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1. (WO2018043128) AUTONOMOUS TRAVELING APPARATUS

Pub. No.:    WO/2018/043128    International Application No.:    PCT/JP2017/029438
Publication Date: Fri Mar 09 00:59:59 CET 2018 International Filing Date: Thu Aug 17 01:59:59 CEST 2017
IPC: G05D 1/02
A47L 9/28
A47L 11/162
A47L 11/283
A47L 11/30
A47L 11/40
Applicants: MURATA MACHINERY, LTD.
村田機械株式会社
Inventors: SHITAMOTO, Hideo
下本 英生
NAKANO, Tsuyoshi
中野 剛
DENDA, Yuki
傳田 遊亀
Title: AUTONOMOUS TRAVELING APPARATUS
Abstract:
The present invention enables an autonomous traveling apparatus, which is expected to perform autonomous traveling, to reliably move to a position where autonomous traveling can be started. An autonomous traveling apparatus 100 is provided with: a running unit 1; a position estimation unit 5555; a navigation unit 557; and a travel control unit 53. The position estimation unit 5555 estimates the position and attitude of the running unit 1. In the case when the estimated position is located within a first region A1, the navigation unit 557 guides the running unit 1 into a second region A2 and guides the running unit 1 such that the attitude thereof in the second region A2 is included in a second angular range Θ2. The travel control unit 53 starts performing control to cause the running unit 1 to autonomously travel when the running unit 1 has reached inside the second region A2 and when the attitude of the running unit 1 within said second region A2 is included in the second angular range Θ2.