Patent ID: 9116521
Filing Date: 2015-08-25
Classification: G05D

Abstract:
1. An autonomous moving device comprising: a travel unit including a wheel driven by a motor; and an upper body including an environment recognition sensor that detects an obstacle in a traveling direction, wherein the upper body includes: a means for recognizing a position of the autonomous moving device and an obstacle; a means for evaluating avoidance capability of the obstacle, a means for determining capability of avoidance of collision with the obstacle; and a means for obtaining priority of collision avoidance of an estimated passage area of the obstacle from the capability of avoidance of collision, and the upper body further includes: a control unit that moves the travel unit to a range which is an area where an estimated passage area of an obstacle whose priority of collision avoidance is high does not overlap an area where the travel unit is located and which is an area where collision can be avoided even if an area where an estimated passage area of an obstacle whose priority of collision avoidance is low overlaps the area where the travel unit is located.