversion corresponding figure of (a). (A) is a top view which shows the relationship of each angle direction at the time of setting the next detour point in the 2nd Example of 1st Embodiment, (b) is a left-right inversion corresponding figure of (a). (A) is a top view which shows the relationship of each angle direction at the time of setting the next detour point in the 3rd Example of 1st Embodiment, (b) is a left-right inversion corresponding figure of (a). The schematic diagram which shows the relationship of each angle direction at the time of setting the next detour point in 1st Embodiment and its Example. The figure which shows the example of a relationship between the movable distance and angle in the autonomous mobile apparatus which concerns on 2nd Embodiment. The top view which shows a mode that the apparatus sets a detour point. The figure which shows the example of a relationship between the movable distance and angle in the autonomous mobile apparatus which concerns on 3rd Embodiment. The top view which shows a mode that the apparatus sets a detour point. The figure which shows the example of a relationship between the movable distance and angle in the modification of 3rd Embodiment. The top view which shows the relationship of each angle direction at the time of setting the next detour point. The figure which shows the example of a relationship between the movable distance and angle in the autonomous mobile apparatus which concerns on 4th Embodiment. The top view which shows a mode that the apparatus sets a detour point. (A)-(e) is a top view which shows a mode that the autonomous mobile apparatus which concerns on 5th Embodiment sets a detour point sequentially. The top view explaining the situation where the autonomous mobile device which concerns on 6th Embodiment passes between between a wall and the front obstacle. The top view which shows the state which the apparatus changed the setting conditions of the movable area | region from the situation of FIG. (A) (b) is a top view which shows a mode that the autonomous mobile apparatus which concerns on 7th Embodiment sets a detour point sequentially, (c) is an example in which the detour point set following (b) is inappropriate. FIG. (A) is a plan view showing the state in which the apparatus has set the next inappropriate detour point following FIG. 24 (c), and (b) is for changing the detour point setting condition during the operation following (a). The top view which shows a mode that an appropriate detour point is set. The top view explaining a mode that the autonomous mobile device concerning an 8th embodiment passes the side of an obstacle. The top view which shows a mode that the same apparatus sews and moves between the several obstructions which adjoined. (A) is a top view explaining a mode that an autonomous mobile device concerning a 9th embodiment passes the side of an obstacle, and (b) is a top view at the time of moving at a speed slower than (a). (A) (b) is a top view which shows a mode that the present invention and the conventional autonomous mobile device move linearly toward the destination in time series. (A)-(c) is a top view which shows a mode that the present invention and the conventional autonomous mobile device detour around an obstacle, and move toward a destination in time series. (A) is a plan view showing a state where a conventional autonomous mobile device has set a detour point, (b) is a plan view showing a state where the device is going to move directly in the direction of the destination after setting (a), (C) is a top view which shows a mode that the apparatus tries to set a detour point again.

Hereinafter, an autonomous mobile device according to an embodiment of the present invention will be described with reference to the drawings. Note that the block configuration of the autonomous mobile device 1 in FIG. 1 and FIGS. 2 and 3 are common to all the embodiments, and are appropriately referred to in each embodiment.
(First embodiment)
1 to 7 show the first embodiment. As shown in FIG. 1 and FIG. 2, the autonomous mobile device 1 moves autonomously while avoiding a collision with an environmental object while acquiring information on its own position and the position of the environmental object existing around it. An environmental information acquisition sensor 11 that acquires information on the position of environmental objects around the user, and a control unit 10 that controls the moving device 12 based on the environmental information acquired by the environmental information acquisition sensor 11 to move its position. When the obstacle is detected by the environment information acquisition sensor 11 on the straight path in the direction toward the destination of the movement, a detour point for generating a detour point for avoiding the obstacle and the surrounding dangerous area And a generation unit 15. The autonomous mobile device 1 further includes a self-position recognition unit 13 for recognizing its own position, a route generation unit 14 for generating a movement route, and a storage unit 16 for storing environment information and the like. In addition to the environment information, the storage unit 16 stores self-location information, map information, and control parameters acquired by the self-position recognition unit 13.

  The control unit 10 generates a movement route by the route generation unit 14, controls the moving device 12, and moves the autonomous mobile device 1 along the movement route. In this movement, the control unit 10 goes directly to the destination when there is no obstacle, and goes to the destination while going to the detour point generated by the detour point generation unit 15 when there is an obstacle. The mobile device 12 is controlled. 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. .

  The environment information acquisition sensor 11 is configured using, for example, a laser radar 2 that is provided at the center of the front lower portion of the vehicle body and horizontally scans the traveling surface in the forward direction K (FIG. 2). The laser radar 2 is a distance sensor that oscillates a laser beam at a predetermined constant angle in the scan plane and acquires a distance to an object or an obstacle in a front semicircular obstacle detection area S having a predetermined radius. is there. The laser radar 2 measures, for example, a measurement distance of 8 m and a range of ± 90 ° left and right in the traveling direction every 0.5 °. For example, the environmental information acquisition sensor 11 intermittently scans under a constant control cycle, and stores a set of distance data acquired for each scan as environmental information (sensor information) at each time point. 16 to memorize. In addition to the laser radar 2, an ultrasonic sensor or an infrared sensor configured to measure the distance to surrounding obstacles can be used as the environment information acquisition sensor 11. In addition, an image distance sensor that processes a captured image and measures a distance to an obstacle can be used. Further, the obstacle detection area S is not limited to the forward semicircular range, and may be a narrower angular range or a wider angular range. Based on the environmental information from these sensors, obstacle detection, collision avoidance with the obstacle, self-position recognition, and the like are performed.

