JP5448429B2 - Moving body detection device and moving body detection method - Google Patents

Description

  The present invention relates to a moving body detection apparatus and a moving body detection method for detecting an obstacle and determining whether or not the detected obstacle is a moving body.

  Conventionally, the following techniques are known as a mobile body detection apparatus that detects an obstacle in a mobile robot or the like and determines whether or not the detected obstacle is a mobile body. For example, an obstacle is detected at regular intervals with a laser range sensor (hereinafter referred to as “LRS”), and the position obtained by subtracting the moving amount of the mobile robot from the position data of the obstacle detected by the LRS one time before and the current position A technique is known in which an obstacle detected by LRS is compared to determine whether or not the position of the obstacle has changed, and when the obstacle has changed, the obstacle is determined to be moving ( (See Patent Document 1).

JP 2006-158690 A

  However, in such a conventional technique, since the mobile robot on the detection side is also moving, the area that cannot be detected by the LRS, that is, the blind spot area, also changes depending on the moved position. For this reason, an obstacle that is a stationary object may be erroneously determined as a moving object due to such a change in the blind spot area.

  The present invention has been made in view of the above, and it is a main object of the present invention to provide a moving body detection apparatus and a moving body detection method capable of more accurately determining a moving body.

In order to solve the above-described problems and achieve the object, a mobile body detection device according to the present invention is a mobile body detection device capable of moving in a predetermined movement area, and the first position of the mobile body detection device. And detecting means for detecting the position of an obstacle at each of the second positions after the moving body detecting device has moved from the first position, and at each of the first position and the second position. a current position obtaining means for obtaining a current position of the moving body detecting device, wherein the first position and for each of said second position, in the moving area, a plurality of failures the sensed current position From the position of the obstacle detected at the first position, blind spot area recognition means for recognizing a blind spot area that is an area other than the sky area that is an area drawn by the straight line, connecting each position of the object with a straight line Said First select the measurement location by excluding locations that are included in recognized the blind area was in position, recognized in the first position from the position of the detected the obstacle in the second position A measurement position selecting means for selecting a second measurement position by excluding a position included in the blind spot area, and determining whether or not there is a difference between the first measurement position and the second measurement position; It characterized in that the obstacle position of the difference is and a moving object determination unit to determine the constant to be mobile when there is.

The mobile body detection method according to the present invention is a mobile body detection method executed by a mobile body detection device capable of moving in a predetermined movement area, wherein the detection means is at a first position of the mobile body detection device. A first detection step for detecting the position of the obstacle; a current position acquisition unit for acquiring a current position of the moving object detection device at the first position; and a blind spot area recognition unit. but for the first position, in the moving area, the respective position of the current plurality of obstacle detected with the position connected by a straight line, is the area other than the empty area which is an area drawn by the straight line A first blind spot area recognizing step for recognizing a blind spot area; and a second detection in which the detection means detects the position of the obstacle at the second position after movement of the mobile body detection device from the first position. Step and before Current position obtaining unit, in the second position, and a second current position acquisition step of acquiring a current position of the moving body detecting apparatus, the blind area recognition means, for the second position, the movement area A second blind spot area recognition step for recognizing a blind spot area that is an area other than an empty area that is an area drawn by the straight line by connecting each position of the detected obstacles with the current position in a straight line. position selection means selects the first measurement position by the position of the detected the obstacle to exclude position included in recognized the blind regions in the second position in the first position, the second sensed measurement position selection for selecting the second measurement position by excluding position included in recognized the blind regions in the first position from the position of the obstacle at the location And the step, the moving object determination unit, wherein it is determined whether there is a difference between the first measurement position and the second measurement position, the obstacle position of the difference is a moving body when there is the difference characterized in that it comprises a, a moving object determination step of determine a constant and.

