CIRCUMFERENTIAL ENVIRONMENT RECOGNITION DEVICE, AUTONOMOUS MOBILE SYSTEM USING THE SAME, AND CIRCUMFERENTIAL ENVIRONMENT RECOGNITION METHOD

摘要

PROBLEM TO BE SOLVED: To solve the problem in which when an autonomous mobile system of a robot, an unmanned carrier machine, etc., detects a step lower than a floor surface F ahead by using a distance image sensor, the position of an edge of the step cannot be correctly detected because of a dead angle and there is a risk of falling.SOLUTION: A cleaning robot (1) as an autonomous mobile system generates floor surface-based three-reference coordinate data through coordinate conversion of three-dimensional coordinate data obtained by taking measurements by a distance image sensor (20) arranged to face forward and obliquely downward. The data is labeled by discriminating a step, an obstacle, etc., based upon the height from a floor surface (F) so as to generate bird's-eye view image data on view from right above a cleaning robot body. The bird's-eye view image data is scanned and only when labels are arranged in a specific order, an undetermined area is replaced with a step. Consequently, a position shift of an edge of the step caused by a dead angle is corrected and the step position can be accurately grasped.