  The moving device 12 includes, for example, a motor driven by the battery BT and a driving wheel 12a (FIG. 2). The motor is provided with an encoder for measuring the rotation speed and rotation speed. The control unit 10 can roughly know the moving distance and moving direction from the output of the encoder, and the autonomous mobile device 1 autonomously moves by performing dead reckoning (estimated navigation) based on such information. .

  The self-position recognition unit 13 processes the data of the sensor information, and extracts environmental component information such as walls and landmarks provided for position recognition. These characteristic environmental component information and the like are included in the map information of the travel area stored in the storage unit 16. Then, the self position of the autonomous mobile device 1 is acquired and recognized by comparing the position of the extract with map information. The estimated self-position by dead reckoning is corrected by the self-position information acquired in this way. The self-position information acquired by the self-position recognition unit 13 is stored in the storage unit 16 and appropriately referred to by the control unit 10 and the route generation unit 14.

  For example, the route generation unit 14 configures a movement route for autonomous movement from a plurality of nodes stored in the storage unit 16 in order to move toward a target position (final destination) instructed from the outside. Are selected, and the selected nodes are sequentially connected to generate a movement path to the target position. The positions of a plurality of nodes and the connection relationship between the nodes for configuring the movement route are stored in the storage unit 16 as travel parameters.

  Next, a state of basic movement by the autonomous mobile device 1 will be described. As shown in FIG. 3, when the obstacle 3 exists in the obstacle detection area S, the obstacle detection point p is detected as the surface position of the obstacle 3 by the laser radar 2. The control unit 10 sets a dangerous area B composed of a circular area having a constant radius around each obstacle detection point p. The dangerous area B is an area in which the autonomous mobile device 1 cannot pass, and there is a risk that a collision between the autonomous mobile device 1 and the obstacle 3 occurs when the movement path of the autonomous mobile device 1 intersects the area. is there. Further, as viewed from the autonomous mobile device 1, the area behind the dangerous area B is also a dangerous area, that is, an area where safety is not guaranteed. At least in the obstacle detection area S, the area excluding the dangerous area B and the area behind it is the safety area A. The radius r can be defined as r = w / 2 + δ, where r is the radius of the danger region B, w is the width of the autonomous mobile device 1 (for example, the maximum diameter in plan view), and δ is the safety margin. The safety margin δ can be set as appropriate, for example, 20 cm or 10% of the width w according to the operating environment conditions of the autonomous mobile device 1, the moving speed, and the like. According to such a definition, the safety area A is an area in which a movement route can be set. Even if the area is narrow, the movement route can be set as long as there is a gap, and the autonomous mobile device 1 moves along the movement route. be able to.

  When the autonomous mobile device 1 moves toward a target position (not shown), the destination T is generated and set one after another at a position away from its own position, and then moves toward the destination T sequentially. Repeat that. As such a destination T, for example, the position of a node forming a movement route can be used. Accordingly, the destination T is sequentially updated as the autonomous mobile device 1 moves. The control unit 10 of the autonomous mobile device 1 determines that if there is an obstacle 3 and therefore a dangerous area B between the destination T and its own position, it cannot move directly to the destination T in a straight line. Then, the detour point generation unit 15 generates a detour point M that can avoid the dangerous area B. The detour point M is set to a position at a predetermined first distance D from the autonomous mobile device 1, a direction close to the destination T, and a direction in which it can move directly without crossing the dangerous area B. The route generation unit 14 generates a movement route toward the position of the detour point M. The control unit 10 controls the moving device 12 to move itself so as to go to the detour point M along the movement route, and in the middle of the movement, the next detour point is further determined according to the environmental information sequentially acquired. M1 is generated and moves to move toward the detour point M1. The controller 10 sequentially performs such movement, and when it can move directly to the destination T, it moves in the direction of the destination T (see FIGS. 29 and 30).

  FIG. 4 shows a modified example of the safety area A setting. This safety area A is a circle centered on the center position of the laser radar 2 in the obstacle detection area S, and an area inside the circle that touches each danger area B on the near side, and the center position of the laser radar 2 Is a region obtained by combining radial regions that do not intersect with each danger region B. According to the setting of the safety region A, the mathematical description of the boundary of the safety region A is possible and simplified only by a plurality of constant distance ranges, that is, an arc and an angle boundary straight line. Arithmetic processing is easy. The safety area A can be appropriately set by the method shown in FIGS. 3 and 4 or other methods based on the obstacle detection area S and the danger area B. Only B is shown.

  Next, with reference to FIGS. 5 and 6, an example of moving while avoiding an obstacle (each dangerous area B) while generating detour points M one after another will be described. As shown in FIG. 5A, there is an obstacle on the straight path in the direction toward the destination T of movement, and the danger area B is detected at the obstacle detection points p1, p2, p3 detected by the environment information acquisition sensor 11. Is set, there is no gap between the dangerous areas B, and it is assumed that the user cannot pass through. In this case, the detour point generation unit 15 generates the detour point M1 so as to detour the obstacle detection point p3, for example. When the detour point M1 is set, the autonomous mobile device 1 moves toward the detour point M1. While the autonomous mobile device 1 is in operation, the environmental information acquisition sensor 11 repeatedly acquires environmental object information under a predetermined control cycle or the same control cycle, and the detour point generation unit 15 The generation of the detour point is repeated under the control of the control unit 10.

  As shown in FIG. 5B, the next detour point M2 is generated in the next control cycle in which the autonomous mobile device 1 sets the detour point M1. When the detour point is continuously generated in this way, the detour point generation unit 15 causes the next detour point M2 in the direction in which the angle from the direction K to which the present point is directed is within the range of the preset allowable angle α. Is generated. The direction when the front of the autonomous mobile device 1 is viewed from the front is the direction K, and the directions swung from the direction K to the left and right by the allowable angle α are the direction L and the direction R, respectively. The detour point M2 is generated between the direction L and the direction R.

  As shown in FIG. 6A, when the detour point generation unit 15 generates the detour point M3 and the control unit 10 controls the moving device 12 (moving means) to direct itself toward the detour point M3, FIG. As shown in (b), the vehicle heads to the destination T. That is, when the obstacle is detected by the environment information acquisition sensor 11 on the straight path in the direction toward the destination T of movement, the detour point generator 15 uses the detour points M1 and M2 to avoid the obstacle. , M3 are sequentially generated, and the control unit 10 controls the moving device 12 so as to sequentially go to the detour points M1, M2, M3. Then, finally, the direction of the detour point M4 (not shown) coincides with the direction of the destination T, and thereafter, it can move directly toward the destination T.

  As described above, after the second detour point M2, the angle from the direction in which the self is currently facing is generated in a direction that falls within a preset allowable angle range. The detour point M2 is generated from the direction of the detour point M1, the detour point M3 is generated from the direction of the detour point M2, and the detour point M4 is generated from the direction of the detour point M3 in an angle direction within the allowable angle α.

  In general, the detour point generation unit 15 is a direction in which the first distance D set in advance can be linearly moved without being obstructed by an obstacle, and the detour point generation unit 15 is currently facing with respect to the left and right of the direction of the destination T. The next detour point M2 is generated in a direction close to the direction of the destination T on the present side. Normally, since a new detour point is generated before moving the first distance D, the autonomous mobile device 1 does not necessarily move the entire distance of the first distance D. 5 and 6 show three detour points M1, M2, and M3. Generally, the number of detour points generated depends on the moving speed of the autonomous mobile device 1, the control cycle of each operation, and the like. It increases or decreases variously. Further, detour points M1, M2, and M3 in the figure can be considered as representative points extracted from a number of detour points.

  Next, the process of moving to the destination will be described with reference to FIG. The autonomous mobile device 1 sets the destination T (S0), and after starting to move toward the destination T (S1), it is determined whether or not it has reached the target position (S2). Is completed (Yes in S2), and if not arrived (No in S2), environmental information is acquired by the environmental information acquisition sensor 11 (S3). It is determined whether or not there is an obstacle on the straight line route from the current position to the destination T, and hence the surrounding dangerous area B (S4). If not (No in S4), the control is returned to step (S0). Then, the above process is repeated.

  If there is a dangerous area B on the straight path (Yes in S4), the detour point generation unit 15 generates a detour point M1 in order to avoid the dangerous area B (S5), and the autonomous mobile device 1 uses the detour point. It moves toward M1 (S6). Environment information acquisition processing is performed during movement (S7), and the detour point generation unit 15 refers to the environment information and sets the next detour point M2 in the direction within the allowable angle α from the direction in which the detour point is currently facing. Generate (S8). The autonomous mobile device 1 moves toward the detour point M2 (S9), and it is determined whether or not the direction of the detour point matches the direction of the destination T (S10). If the detour point matches the direction of the destination T (Yes in S10), the control returns to step (S0), and if not (No in S10), the control returns to step (S7). The processing of the following steps is repeated. In this iterative process, the detour points M3, M4, etc. are sequentially generated. Finally, the direction of the detour point coincides with the direction of the destination T, and the autonomous mobile device 1 can move directly to the destination T. The autonomous mobile device 1 sequentially passes through the set destinations T, finally arrives at the target position, and the movement processing of the autonomous mobile device 1 ends.

  According to the first embodiment, when an obstacle is detected between the destination and the destination, the detour points that are sequentially generated under the angle limit within the allowable angle α (2α on the left and right) are sequentially directed. Since it moves toward the destination, the direction of the detour points that are sequentially generated does not fluctuate greatly, and an efficient and smooth movement can be realized. In addition, since the movement distance (first distance) is secured within the limited angle range and the detour point is generated in the direction approaching the destination, efficient movement can be realized.

(Example of the first embodiment)
8 to 12 show an example of the first embodiment. In the present embodiment, a procedure for generating a detour point will be specifically described. As shown in FIG. 8, a coordinate system is set. The xy coordinate system is a coordinate system that moves together with the autonomous mobile device 1, and the coordinate system XY is an absolute coordinate system that is fixed in the operating area of the autonomous mobile device 1. The map information stored in the storage unit 16 is usually described by this absolute coordinate system XY. The origin of the coordinate system xy is set at the scan center of the laser radar 2, and the x-axis direction is the traveling direction through the center of the autonomous mobile device 1, that is, the direction K in which the self is currently facing. The direction of the destination T viewed from the origin of the coordinate system xy is represented as a direction T. Further, the direction L and the direction R are set at angular positions obtained by swinging the angle from the direction K to the left and right by the allowable angle α. The angle of each direction, for example, the direction T, is defined as a positive direction counterclockwise from the x axis, and is represented as an angle θt. Assuming that the angles of the directions L, R, and K are θL, θR, and θk, θL = θk + α, θR = θk−α (where α> 0) and θk = 0 by definition, so θL = + α, θR = −α. The allowable angle α is, for example, α = 45 ° and 2α = 90 °. The value of α depends on the operating environment of the autonomous mobile device 1, the outer shape of the autonomous mobile device 1, the moving speed, etc., the function and configuration of the environment information acquisition sensor 11, the shape of the obstacle detection area S, etc. Can be set as appropriate, and can be changed dynamically during operation. In the following, the detour point next to the detour point M is represented as a detour point Mn.

(First embodiment)
FIG. 9A shows a state of θt ≧ θL ≧ θk = 0 ≧ θR, and FIG. 9B shows a state of θL ≧ θk = 0 ≧ θR ≧ θt. That is, these states are states where the destination T is out of the allowable angle range 2α. The detour point generation unit 15 searches from the side close to the direction T within the allowable angle range 2α from the angle θL to the angle θR, or from the angle θR to the angle θL, as in the angle direction θ1 and the angle direction φ1. The first point that can travel the first distance D without intersecting the dangerous area B is defined as the next detour point Mn. When the first distance D cannot be traveled, the point of the distance that can travel the maximum in the range is set as the detour point Mn.

(Second embodiment)
10A shows a state of θL ≧ θt ≧ θk = 0 ≧ θR, and FIG. 10B shows a state of θL ≧ θk = 0 ≧ θt ≧ θR. That is, these states are states where the destination T is within the allowable angle range 2α. The detour point generation unit 15 searches from the angle θt to the angle θR, or from the angle θt to the angle θL, as in the angle direction θ2 and the angle direction φ2, and advances the first distance D without intersecting the danger area B. Let the first possible point be the next detour point Mn. In other words, the detour point generation unit 15 is a direction in which the first distance D can be linearly moved without being obstructed by an obstacle, and on the side where the self is currently facing with respect to the left and right of the direction of the destination T. The next detour point Mn is generated in a direction close to the direction of the destination T.

(Third embodiment)
11A shows a state of θL ≧ θt ≧ θk = 0 ≧ θR, and FIG. 11B shows a state of θL ≧ θk = 0 ≧ θt ≧ θR. These states are the same as the states in FIGS. 10 (a) and 10 (b). In the third embodiment, the search is performed in the angular directions θ3, θ4, θ5 or the angular directions φ3, φ4, and φ5.

  As in the angle direction θ3 or φ3, the search is performed from the angle θt to the angle θk = 0, and the first point that can travel the first distance D without intersecting the dangerous area B is set as the next detour point Mn. . If a possible point cannot be obtained in the search range (θ3 or φ3), the point of the distance that can travel the maximum in the range is stored as the candidate cd1.

  If the next detour point Mn cannot be obtained depending on the above, it is dangerous to search from the angle θk = 0 to the angle θR as in the angle direction θ4 or from the angle θk = 0 to the angle θL as in the angle direction φ4. The first point that can travel the first distance D without intersecting the region B is set as the next detour point candidate OA2. In other words, the detour point generation unit 15 is the case where the direction of the destination T is within the range of the allowable angle α from the direction K in which the destination T is currently facing, and the direction of the destination T and the direction K If the next detour point Mn cannot be generated in the meantime, the next detour point Mn (detour point candidate OA2) is generated on the opposite side of the direction K to the side where the destination T is located. Become. If a possible point cannot be obtained in the search range (θ4 or φ4), the point of the distance that can travel the maximum in the range is stored as the candidate cd2.

  When the next detour point Mn cannot be obtained in the search range (θ3, θ4 or φ3, φ4), the angle θt to the angle θL as in the angle direction θ5, or the angle θt to the angle as in the angle direction φ5. The search is performed up to θR, and the first point that can travel the first distance D without intersecting with the dangerous area B is set as the next detour point candidate OA3. In other words, when the detour point generation unit 15 cannot generate the next detour point Mn on the side where it is currently facing with respect to the left and right in the direction of the destination T, the detour point generation unit 15 is the side where the self is currently facing. The next detour point Mn (detour point candidate OA3) is generated on the opposite side.

  If a possible point cannot be obtained in the search range (θ5 or φ5), the point of the distance that can travel the maximum in the range is stored as a candidate cd3. This situation means that the next detour point Mn is not obtained in the range of the allowable angle α (2α on the left and right). In this case, the longest point among the candidates cd1, cd2, and cd3 is set as the next detour point Mn.

  As described above, when the next detour point Mn cannot be obtained in the first search range (θ3 or φ3), according to the search procedure of searching for the next detour point Mn in the search range (θ4 or φ4), Since the next detour point Mn is generated on the same angle change direction side as the angle change direction of the movement direction changed in accordance with the previous movement route change, smooth movement can be realized. In other words, if the next detour point Mn is generated on the side where the destination T is present with respect to the left and right of the direction K in which the self is currently facing, an angle change more than the angle formed between the direction of the destination T and the direction K inevitably occurs. Although this occurs, this inevitable change in angle can be avoided. Further, when the detour point candidate OA3 is not obtained, by using the candidates cd1, cd2, cd3, etc., the distance condition is relaxed at least within the range of the preset allowable angle α (left and right 2α). The possibility that the next detour point Mn can be generated can be increased, and smooth and efficient movement can be realized. When the detour point candidate OA2 is obtained, the search range (θ5 or φ5) may be further searched in order to optimize the detour point. In other words, when both of the bypass point candidates OA2 and OA3 are obtained by this additional search, the one having the smaller angle difference (absolute value) from the angle θt is determined as the next bypass point Mn. Can do.

(Relationship between angular directions in the first embodiment)
FIG. 12 summarizes the relationship in each angular direction when setting the next detour point Mn in the first embodiment. (Case 1) and (Case 2) are in an inverted relationship with each other. The directions and lengths of the arrows with θ1 to θ5 and φ1 to φ5 in the figure indicate the direction in which the angle is changed in order to search for the next detour point Mn and the search angle range, respectively. FIG. 12A shows that the next detour point Mn is generated within a predetermined allowable angle range 2α. (B1) in FIG. 12B shows that when the destination T is outside the allowable angle range 2α, the next detour point Mn is generated on the side closer to the destination T. (B2) in FIG. 12 (b) shows that when the destination T is within the allowable angle range 2α, with respect to the left and right of the direction of the destination T, the next detour is made in the direction K in which the autonomous mobile device 1 is currently facing. It shows that a change in posture is suppressed by generating a point Mn. FIG. 12C shows that the next detour point Mn is generated between the direction of the destination T and the direction K in which the destination is currently facing.

  FIG. 12D shows the side beyond the direction K in which the current direction is present when the next detour point Mn cannot be generated between the direction of the destination T and the direction K in which the current direction is the direction K. The next detour point Mn is generated. FIG. 12E shows that when the next detour point Mn cannot be generated on the direction K side with respect to the right and left of the direction of the destination T, the next detour point Mn is generated on the opposite side. ing. FIG. 12 (f) shows the direction close to the destination T in the angular range on both sides when the next detour point Mn cannot be generated between the direction of the destination T and the direction K to which the self is currently facing. This shows that the next detour point Mn is generated.

(Second Embodiment)
13 and 14 show the second embodiment. The white dots plotted in FIG. 13 are distances that can be moved at predetermined angles in the range of the angle π (radians) ahead of the autonomous mobile device 1 in FIG. The distance ρ to the point q or the point q on the circle whose radius is the first distance D is shown. 14 is the obstacle detection point p detected by the laser radar 2 as the surface position of the obstacle. As shown in FIG. 13, when the detour point generation unit 15 cannot generate the next detour point Mn because the first distance D cannot be secured within the allowable angle range 2α, the first detour point Mn is generated in advance. A next detour point Mn is generated in a direction in which a distance equal to or greater than the second distance D2 set shorter than the distance D can be moved without being obstructed by an obstacle and close to the direction of the destination T. That is, by relaxing the condition regarding the distance provided for generating the detour point, the point indicated by the arrow in the figure, which is the point near the angle θt beyond the second distance D2, is the next detour point Mn. Is generated as Further, as shown in FIG. 14, a point that exceeds the second distance D2 and is close to the angle θt is selected near the boundary of the dangerous area B, and is generated as the next detour point Mn.

  In FIG. 14, the reference point of the first distance D and the second distance D2 is set not at the center position of the laser radar 2 but at the center of the autonomous mobile device 1. The position of such a reference point can be appropriately set according to the autonomous mobile device 1 and its operating environment, and can be changed as appropriate. For example, in FIG. 8 described above, the origin of the coordinate system xy is set to the center of the laser radar 2, but the distance measured with reference to the center of the laser radar 2 is the center of the autonomous mobile device 1 by coordinate conversion. Can be converted to a distance from

  According to the second embodiment, since the condition of the distance for generating the next detour point Mn is relaxed, and the next detour point Mn is generated in a direction close to the direction of the destination T, for example, It is possible to move while avoiding obstacles in the vicinity of the wall, and efficient and smooth movement can be realized.

(Third embodiment)
15 and 16 show the third embodiment. The meanings of the points p, q, etc. are the same as in the second embodiment. As illustrated in FIG. 15, when the detour point generation unit 15 cannot generate the next detour point Mn because the first distance D cannot be ensured within the allowable angle range 2α, the first distance is previously set. The next detour point Mn is generated in the direction of the longest distance that can be moved without being obstructed by an obstacle, which is not less than the third distance D3 set shorter than D. That is, by relaxing the condition regarding the distance provided for generating the detour point, the point indicated by the arrow in the figure that is the longest distance exceeding the third distance D3 is the next detour point Mn. Is generated as In addition, as shown in FIG. 16, the point having the longest distance exceeding the third distance D3 is selected in the vicinity of the boundary of the dangerous area B on the wall W, and is generated as the next detour point Mn.

  According to the third embodiment, the distance condition for generating the next detour point Mn is relaxed, and the next detour point Mn is generated in the direction in which the longest distance can be moved. It is possible to search and set the movement route while approaching the point, and to continue the movement.

(Modification of the third embodiment)
17 and 18 show a modification of the third embodiment. The meanings of white spots and the like plotted in FIG. 17 are the same as those in the second embodiment. As shown in FIG. 17, the present modification shows an example in which the viewpoint is largely changed when a point that can move the third distance D3 is not obtained within the allowable angle range 2α. That is, when the detour point generation unit 15 cannot generate the next detour point Mn because the detour point generation unit 15 cannot secure the third distance D3 in which the first distance D is relaxed, the control unit 10 is currently directed. The self is rotated by the rotation angle ψ in a direction farther away from the obstacle, and thus the distance to the dangerous area, in either of the left and right directions rotated by the rotation angle ψ set in advance from the current direction. The next detour point Mn is generated in the rotated direction. In the example of FIG. 17, by rotating to the right, a point indicated by an arrow in the figure, which is a point farther to the obstacle, is generated as the next detour point Mn. FIG. 18 shows the angular relationship in such rotation. The rotation angles ψ1 and ψ2 are usually the same angle, for example, ψ1 = ψ2 = 90 °. In one of the rotated directions t1 and t2, the next detour point Mn is generated. Note that the rotation angles ψ1 and ψ2 can be set dynamically by referring to information such as walls in the map information stored in the storage unit 16, respectively. According to this modification, when the next detour point Mn cannot be generated in an appropriate direction, the next detour point Mn can be generated with a new possibility, and the movement can be continued. it can.

(Fourth embodiment)
19 and 20 show the fourth embodiment. The meanings of the points p, q, etc. are the same as in the second embodiment. As shown in FIG. 19, the detour point generation unit 15 cannot generate the next detour point Mn because the first distance D cannot be secured, based on a preset method or in advance. Using the set value, the first distance D is replaced with a shorter distance Dn. By applying such a distance Dn, a point indicated by an arrow in the figure, which is a point exceeding the distance Dn, is generated as the next detour point Mn. In addition, as shown in FIG. 20, when a dangerous area B due to an obstacle exists near the center of the left and right walls W, such as when moving in a narrow passage such as a corridor, the distance Dn is applied to the autonomous mobile device. As indicated by an arrow extending in front of 1, a room for generating the next detour point Mn can be found. As a situation in which the distance Dn is applied, for example, when the first distance D cannot be obtained in the most part of the obstacle detection area S of the laser radar 2 (environment information acquisition sensor 11), for example, in an angle range of 90% or more. In this case, the first distance D may be reduced. According to the fourth embodiment, since the distance condition for generating the next detour point Mn is relaxed, the next detour point Mn can be generated and moved even in a narrow passage. In FIG. 20, a square dangerous area B different from the circular dangerous area B described so far is set in front of the wall W which is an obstacle. Such a square dangerous area B can be considered as an area in which the circular dangerous areas B are closely connected.

(Fifth embodiment)
FIGS. 21A to 21E show the fifth embodiment. In the present embodiment, as shown in FIG. 21 (a), an example is shown in which an object is sewed between obstacles and moved to a destination T along a movement path a. The following detour point Mn generation method in the embodiment is appropriately selected and applied. In particular, the first, second, and third distances D, D2, and D3 are effectively applied. In FIG. 21 (a), there is a direction that matches the first distance D, and therefore the movement is made in a direction in which the first distance D can be advanced within the allowable angle 2α. In FIG. 21 (b), there is no direction suitable for the first distance D, so that the direction can travel the second distance D2 within the range of the allowable angle 2α and is the closest to the destination T. Move to.

  In each of FIGS. 21 (c) and 21 (d), there is no direction suitable for the first and second distances D and D2, but there is a direction suitable for the third distance D3. It moves in the maximum advance direction that is larger than the third distance D3 within the range. In FIG. 21 (e), since there is a direction that matches the first distance D, the movement is made in a direction in which the first distance D can be advanced within the allowable angle 2α. Thereby, it can move to the destination T. By using the above method, it is possible to move when there is an obstacle near a wall or the like, or by sewing a narrow space between a plurality of obstacles.

(Sixth embodiment)
22 and 23 show the sixth embodiment. The present embodiment relates to a method for setting the dangerous area B. In FIG. 22, an obstacle fixed in an environment such as a wall W and other obstacles are detected near the wall W, and are blocked by a danger region B set at each obstacle detection point p. A situation in which a route for moving to the destination T cannot be generated is shown. By the way, an obstacle fixed to an environment such as a wall W can move safely even if it is closer than a moving obstacle such as a person or another moving device. Therefore, as shown in FIG. 23, for obstacles whose positions are set in map information and stored in the storage unit 16 such as walls W, a circular danger area B set at the obstacle detection point p is set. To narrow. As a result, the travel route a to the destination T can be set. As another method for enabling such a movement route a to be set, the distance to the obstacle detected by the environment information acquisition sensor 11 may be converted to be farther than the detected distance. In this case, the circular dangerous area B can be set to a common size.

  According to the sixth embodiment, since the area where the next detour point Mn can be generated, that is, the safety area A can be widened, the detour point Mn can be generated and moved even in a narrow passage. In addition, if a safe area is set for an obstacle stored such as a wall W in the same manner as an obstacle such as a moving object, a circumstance may occur where a detour point is generated on the side opposite to the direction of the destination. Such a situation can be avoided by widening the safety area.

(Seventh embodiment)
24 and 25 show the seventh embodiment. In this embodiment, in the first to sixth embodiments described above, when the angle between the direction toward the destination T and the direction K in which the user is currently facing is larger than a predetermined angle, the allowable angle α is increased. As shown in FIGS. 24 (a) and 24 (b), the autonomous mobile device 1 includes an obstacle made of a wall W and a point-like obstacle close to the wall W, and a movable region along the wall W is displayed. Passing through to a destination T behind a pointed obstacle. However, in the state of FIG. 24C, the detour point Mx set within the range of the allowable angle 2α is generated at an angular position farthest from the destination T.

  FIG. 25A shows a time-series state following the state of FIG. 24C, and the autonomous mobile device 1 is closer to the wall W. Further, the detour point Mx is generated at a position farthest from the destination T as described above. When falling into such a situation, as shown in FIG. 25 (b), by changing the allowable angle α to a larger allowable angle β, α <β, it is close to the destination T and the destination T The detour point M can be generated at a position where the movement route to can be generated. The detour point M is generated in the direction and position where it can move the farthest within the allowable angle 2β. For example, from the relationship of the angle at which the direction K intersects the surface of the wall W, it can be seen that the detour point M is located farther than the detour point Mx. In the state shown in FIG. 25B, when viewed from the autonomous mobile device 1, the angle between the direction of the detour point Mx and the direction of the destination T is a large angle close to 180 °. Thus, if the angle between the two directions exceeds the angle threshold value of 170 °, for example, the allowable angle may be changed.

  According to the seventh embodiment, since the angle condition for generating the detour point is relaxed, the detour point can be generated and moved even in a narrow passage. Further, when moving on the wall side while avoiding an obstacle in the vicinity of the wall W, the detour point M is on the side opposite to the direction of the destination T even though it is movable in the direction of the destination T. Although a situation that is generated may occur, such a situation can be avoided by relaxing the angle condition, that is, the allowable angle.

(Eighth embodiment)
26 and 27 show the eighth embodiment. This embodiment changes the 1st distance D according to the moving speed of the autonomous mobile device 1 in the above-mentioned 1st thru | or 7th embodiment. Here, the moving speeds v1 and v2 are defined as v1> v2. As shown in FIG. 26, the first distance Da is used when moving at a fast speed v1, and the first distance Db is used when moving at a slow speed v2 as shown in FIG. Here, Da <Db. That is, the higher the speed, the longer the first distance D is set.

  According to the eighth embodiment, for example, while moving at a high movement speed, the first distance can be lengthened, so that the distance from the obstacle can be taken and the vehicle can travel more safely, and the obstacle can be accelerated. You can move smoothly without losing speed by starting object avoidance. Also, in an environment where there are many obstacles, the moving speed is adjusted according to the distance to the obstacle, and the first distance is changed according to the moving speed. Detailed detour point generation and smooth movement according to the situation can be performed.

(Ninth embodiment)
28A and 28B show the ninth embodiment. In the present embodiment, in the first to eighth embodiments described above, the detour point generation unit 15 has a predetermined distance range (risk area B) from each measurement point on the obstacle detected by the environment information acquisition sensor 11. The area on the near side excluding the area is set as a safe area A that can move without being obstructed by an obstacle, and a detour point is generated in the safe area A. The dangerous area B is set according to the moving speed of the autonomous mobile device 1. Change. In FIGS. 28A and 28B, the moving speeds v1 and v2 are v1> v2, and the radii d1 and d2 of the circular danger region B are d1> d2 corresponding to these speeds. That is, when the autonomous mobile device 1 has a high speed, it is possible to move more safely by increasing the distance from the obstacle, and to realize efficient and smooth movement.

