PROBLEM TO BE SOLVED: To allow a robot to move to a position where the robot can image a plurality of mobile bodies at one time with a resolution which enables recognition of the mobile bodies.SOLUTION: The autonomous mobile robot clusters a plurality of mobile bodies into clusters with a specific upper limit size or smaller based on the positions of the mobile bodies; selects an imaging cluster to be imaged from the clusters; sets a moving target position at a position where the imaging cluster is included in an imaging possible range based on the size of the imaging cluster and the angular field of view of an imaging unit; and autonomously moves along a moving path from the self position to the moving target position.SELECTED DRAWING: Figure 8
【課題】複数の移動物体を認識可能な解像度で同時撮影する位置に移動できるようにする。【解決手段】複数の移動物体の移動物体位置に基づいて各移動物体を所定の上限サイズ以下のクラスタにクラスタリングし、該クラスタの中から撮影対象とする撮像クラスタを選択し、該撮像クラスタのサイズと撮像部の視野角とに基づいて撮像範囲内に撮像クラスタが含まれる位置に移動目標位置に設定し、自己位置から移動目標位置に至る移動経路に沿って自律移動する自律移動ロボット。【選択図】図8
AUTONOMOUS MOBILE ROBOT
自律移動ロボット
2017-10-05
Patent
Electronic Resource
Japanese
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