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1. 发明申请

US20120035797A1 AUTONOMOUS MOVING BODY AND CONTROL METHOD THEREOF 有权
标题翻译：自动移动体及其控制方法
公开(公告)号：US20120035797A1
公开(公告)日：2012-02-09
申请号：US13126860
申请日：2009-11-27
申请人： Souichi Oobayashi , Hidenori Yabushita , Takashi Ogura
发明人： Souichi Oobayashi , Hidenori Yabushita , Takashi Ogura
IPC分类号： G05D1/02 , G08G1/16
CPC分类号： G05D1/0274 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D1/0272
摘要： To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur. An autonomous moving body according to the present invention includes: a distance measuring sensor that measures a distance to an object existing in an environment; a distance information acquisition unit that acquires a distance measurement value of the distance measuring sensor as distance information on a measurement point; and a dangerous area extraction unit that categorizes adjacent measurement points as an identical object according to a distance difference between the measurement points, and extracts an endpoint of the object as a dangerous area when the categorized object itself has a size equal to or larger than a predetermined threshold and when an opening formed between endpoints of the objects has a width equal to or larger than a predetermined threshold, in which the autonomous moving body travels so as to avoid a collision in the extracted dangerous area.
摘要翻译：即使在可能发生耗尽的危险区域中也能够进行稳定的避免碰撞操作，而无需安装基础设施等。根据本发明的自主移动体包括：距离测量传感器，其测量与存在于环境中的物体的距离; 距离信息获取单元，其将距离测量传感器的距离测量值作为测量点上的距离信息; 以及危险区域提取单元，其根据所述测量点之间的距离差将相邻测量点分类为相同对象，并且当所述分类对象本身具有等于或大于所述尺寸的尺寸时，将所述对象的端点提取为危险区域并且当在物体的端点之间形成的开口具有等于或大于预定阈值的宽度时，自动移动体行进，以避免在提取的危险区域中发生碰撞。

2. 发明授权

US09164512B2 Autonomous moving body and control method thereof 有权
标题翻译：自动移动体及其控制方法
公开(公告)号：US09164512B2
公开(公告)日：2015-10-20
申请号：US13126860
申请日：2009-11-27
申请人： Souichi Oobayashi , Hidenori Yabushita , Takashi Ogura
发明人： Souichi Oobayashi , Hidenori Yabushita , Takashi Ogura
IPC分类号： G08G1/16 , G05D1/02
CPC分类号： G05D1/0274 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D1/0272
摘要： To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur. An autonomous moving body according to the present invention includes: a distance measuring sensor that measures a distance to an object existing in an environment; a distance information acquisition unit that acquires a distance measurement value of the distance measuring sensor as distance information on a measurement point; and a dangerous area extraction unit that categorizes adjacent measurement points as an identical object according to a distance difference between the measurement points, and extracts an endpoint of the object as a dangerous area when the categorized object itself has a size equal to or larger than a predetermined threshold and when an opening formed between endpoints of the objects has a width equal to or larger than a predetermined threshold, in which the autonomous moving body travels so as to avoid a collision in the extracted dangerous area.
摘要翻译：即使在可能发生耗尽的危险区域中也能够进行稳定的避免碰撞操作，而无需安装基础设施等。根据本发明的自主移动体包括：距离测量传感器，其测量与存在于环境中的物体的距离; 距离信息获取单元，其将距离测量传感器的距离测量值作为测量点上的距离信息; 以及危险区域提取单元，其根据所述测量点之间的距离差将相邻测量点分类为相同对象，并且当所述分类对象本身具有等于或大于所述尺寸的尺寸时，将所述对象的端点提取为危险区域并且当在物体的端点之间形成的开口具有等于或大于预定阈值的宽度时，自动移动体行进，以避免在提取的危险区域中发生碰撞。

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