  According to the present invention, when the moving body detection device moves from the first position to the second position, the obstacle detected at the first position based on the blind spot area recognized at the second position. The first measurement position is selected from the positions, the second measurement position is selected from the positions of the obstacles detected at the second position based on the blind spot area recognized at the first position, and the first measurement position is selected. And determining whether the obstacle is a moving object based on the second measurement position and taking into account the change of the blind spot area at the first position and the blind spot area at the second position, more accurate There exists an effect that determination of a moving body can be performed.

  Exemplary embodiments of a mobile object detection device and a mobile object detection method according to the present invention will be explained below in detail with reference to the accompanying drawings.

  In the following embodiment, an example in which the mobile body detection device according to the present invention is applied to a mobile robot capable of autonomous movement will be described. However, the present invention is not limited to this. The present invention can be applied as long as it is not autonomously movable and can be moved by an external operation or the like. Further, the present invention can be applied to any apparatus that is movable even if it is not a mobile robot.

  FIG. 1 is a block diagram showing a functional configuration of the mobile robot according to the present embodiment. FIG. 2 is a schematic diagram showing an example of the appearance of the mobile robot according to the present embodiment. As shown in FIG. 1, a mobile robot 100 according to the present embodiment includes a laser range sensor (LRS) 101, a detection information receiving unit 102, a monitoring camera 103, an image information receiving unit 104, and an operation panel unit 105. An operation panel control unit 106, a speaker 107, an audio output control unit 108, a current position acquisition unit 109, a blind spot area recognition unit 110, a measurement point selection unit 111, a moving body determination unit 115, and a travel control. It mainly includes a unit 112, a drive unit 114, and a communication unit 113.

  The LRS 101 is a distance sensor that detects an obstacle in the detection region and measures a distance from the obstacle. The LRS 101 performs a detection operation at regular intervals while the mobile robot 100 is traveling, and sequentially detects measurement points that are positions of obstacles. Here, in the present embodiment, the first position (position a) and the second position (position b) are considered in order to determine the moving body, and the mobile robot 100 moves from the first position to the second position while moving. It is assumed that the LRS 101 detects the position of the obstacle at each of the first position and the second position. The LRS 101 is installed at the foot of the mobile robot 100 as shown in FIG.

  The detection information receiving unit 102 receives detection information when the LRS 101 detects an obstacle.

  The monitoring camera 103 images the monitoring area. The monitoring camera 103 is installed on the head of the mobile robot 100 as shown in FIG. The image information receiving unit 104 receives image information captured by the monitoring camera 103. The operation panel unit 105 displays an operation menu for the mobile robot 100 and various information, and receives instructions from the menu. The operation panel control unit 106 performs input / output control for the operation panel 105.

  The current position acquisition unit 109 acquires the current position of the mobile robot 100. Any technique can be used for obtaining the current position. For example, a known technique may be used such as using the position information from the GPS or acquiring the current position by using the travel distance from the departure point. In the present embodiment, it is assumed that the current position acquisition unit 109 acquires the current position of the mobile robot 100 at each of the first position and the second position where the mobile robot 100 moves.

  The blind spot area recognition unit 110 recognizes the blind spot area based on the position of the obstacle and the current position of the moving body at each of the first position and the second position. Specifically, the blind spot area recognizing unit 110 generates, in a storage unit (not shown), a monitoring area map to be monitored while the mobile robot is traveling for each of the first position and the second position. The map at the first position is called the first map, and the map at the second position is called the second map. Then, the blind spot area recognition unit 110 obtains the position coordinates of the obstacle detected at each of the first position and the second position, and uses the position coordinates as a measurement point to measure the first map and the second map at the first position. Each is registered on the second map at the position. In addition, the blind spot area recognition unit 110 registers the current position of the mobile robot 100 at the first position and the second position (that is, the current position of the LRS 101) on the first map and the second map, respectively. The blind spot area recognition unit 110 connects the current position of the mobile robot 100 and each measurement point of the obstacle on each of the first map and the second map, obtains an area drawn by this straight line as an empty area, The areas other than the empty area in the areas of the first map and the second map are recognized as blind spot areas. The above processing is performed separately at the first position and the second position.

  The measurement point selection unit 111 excludes the measurement point at the position included in the blind spot area recognized at the second position from the measurement point of the position of the obstacle detected at the first position on the first map. Thus, the measurement point remaining on the first map is selected as the first measurement point. Here, a 1st measurement point is a measurement point which is not contained in the blind spot area | region of a 2nd map among the measurement points on a 1st map.

  In addition, the measurement point selection unit 111 excludes the measurement points at the positions included in the blind spot area recognized at the first position from the measurement points at the position of the obstacle detected at the second position on the second map. Thus, the measurement points remaining on the second map are selected as the second measurement points. Here, the second measurement point is a measurement point that is not included in the blind spot area of the first map among the measurement points on the second map.

  The moving body determination unit 115 compares the first measurement point on the first map with the second measurement point on the second map, and determines whether there is a difference. Then, when there is a difference between the two, the moving body determination unit 115 determines that the obstacle indicating the difference measurement point is a moving body, and when there is no difference, determines that there is no moving body. .

  The drive unit 114 is a wheel motor that drives wheels (not shown) of the mobile robot 100. The travel control unit 112 controls the travel (movement and rotation) of the mobile robot 100 according to the patrol route stored in the storage unit (not shown). Specifically, the driving unit 114 (wheel motor) of the mobile robot 100 is driven, and examples thereof include a motor driver and a control module.

  The communication unit 113 transmits and receives various types of information to and from a monitoring device (not shown) connected via a network. Specifically, an instruction for starting and stopping the patrol route is received from the monitoring device. Further, image information captured by the monitoring camera 103 and detection information detected by the LRS 101 may be transmitted to the monitoring device.

  The speaker 107 outputs a voice message. The speaker 107 is disposed in front of the mobile robot 100 as shown in FIG. The voice output control unit 108 controls the output of the voice message by the speaker 107.

  Next, the moving body detection process by the mobile robot 100 of the present embodiment configured as described above will be described. FIG. 3 is a flowchart showing the procedure of the moving object detection process.

  First, the current position acquisition unit 109 acquires the current position of the mobile robot 100 (step S11). The LRS 101 detects an obstacle at regular intervals, but when the mobile robot is at the first position (position a), the LRS 101 detects the obstacle (step S12). Next, the blind spot area recognition unit 110 performs a blind spot area recognition process at the first position (position a) (step S13).

  FIG. 4 is a flowchart showing the procedure of blind spot area recognition processing. The blind spot area recognition unit 110 first generates the first map described above. FIG. 5 is an explanatory diagram showing the state of the first map. In the example of FIG. 5, the first map is provided with a grid. The size of the grid can be determined arbitrarily. For example, the grid size is determined to be 5 cm per side. The same applies to the second map. As shown in FIG. 5, since the detection by the LRS 101 has not yet been performed in the initial state of the first map, all areas are blind spot areas.

  The blind spot area recognition unit 110 records the current position of the mobile robot (the current position of the LRS 101) acquired in step S11 on the first map, and obtains the position coordinates of the obstacle detected by the LRS 101 in step S12. The relative coordinates from the current position of the mobile robot are recorded in the first map as measurement points (step S31).

  FIG. 6 is an explanatory diagram showing the state of the first map in which the measurement points and the current position are recorded. As shown in FIG. 6, the measurement point and the current position are recorded on the grid of the first map. Here, the position of the measurement point on the first map is recorded as a current position of the mobile robot 100, that is, a relative position from the position of the LRS 101. The same applies to recording on the second map.

  Next, on the first map, the blind spot area recognition unit 110 connects the current position of the mobile robot 100 and each measurement point with a straight line, and obtains an area formed by the straight line as an empty area (step S32). Then, the blind spot area recognition unit 110 recognizes an area other than the empty area in the area on the first map as a blind spot area (step S33).

