Method, medium, and apparatus for self-propelled mobile unit with obstacle avoidance during wall-following algorithm
First Claim
1. A self-propelled mobile unit, comprising:
- a carrying unit to move the mobile unit;
a sensor unit to detect an obstacle in front of the mobile unit and a wall to a side of the mobile unit, both with respect to a direction of motion of the carrying unit; and
a controller to control the carrying unit movement of the mobile unit by generating a path along which the carrying unit is controlled to move, according to a detection result of the sensor unit, wherein the controller directs the carrying unit to move the mobile unit while controlling a distance between the mobile unit and the wall, and wherein the controller directs the carrying unit to move the mobile unit in a direction free of obstacles if the sensor unit detects an obstacle.
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Abstract
A method, medium, and apparatus of a self-propelled mobile unit with obstacle avoidance during wall-following. In the self-propelled mobile unit, a carrying unit may move the mobile unit by using a transmitted power, and a sensor unit can detect an obstacle and a wall, which may be respectively placed in front of and to the side of the mobile unit, with respect to a moving direction of the carrying unit. A controller may direct the carrying unit by generating a path along which the carrying unit moves according to a detection result from the sensor unit. Accordingly, the controller can direct the carrying unit to move while maintaining a predetermined distance (within a predetermined range) from the wall. If the sensor unit detects an obstacle, the controller directs the carrying unit to move in an obstacle free direction.
95 Citations
23 Claims
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1. A self-propelled mobile unit, comprising:
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a carrying unit to move the mobile unit;
a sensor unit to detect an obstacle in front of the mobile unit and a wall to a side of the mobile unit, both with respect to a direction of motion of the carrying unit; and
a controller to control the carrying unit movement of the mobile unit by generating a path along which the carrying unit is controlled to move, according to a detection result of the sensor unit, wherein the controller directs the carrying unit to move the mobile unit while controlling a distance between the mobile unit and the wall, and wherein the controller directs the carrying unit to move the mobile unit in a direction free of obstacles if the sensor unit detects an obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of self-propelling a mobile unit with obstacle avoidance during wall-following, the method comprising:
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detecting for a wall near the mobile unit;
approaching the detected wall;
moving the mobile unit in a first moving direction while maintaining the mobile unit at a distance from the wall, within a predetermined range;
scanning for an obstacle in the first moving direction;
turning the mobile unit in a first turning direction if the obstacle is detected; and
moving the mobile unit in the first turning direction if the first turning direction is obstacle free. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification