Self position estimation method of autonomous mobile robot, autonomous mobile robot, and self-position estimation landmark

摘要

PROBLEM TO BE SOLVED: To estimate a self-position of an autonomous mobile robot inexpensively and precisely.SOLUTION: A self-position estimation method for an autonomous mobile robot in accordance with one embodiment of the present invention includes: a detection step to detect T-shaped landmarks 30 arranged in a right and left zigzag pattern on safety fences 102 provided on both sides of a safety passage 101 through which the autonomous mobile robot 1 travels by use of a range sensor; and an estimation step to estimate a self-position of the autonomous mobile robot 1 based on a probability statistical algorithm technique using positions and directions of the T-shaped landmarks 30 detected in the detection step. Each T-shaped landmark 30 includes: a plate 30a forming a normal direction perpendicular to a vertical direction, and extending in the advancing direction of the safety passage 101, and a plate 30b forming a normal direction perpendicular to a vertical direction, and extending in a direction orthogonal to the advancing direction of the safety passage 101 on a horizontal plane.SELECTED DRAWING: Figure 3