Autonomous mobile robot, obstacle detection method using the obstacle detection device and the same equipment, and obstacle detection program

摘要

PROBLEM TO BE SOLVED: To provide an obstacle detecting device, an autonomous mobile robot using its device and an obstacle detecting method and an obstacle detecting program for identifying such obstacle as a person or wall.;SOLUTION: An object to be identified is simplified by removing any environmental fixed obstacle recognized by associating a face continued in a predetermined scale or more in a vertical direction with the face of the environmental fixed obstacle by an environmental fixed obstacle identifying means 18 from the three-dimensional coordinates of an obstacle object surface measured by a three-dimensional coordinate measuring means 3. Afterwards, an individual obstacle candidate is extracted by an obstacle candidate extracting means 12. The three-dimensional coordinate data of the obstacle candidate are stratified in a vertical height direction so that featured value combined data can be formed by an obstacle identifying means 14, and the data are compared with the combined reference data of an obstacle model stored in a reference data storing part 16 so that the identification of the obstacle can be executed. The obstacle recognition processing can be separately and gradually executed to the environmental fixed object and the other objects while the objective data are simplified. Thus, it is possible to efficiently and accurately identify the obstacle.;COPYRIGHT: (C)2005,JPO&NCIPI