Patent ID: 8442714
Filing Date: 2013-05-14
Classification: G05D

Abstract:
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,