Autonomous mobile system

• US 10,144,130 B2
• Filed: 02/09/2018
• Issued: 12/04/2018
• Est. Priority Date: 03/30/2017
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Tanaka, Chiaki, Kuroki, Takahiro
• Primary Examiner(s): Troost, Aaron L
• Assistant Examiner(s): SCHNEIDER, PAULA LYNN
• Application Number:
  US15/892,544
• Publication Number:
  US 20180281192A1
• Time in Patent Office: 298 Days
• Field of Search: 701300
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Robot 1 includes an upper base body 10, and a control section 13 provided inside the upper base body 10. The control section 13 causes measurement section 205c to rotate in a left-right direction around yaw axis, by driving each drive section 205b of two LRFs 205. When passage width necessary for the robot 1 to pass through is W, the control section 13 causes each measurement section 205c to rotate in a range (W/2), by driving each drive section 205b of the two LRFs 205. LRF scanning speed/range calculation section 71 calculates rotation angle θswing and a rotation speed Vswing of the measurement section 205c. The control section 13 drives the drive sections 205b so as to cause the measurement section 205c to rotate at the rotation angle θswing and the rotation speed Vswing calculated by the LRF scanning speed/range calculation section 71.

Claims

1. An autonomous mobile system, comprising:

a mobile body configured to move at a travel speed within a range of travel speeds;

a distance detection section provided in the mobile body and configured to detect a distance to an object;

a scanning unit provided in the mobile body and configured to perform scanning by causing the distance detection section to rotate around an axis in a vertical direction as a center of rotation; and

a scanning control unit configured to;

determine the travel speed of the mobile body within the range of travel speeds;

control a scanning speed and a scanning range of the distance detection section by controlling driving of the scanning unit based in part on the travel speed of the mobile body; and

determine an upper limit of the range of travel speeds based on the scanning speed of the distance detection section.

2. The autonomous mobile system according to claim 1,

wherein, in a case where the set travel speed is increased, the control unit controls driving of the scanning unit so as to perform at least one of a control to reduce the scanning range of the distance detection section and a control to increase the scanning speed of the distance detection section.

3. The autonomous mobile system according to claim 1,

wherein the control unit determines a center of the scanning range of the distance detection section based on a scheduled travel path of the mobile body.