  The present invention is not limited to the above-described configuration, and various modifications can be made. For example, the configurations of the above-described embodiments can be combined with each other.

1 Autonomous mobile device (self)
DESCRIPTION OF SYMBOLS 10 Control part 11 Environmental information acquisition sensor 12 Moving apparatus (moving means)
15 detour point generation unit 16 storage unit 3 obstacle A safety area B, B1 to B5 danger area (predetermined distance range)
D first distance Dn shortened first distance D2 second distance D3 third distance K direction in which M is currently facing M, M2, M3, Mn, Mx detour point T destination W obstacle (wall)
v1, v2 Movement speed α, β Allowable angle ψ Rotation angle

Claims (12)

An environmental information acquisition sensor that acquires information about the position of environmental objects around the device, and a controller that controls the moving means based on the environmental information acquired by the environmental information acquisition sensor to move the position of the environment In an autonomous mobile device that moves autonomously while avoiding collision with environmental objects,
The purpose suited it to the earth via the environment information acquisition sensor path when the obstacle is detected, includes a bypass point generation unit for sequentially generating a bypass point for avoiding the obstacle,
Wherein the control unit is configured in a case when said obstacle by the environmental information acquisition sensor is not detected by controlling said moving means so as to be directed directly to the destination, which the obstacle is detected by the environment information acquisition sensor Controlling the moving means to go to the destination while sequentially going to the detour points generated by the detour point generation unit sequentially ,
The detour point generation unit generates a next detour point in a direction in which an angle from a direction in which the self is currently facing is within a preset allowable angle range ,
The range of the allowable angle is narrower than the angle range of the environment information acquisition sensor and is included in the angle range of the environment information acquisition sensor . Said bypass point generation unit, the direction in which the self can linearly move the first preset distance without being disturbed Oite, the obstacle on the side facing the current as the center in a direction toward the front Symbol destination The autonomous mobile device according to claim 1 , wherein the next detour point is generated. It said bypass point generation unit, a direction toward the destination with itself is the case where the direction facing currently in the range of the acceptance angle, the direction and self toward the destination is currently facing If the next detour point cannot be generated during this period, the next detour point is generated on the side opposite to the side where the destination is located , centered on the direction in which the user is currently facing. The autonomous mobile device according to claim 2. When the detour point generation unit cannot generate the next detour point on the side where the self is currently facing with the direction toward the destination as the center , the detour point generation unit is on the side opposite to the side where the self is currently facing. The autonomous mobile device according to claim 3, wherein a next detour point is generated. It said bypass point generation unit, when said first distance can not be generated by Ri following bypass point can not be moved, the second distance or more is set shorter than the previously said first distance distance in a direction close to the move may direction toward the destination in a direction, the autonomous mobile apparatus according to any one of claims 2 to 4, characterized in that generating the next detour point . It said bypass point generation unit, when said first distance can not be generated by Ri following bypass point can not be moved, the third distance or more is set shorter than the previously said first distance distance in a direction which can move the direction can be moved the longest distance without being obstructed by the obstacle, any one of claims 2 to 4, characterized in that generating the next detour point The autonomous mobile device described in 1. Wherein, when said bypass point generating unit can not generate the I Ri following bypass point can not be moved the third distance, the rotational angle by itself are preset from the direction facing the current The autonomous movement according to claim 6, wherein the self-rotation is rotated by the rotation angle in a direction in which the distance to the obstacle detected by the environment information acquisition sensor is longer in any of the rotated left and right directions. apparatus. Said bypass point generating unit, when it is not possible to generate by Ri following bypass point can not be moved the first distance, to shorten the first distance according to the method previously set The autonomous mobile device according to any one of claims 2 to 4, wherein the autonomous mobile device is characterized. The position of obstacles further comprising a storage unit for storing set as the map information,
Wherein said control unit is configured for the obstacle has been set as the map information, a distance to the obstacle detected by the environmental information acquisition sensor, than the detected distance, characterized in that in terms of the distance The autonomous mobile device according to any one of claims 1 to 8. The range of the allowable angle is increased when the angle between the direction toward the destination and the direction in which the vehicle is currently facing is larger than a predetermined angle. The autonomous mobile device according to any one of the above. The autonomous mobile device according to any one of claims 1 to 10, wherein the first distance is changed according to a movement speed of the self . The detour point generation unit sets an area on the near side excluding a predetermined distance range from each measurement point in the obstacle detected by the environment information acquisition sensor as a safe area that can move without being obstructed by the obstacle. the and generates periphrastic times points to the safe area, the autonomous mobile according to any one of claims 1 to 11, characterized in that make changes according to the predetermined distance range to its own moving speed Te apparatus.

Images