AUTONOMOUS MOVING BODY AND METHOD FOR CONTROLLING MOVEMENT THEREOF

• US 20090299525A1
• Filed: 05/26/2009
• Published: 12/03/2009
• Est. Priority Date: 05/28/2008
• Status: Abandoned Application

• Current Assignee: KEIO University, Murata Machinery Limited (Muratec)
• Original Assignee: KEIO University, Murata Machinery Limited (Muratec)
• Inventors: Takahashi, Masaki, Shitamoto, Hideo, Suzuki, Takafumi
• Application Number:
  US12/471,689
• Publication Number:
  US 20090299525A1
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: B60B 19/003 Multidirectional wheels
• CPC Class Codes: B60B 2900/351 versatility, e.g. usable for different purposes or different arrangements
• CPC Class Codes: B60Y 2200/40 Special vehicles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

An autonomous moving body includes: an omnidirectional moving mechanism for moving the moving body; a detecting unit for detecting an obstacle; and a movement control unit for generating a movement instruction signal for avoiding the obstacle detected by the detecting unit while maintaining a frontal direction of the moving body to be substantially constant and transmitting the generated signal to the omnidirectional moving mechanism.

Claims

1. An autonomous moving body comprising:

an omnidirectional moving mechanism for moving the moving body;

a detecting unit for detecting an obstacle; and

a movement control unit for generating a movement instruction signal for avoiding the obstacle detected by the detecting unit while maintaining a frontal direction of the moving body to be substantially constant and transmitting the generated signal to the omnidirectional moving mechanism.

2. The autonomous moving body of claim 1, wherein the movement control unit includes:

a route calculating unit for calculating a moving route along which the moving body is to move; and

a posture control unit for controlling a posture of the moving body,

wherein the posture control unit makes the frontal direction of the moving body substantially coincident with a direction of the moving route in any of a case where the moving body moves along the moving route and a case where the moving body moves in deviation from the moving route to avoid the obstacle detected by the detecting unit.

3. The autonomous moving body of claim 2, wherein the moving body is allowed to transport an object to be transported, which is disposed at a rear side thereof.

4. The autonomous moving body of claim 3, wherein the object to be transported is fixedly connected to the moving body.

5. The autonomous moving body of claim 2, wherein the moving body is allowed to transport an object to be transported, which is disposed at a front side thereof.

6. The autonomous moving body of claim 2, wherein the omnidirectional moving mechanism is an omni-wheel and includes:

three or more motors;

a roller-shaped main body fixed to an output shaft of each motor; and

a plurality of free rollers arranged on an outer periphery of the main body,

wherein each free roller is rotatably supported by the main body and its outer peripheral surface is allowed to be in contact with a ground surface.

7. The autonomous moving body of claim 2, wherein the detecting unit is a laser range finder which reflects irradiated laser with a rotary mirror so that the laser scans a front side of the moving body in a circular sector-shaped manner when viewed from the top.

8. The autonomous moving body of claim 2, further comprising:

a map storage unit for storing therein a map showing a stationary obstacle within a moving range of the autonomous moving body; and

a moving body information obtaining unit for obtaining at least a position of the moving body,

wherein the route calculating unit calculates the moving route based on the position of the moving body obtained by the moving body information obtaining unit and the map stored in the map storage unit.

9. The autonomous moving body of claim 8, further comprising:

a destination position storage unit for storing information on a destination position which the moving body is to reach on the map,

wherein the route calculating unit calculates a route heading to a designated destination position.

10. The autonomous moving body of claim 2, wherein the detecting unit is installed so as to face toward the frontal direction of the moving body.

11. The autonomous moving body of claim 2, wherein the frontal direction is defined as a direction in which the autonomous moving body moves straight.

12. The autonomous moving body of claim 2, wherein the autonomous moving body is a service robot which provides a service in an actual environment where a human body exists.

13. The autonomous moving body of claim 2, wherein the autonomous moving body is a self-propelled transportation carriage which transports products in a factory.

14. A method for controlling a movement of an autonomous moving body including an omnidirectional moving mechanism for moving the moving body and a detecting unit for detecting an obstacle, the method comprising:

detecting the obstacle by the detecting unit; and

generating a movement instruction signal for avoiding the detected obstacle while maintaining a frontal direction of the moving body to be substantially constant and transmitting the generated signal to the omnidirectional moving mechanism, when avoiding the detected obstacle.