  That is, between the position of the LRS 101 (the current position of the mobile robot 100) and the position of each obstacle, the laser light emitted from the LRS 101 can pass through without being blocked, so that there is no other obstacle in the space. is there. Therefore, the blind spot area recognition unit 110 connects the current position of the mobile robot 100 (position of the LRS 101) and each measurement point on the map with straight lines, and sets the area formed by the straight lines as an empty area where no obstacle exists. Yes.

  FIG. 7 is an explanatory diagram of the first map in a state where the sky area and the blind spot area are recognized. As shown in FIG. 7, an area surrounded by the measurement point and the current position is obtained as an empty area 701, and an area other than the empty area 701 is recognized as a blind spot area 702.

  Note that if the map grid is fine, the linear grid between the current position and each measurement point will hardly be an empty area. You may comprise so that the triangle-shaped area | region formed may be calculated | required as an empty area | region.

  Further, in consideration of the spread of the laser light emitted from the LRS 101, the range of the sky region may be increased as the measurement point is farther from the current position.

  Further, in the present embodiment, grids are provided on the first map and the second map, and the blind spot area is recognized as an area on the grid. However, the present invention is not limited to this. You may comprise so that an area | region may be represented.

  Returning to FIG. 3, it is assumed that the mobile robot 100 moves to the second position after the blind spot area on the first map is recognized in this way. At this time, when the mobile robot 100 is at the second position (position b), the current position of the mobile robot 100 is acquired by the current position acquisition unit 109 (step S14). When the mobile robot 100 is at the second position (position b), an obstacle is detected by the LRS 101 (step S15). Then, the blind spot area recognition unit 110 performs a blind spot area recognition process at the second position (position b) (step S16). The blind spot area recognition process at the second position is performed in the same manner as the process described above with reference to FIG. 4 except that the second map is used. Here, the registration of the measurement point and the current position and the recognition of the blind spot area use the same coordinate system as the coordinate system in the registration of the measurement point and the current position at the first position and the recognition of the blind spot area.

  Next, the measurement point selection unit 111 performs a first measurement point selection process from the measurement points on the first map of the position of the obstacle detected at the first time (step S12) (step S17).

  The selection process of the first measurement point on the first map is performed as follows. FIG. 8 is a schematic diagram showing a part of the travel route of the mobile robot 100. Here, as shown in FIG. 8, an L-shaped wall exists as an obstacle, and the mobile robot 100 has moved from position a (first position) to position b (second position) in the travel route. Think about the case.

  FIG. 9 shows a state where, in the blind spot area recognition processing in step S13, the measurement point and the current position at the position a (first position) are registered on the first map, and the blind spot area is recognized on the first map. It is a schematic diagram.

  FIG. 10 shows a state where, in the blind spot area recognition process in step S16, the measurement point and the current position at the position b (second position) are registered on the second map, and the blind spot area is recognized on the second map. It is a schematic diagram.

  First, the measurement point selection unit 111 superimposes the measurement point at the first position (position a) on the first map shown in FIG. 9 on the blind spot area on the second map shown in FIG. FIG. 11A is a schematic diagram illustrating a state in which the measurement point at the first position (position a) on the first map is superimposed on the blind spot area on the second map. The measurement point selection unit 111 removes the measurement points included in the blind spot area on the second map from the measurement points on the first map, and selects the remaining measurement points as the first measurement points.

  In FIG. 11A, since the measurement points on the first map surrounded by the ellipse portion are included in the blind spot area on the second map, these are removed. FIG. 11B is a schematic diagram illustrating measurement points (first measurement points) selected on the first map. As shown in FIG. 11B, the measurement points surrounded by the ellipse in FIG. 11A are removed.

  As described above, out of the measurement points on the first map, the measurement points included in the blind spot area on the second map are excluded from the blind spot area of the second map in a state of moving to the second position. Since the measurement point could not be detected at the second position and there is a possibility that there is an obstacle at this point, the mobile object cannot be determined unless this is excluded. It is.

  When the selection process of the first measurement point is completed, the measurement point selection unit 111 continues the selection process of the second measurement point from the measurement point on the second map of the position of the obstacle detected at the second time (step S15). Is performed (step S18).

  The selection process of the second measurement point on the second map is performed as follows. The measurement point selection unit 111 superimposes the measurement point at the second position (position b) on the second map shown in FIG. 10 on the blind spot area on the first map shown in FIG. FIG. 12A is a schematic diagram illustrating a state in which the measurement point at the second position (position b) on the second map is superimposed on the blind spot area on the first map. The measurement point selection unit 111 removes the measurement points included in the blind spot area on the first map from the measurement points on the second map, and selects the remaining measurement points as the second measurement points. In FIG. 12A, since the measurement points on the second map surrounded by the ellipse are included in the blind spot area on the first map, these are removed. FIG. 12B is a schematic diagram illustrating the measurement points (second measurement points) selected on the second map. As shown in FIG. 12-2, the measurement points surrounded by the ellipse in FIG. 12-1 are removed.

  When the selection process of the second measurement point is completed, the moving body determination unit 115 acquires the difference between the first measurement point and the second measurement point (step S19) and determines whether there is a difference (step S20). And when there is no difference (step S20: No), the mobile body determination part 115 judges that there is no mobile body in the detected obstruction (step S22).

  On the other hand, when there is a difference between the first measurement point and the second measurement point (step S20: Yes), the moving body determination unit 115 determines that the obstacle corresponding to the difference measurement point is a moving body ( Step S21). Thereby, the mobile body determination process is completed.

  For example, when the first measurement point is the example shown in FIG. 11-2 and the second measurement point is the example shown in FIG. 12-2, the difference between the two measurement points is shown in FIG. become. That is, in FIG. 13, there is no difference measurement point. In such a case, the moving object determination unit 115 determines that all detected obstacles are stationary objects and that there is no moving object. In this example, when the mobile robot 100 moves from the first position (position a) to the second position (position b) in the travel route shown in FIG. 8, the tip of the corner can be detected by the LRS 101. On the other hand, it can be seen that there is no moving body because the front side only becomes impossible to detect by the LRS 101 due to the progress of the mobile robot 100. In the conventional technique, even in such a case, it may be determined that the object is a moving object, but in the present embodiment, the presence / absence of a moving object can be accurately determined.

  In this example, the travel route shown in FIG. 8 has been described as an example. However, in the example of the travel route shown in FIG. 14 and FIG.

  On the other hand, as shown in FIG. 16, a case where there is an obstacle (for example, a human) as a moving body in the travel route and the robot is moving toward the mobile robot 100 will be described as an example. In the example of FIG. 16, consider a case where the mobile robot moves from a position a (first position) to a position b (second position). Further, as shown in FIG. 16, when the mobile robot 100 is at the position a, the mobile body exists at the position a ′, and when the mobile robot 100 moves to the position b, the mobile body moves to the position b ′. And

  FIG. 17 shows a state in which the measurement point and the current position at the position a (first position) are registered on the first map and the blind spot area is recognized on the first map in the blind spot area recognition processing in step S13. It is a schematic diagram.

  FIG. 18 shows a state in which the measurement point and the current position at position b (second position) are registered on the second map and the blind spot area is recognized on the second map in the blind spot area recognition processing in step S16. It is a schematic diagram.

