Routing apparatus for autonomous mobile unit
A routing apparatus includes a sensor unit which has capabilities to detect an object in a target field of view and measure position of the object, and an electronic control unit which controls movements of the autonomous mobile unit. An electronic control unit determines velocity and a travel direction of the object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles, determines a path of the autonomous mobile unit so as to avoid collision with the object based on the position, the velocity, and the travel direction of the object, and determines the path of the autonomous mobile unit by setting the velocity of the object to a value equal to or lower than a predetermined value if the object recognized in the previous measurement cycle is not recognized in the current measurement cycle.
1. A routing apparatus installed on an autonomous mobile unit, comprising a sensor unit for detecting an object in a field of view and for measuring a position of the object, and an electronic control unit for controlling movement of the autonomous mobile unit, wherein the electronic control unit is programmed to perform the functions of:
determining velocity and a travel direction of an object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles;
determining a path of the autonomous mobile unit to avoid collision with the object based on the position, the velocity, and the travel direction of the object;
setting the velocity of the object to a value equal to or lower than a predetermined value and storing the set value of the velocity in a memory if an object recognized in the previous measurement cycle is not recognized in the current measurement cycle; and
determining the path of the autonomous mobile unit by taking into consideration of the object stored in the memory.
2. The routing apparatus according to claim 1 , wherein the value equal to or lower than the predetermined value of the velocity of the object is zero.
3. The routing apparatus according to claim 1 , wherein stored information about the object recognized in the previous measurement cycle and not recognized in the current measurement cycle is erased after a lapse of an estimated time required for the autonomous mobile unit to reach the object.
4. The routing apparatus according to claim 1 , wherein information stored in the memory about the object recognized in the previous measurement cycle and not recognized in the current measurement cycle is erased from the memory when an object is measured near the previously recognized object.
5. The routing apparatus according to claim 1 , wherein information about the object stored in the memory is erased if no object is detected at the position of the stored object after the position of the object goes out of the field of view and comes into the field of view again.
6. A computer implemented method for controlling movement of an autonomous mobile unit, comprising:
determining velocity and a travel direction of an object based on changes in the position of the object obtained from a sensor unit over a plurality of measurement cycles;
determining a path of the autonomous mobile unit to avoid collision with the object based on the position, the velocity, and the travel direction of the object;
setting the velocity of the object to a value equal to or lower than a predetermined value and storing the set value of the velocity in a memory if an object recognized in the previous measurement cycle is not recognized in the current measurement cycle; and
determining the path of the autonomous mobile unit by taking into consideration of the object stored in the memory.
7. The method according to claim 6 , wherein the value equal to or lower than the predetermined value of the velocity of the object is zero.
8. The method apparatus according to claim 6 , wherein stored information about the object recognized in the previous measurement cycle and not recognized in the current measurement cycle is erased after a lapse of an estimated time required for the autonomous mobile unit to reach the object.
9. The method according to claim 6 , wherein information stored in the memory about the object recognized in the previous measurement cycle and not recognized in the current measurement cycle is erased from the memory when an object is measured near the previously recognized object.
10. The method according to claim 6 , wherein information about the object stored in the memory is erased if no object is detected at the position of the stored object after the position of the object goes out of the field of view and comes into the field of view again.