Autonomous mobile device, and control device and program product for the autonomous mobile device
An autonomous mobile device has its movement controlled by a control device and includes a first sensing unit for sensing an obstacle. The control device includes a first storage unit for storing information as to a temporary positional fluctuation of the obstacle and sets as a virtual obstacle region a region where it is predicted that the obstacle sensed by the first sensing unit travels following a predetermined time passage based on the information as to the temporary positional fluctuation of the obstacle stored in the first storage unit.
1. A control device capable of controlling a movement of an autonomous mobile device with a first sensing unit for sensing an obstacle, comprising:
a first storage unit for storing information as to a temporary positional fluctuation of the obstacle;
a region setting unit for setting a region in which it is predicted that the obstacle sensed by the first sensing unit will travel following a predetermined passage of time as a virtual obstacle region based on information as to the temporary positional fluctuation of the obstacle stored in the first storage unit;
a second sensing unit for sensing a position of the obstacle; and
a third sensing unit for sensing a speed of the obstacle,
wherein the region setting unit sets the region of the obstacle sensed by the first sensing unit as an actual obstacle region and combines the actual obstacle region with the virtual obstacle region to set a new obstacle region,
a time at which the obstacle sensed by the first sensing unit and the autonomous mobile device may collide with each other is predicted,
the region setting unit sets the region in which it is predicted that the obstacle will travel following the predicted time passage as the virtual obstacle region, and
wherein the control device calculates a position Ph(t) of the obstacle after t time when the obstacle moves with a uniform linear motion at a speed sensed by the third sensing unit and a position Pr(t) of the autonomous mobile device after t time when the autonomous mobile device moves along the transfer pathway set by the transfer pathway setting unit, and
predicts the time T at which a distance between the obstacle and the autonomous mobile device becomes a minimum value as a possible time at which the obstacle and the autonomous mobile device may collide with each other based on the following formula 3,
T
=
arg
t
min
Ph
(
t
)
-
Pr
(
t
)
,
PROVIDED
THAT
,
IF
THERE
ARE
PLURALITY
OF
(
t
)
S
,
THE
MINIMUM
VALUE
WILL
BE
EMPLOYED
.
[
Formula
3
]
2. An autonomous mobile device, comprising:
a sensing unit for sensing an obstacle; and
a control device for the autonomous mobile device according to claim 1 .
3. A control device capable of controlling a movement of an autonomous mobile device with a first sensing unit for sensing an obstacle, comprising:
a first storage unit for storing information as to a temporary positional fluctuation of the obstacle;
a region setting unit for setting a region in which it is predicted that the obstacle sensed by the first sensing unit will travel following a predetermined passage of time as a virtual obstacle region based on information as to the temporary positional fluctuation of the obstacle stored in the first storage unit;
a first determination unit for determining whether or not the obstacle sensed by the first sensing unit is a person;
a map information storage unit for storing map information as to a movement region of the autonomous mobile device; and
a moving tendency storage unit for storing a relationship between a time and a moving tendency of the person in association with the map information stored in the map information storage unit,
wherein the virtual obstacle region is corrected based on the moving tendency of the person corresponding to the time stored in the moving tendency storage unit,
the map information includes nodes of which positions are discretely set within the movement region of the autonomous mobile device, and
the moving tendency storage unit stores a relationship between the time and the moving tendency of the person in association with each of the nodes.
4. An autonomous mobile device, comprising:
a sensing unit for sensing an obstacle; and
a control device for the autonomous mobile device according to claim 3 .