METHOD OF DETECTING ABNORMALITY OF POSITION MEASURING MEANS AND DIRECTION MEASURING MEANS OF AUTONOMOUS MOVING ROBOT, AND AUTONOMOUS MOVING ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a technology for detecting abnormality of a position measuring means and a direction measuring means in an autonomous moving robot.;SOLUTION: This method of detecting abnormality of the position measuring means and the direction measuring means mounted on the autonomous moving robot includes: a process of obtaining a position measured value; a process of obtaining a direction measured value; a process of diagnosing presence/absence of abnormality of the position measured value; a process of diagnosing presence/absence of abnormality of the direction measured value; a process of storing the position measured value diagnosed to be no abnormality in association with the measured time; and a process of storing the direction measured value diagnosed to be no abnormality in association with the measured time, wherein in the process of diagnosing presence/absence of abnormality of the position measured value, the presence/absence of abnormality of the obtained position measured value is diagnosed based upon the position measured value and the direction measured value measured at the past same time, and in the process of diagnosing presence/absence of abnormality of the direction measured value, the presence/absence of abnormality of the obtained direction measured value is diagnosed based upon the aged change of the position measured value measured and stored in the past.;COPYRIGHT: (C)2007,JPO&INPIT