Mobile Vehicle
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Accused Products
Abstract
Please amend the Abstract of the Disclosure currently of record as follows: A mobile vehicle which is provided with a moving means and a moving control device therefor, can automatically travel while detecting an advance distance and a turning angle by means of one optical displacement sensor, and can save on space and reduce costs. The mobile vehicle comprises a moving means (2) for moving a body (1), one optical displacement sensor (7) as a displacement sensor provided on the body (1), and a moving control device for controlling the moving means (2) based on a moving distance detected by the optical displacement sensor (7). The moving control device determines the distance of rectilinear movement and a turning angle of the body (1) from an amount detected by the optical displacement sensor (7). The optical displacement sensor (7) picks up patterns or the like on a traveling floor surface at specified time intervals and detects a moving distance by comparing images before and after a specified time. The above arrangement eliminates the need of providing a rotation sensor for detecting the rotation of a wheel, and therefore eliminates a restriction on space and reduces costs.
16 Citations
7 Claims
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1-5. -5. (canceled)
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6. A mobile vehicle comprising a moving means for moving a main body, the moving means being provided on the main body, a displacement sensor provided on the main body, and a movement control means for controlling the moving means on the basis of a detected value detected by the displacement sensor, the mobile vehicle being characterized in that the movement control means designates a pattern of movement of the mobile vehicle by the moving means for a forward/backward rectilinear movement or an in-place rotational movement;
- the displacement sensor is one optical displacement sensor for taking images of a travel floor surface, the displacement sensor being placed at a position other than a position on a rotation center axis line around which the mobile vehicle performs the in-place rotational movement, the displacement sensor having, as displacement detection axes orthogonal two axes formed of a front-rear axis corresponding to a vehicle front-rear center line passing through the rotation center axis line and a left-right axis parallel to a vehicle left-right center line passing through the rotation center axis line and perpendicular to the vehicle front-rear center line; and
the movement control means obtains a forward/backward rectilinear movement distance as a displacement in the front-rear axis direction from the detected value with respect to the front-rear axis direction in a case where the pattern of movement of the mobile vehicle is designated for the forward/backward rectilinear movement, on the basis of data on changes between the images of the travel floor surface taken by the optical displacement sensor, and obtains an in-place turning angle by successively integrating the angle estimated about the rotation center axis line with respect to each of infinitesimal displacements in the left-right axis direction obtained from the detected value with respect to the left-right axis direction in a case where the pattern of movement of the mobile vehicle is designated for the in-place rotational movement. - View Dependent Claims (7)
- the displacement sensor is one optical displacement sensor for taking images of a travel floor surface, the displacement sensor being placed at a position other than a position on a rotation center axis line around which the mobile vehicle performs the in-place rotational movement, the displacement sensor having, as displacement detection axes orthogonal two axes formed of a front-rear axis corresponding to a vehicle front-rear center line passing through the rotation center axis line and a left-right axis parallel to a vehicle left-right center line passing through the rotation center axis line and perpendicular to the vehicle front-rear center line; and
Specification