  The measurement point selection unit 111 superimposes the measurement point at the first position (position a) on the first map shown in FIG. 17 on the blind spot area on the second map shown in FIG. FIG. 19A is a schematic diagram illustrating a state in which the measurement point at the first position (position a) on the first map is superimposed on the blind spot area on the second map. The measurement point selection unit 111 removes the measurement points included in the blind spot area on the second map from the measurement points on the first map, and selects the remaining measurement points as the first measurement points. In FIG. 19A, since the measurement points on the first map surrounded by the ellipse are included in the blind spot area on the second map, these are removed. FIG. 19-2 is a schematic diagram illustrating measurement points (first measurement points) selected on the first map. As shown in FIG. 19-2, the measurement points surrounded by the ellipse in FIG. 19-1 are removed.

  After the first measurement point selection process, in the measurement point selection process (step S18) on the second map, the measurement point selection unit 111 selects the second position on the second map shown in FIG. The measurement point at (position b) is superimposed on the blind spot area on the first map shown in FIG. FIG. 20A is a schematic diagram illustrating a state in which the measurement point at the second position (position b) on the second map is superimposed on the blind spot area on the first map. The measurement point selection unit 111 removes the measurement points included in the blind spot area on the first map from the measurement points on the second map, and selects the remaining measurement points as the second measurement points. In FIG. 20-1, since the measurement points on the second map surrounded by the ellipse are included in the blind spot area on the first map, these are removed. FIG. 20B is a schematic diagram illustrating the measurement points (second measurement points) selected on the second map. As shown in FIG. 20-2, the measurement points surrounded by the ellipse in FIG. 20-1 are removed.

  Then, in the process of step S19, when the moving body determination unit 115 takes the difference between the first measurement point shown in FIG. 19-2 and the second measurement point shown in FIG. 20-2, the result is as shown in FIG. That is, in FIG. 21, there are two measurement points that are differences. In such a case, the moving body determination unit 115 determines that the obstacle corresponding to the two measurement points shown in FIG. 21 among the detected obstacles is a moving body by the process of step S20. .

  As described above, in the present embodiment, the measurement points are removed in consideration of the change in the blind spot region accompanying the movement of the mobile robot 100, and the moving body is determined based on the measurement points remaining after the removal. For this reason, according to this embodiment, even when a change occurs in the blind spot area due to the movement of the mobile robot 100, the mobile object can be more accurately determined.

  It should be noted that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

It is a block diagram which shows the functional structure of the mobile robot concerning this Embodiment. It is a schematic diagram which shows an example of the external appearance of the mobile robot concerning this Embodiment. It is a flowchart which shows the procedure of a mobile body detection process. It is a flowchart which shows the procedure of a blind spot area | region recognition process. It is explanatory drawing which shows the state of a 1st map. It is explanatory drawing of the 1st map of the state in which the measurement point and the present position were recorded. It is explanatory drawing of the 1st map of the state which recognized the sky area | region and the blind spot area | region. 4 is a schematic diagram showing a part of a travel route of the mobile robot 100. FIG. It is a schematic diagram showing a state where a measurement point and a current position at a position a (first position) are registered on a first map and a blind spot area is recognized on the first map. It is a schematic diagram which shows the state by which the measurement point in the position b (2nd position) and the present position were registered on the 2nd map, and the blind spot area | region was recognized on the 2nd map. It is a schematic diagram which shows the state which superimposed the measurement point in the 1st position (position a) on a 1st map on the blind spot area | region on a 2nd map. It is a schematic diagram which shows the measurement point (1st measurement point) selected on the 1st map. It is a schematic diagram which shows the state which superimposed the measurement point in the 2nd position (position b) on a 2nd map on the blind spot area | region on a 1st map. It is a schematic diagram which shows the measurement point (2nd measurement point) selected on the 2nd map. It is explanatory drawing which shows the difference of a 1st measurement point and a 2nd measurement point. It is a schematic diagram which shows the other example of a driving | running route. It is a schematic diagram which shows the other example of a driving | running route. It is a schematic diagram which shows the example of a travel route when there exists an obstruction which is a moving body in a travel route. FIG. 17 is a schematic diagram showing a state where a measurement point and a current position at a position a (first position) are registered on the first map and a blind spot area is recognized on the first map in the case of the travel route of FIG. 16. . FIG. 17 is a schematic diagram showing a state where a measurement point and a current position at a position b (second position) are registered on the second map and a blind spot area is recognized on the second map in the case of the travel route of FIG. 16. . FIG. 17 is a schematic diagram illustrating a state in which the measurement point at the first position (position a) on the first map is superimposed on the blind spot area on the second map in the case of the travel route of FIG. 16. It is a schematic diagram which shows the measurement point (1st measurement point) selected on the 1st map in the case of the driving | running route of FIG. FIG. 17 is a schematic diagram showing a state where measurement points at a second position (position b) on the second map are superimposed on a blind spot area on the first map in the case of the travel route of FIG. 16. It is a schematic diagram which shows the measurement point (2nd measurement point) selected on the 2nd map in the case of the driving | running route of FIG. It is a schematic diagram which shows the difference of the 1st measurement point and the 2nd measurement point in the case of the driving | running route of FIG.

Explanation of symbols

100 Mobile robot 101 Laser range sensor (LRS)
102 Detection information receiving unit 103 Monitoring camera 104 Image information receiving unit 105 Operation panel 106 Operation panel control unit 107 Speaker 108 Audio output control unit 109 Current position acquisition unit 110 Blind spot area recognition unit 111 Measurement point selection unit 112 Travel control unit 113 Communication unit 114 Drive unit 115 Moving object determination unit 701 Empty area 702 Blind spot area

Claims (2)

A moving body detection apparatus capable of moving in a predetermined movement area,
Detection means for detecting the position of an obstacle at each of the first position of the mobile body detection device and the second position after the movement of the mobile body detection device from the first position;
Current position acquisition means for acquiring a current position of the mobile body detection device at each of the first position and the second position;
For each of said first position and said second position, in the moving area, the knot of each position of the current plurality of obstacle detected with the position in a straight line, an area drawn by the straight line empty A blind spot area recognition means for recognizing a blind spot area that is an area other than the area ;
The first measurement position is selected by excluding the position included in the blind spot area recognized at the second position from the position of the obstacle detected at the first position, and at the second position Measurement position selection means for selecting a second measurement position by excluding a position included in the blind spot area recognized at the first position from the detected position of the obstacle ;
Wherein it is determined whether there is a difference between the first measurement position and the second measurement position, a moving object determination means obstacle position of the difference is determine the constant to be mobile when there is the difference ,
A moving body detection apparatus comprising: There is a moving body detection method executed by a moving body detection device capable of moving in a predetermined movement area,
A first detecting step for detecting a position of an obstacle at a first position of the moving body detecting device;
A first current position acquisition step in which a current position acquisition unit acquires a current position of the mobile body detection device at the first position;
Blind spot region recognizing means, for the first position, in the moving area, the knot of each position of the current plurality of obstacle detected with the position in a straight line, non-empty region is a region drawn by the straight line A first blind spot area recognition step for recognizing a blind spot area that is an area of
A second detection step in which the detection means detects the position of the obstacle at a second position after the moving body detection device has moved from the first position;
A second current position acquisition step in which the current position acquisition means acquires the current position of the moving object detection device at the second position;
Blind spot region recognizing means, for the second position, in the moving area, the knot of each position of the current plurality of obstacle detected with the position in a straight line, non-empty region is a region drawn by the straight line A second blind spot area recognition step for recognizing a blind spot area that is an area of
The measurement position selection means selects the first measurement position by excluding the position included in the blind spot area recognized at the second position from the position of the obstacle detected at the first position, A measurement position selection step of selecting a second measurement position by excluding a position included in the blind spot area recognized at the first position from the position of the obstacle detected at the second position;
Moving object determination means, the first measurement position and determines whether there is a difference and the second measurement position, determine the constant obstacle position of the difference is a mobile when there is the difference A moving object determination step,
A moving body detection method comprising:

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