AUTONOMOUS MOBILE BODY

• Main Author: TAIRA TETSUYA
• Format: Patent
• Language: English; Japanese
• Published: 04.06.2015
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CONTROLLING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

PROBLEM TO BE SOLVED: To determine abnormality of a sensor with high accuracy.SOLUTION: An autonomous mobile body comprises: at least one distance sensor for respectively detecting distances to first and second positions being in a moving direction of the autonomous mobile body on a road surface; and determination means that calculates a difference time between a difference time between a time when a distance value of the first position detected by the distance sensor exceeds a first threshold value and a time when a distance value of the second position exceeds a second threshold value and a moving time in which the autonomous mobile body moves between the first and second positions, and only when the calculated difference time is a predetermined value or greater, determines that the distance sensor has abnormality. 【課題】センサの異常を高精度に判定すること。【解決手段】自律移動体は、路面上の当該自律移動体の移動方向にある第１及び第２位置との距離を夫々検出する少なくとも１つの距離センサと、距離センサにより検出された第１位置の距離値が第１閾値を超えたときの時間と第２位置の距離値が第２閾値を超えたときの時間との差分時間と、第１及び第２位置間を当該自律移動体が移動する移動時間と、の差分時間を算出し、該算出した差分時間が所定値以上となるときのみ、距離センサの異常と判定する判定手段と、を備えている。【選択図】図１