AUTONOMOUS TRAVELING BODY AND VACUUM CLEANER
First Claim
1. :
- An autonomous traveling body comprising;
a main casing;
a driving wheel for making the main casing travel;
a motor for driving the driving wheel;
a distance measuring sensor for detecting a distance to an object located sideward of the main casing;
an object sensor for detecting an object located forward of the main casing; and
a control unit for controlling drive of the motor to make the main casing autonomously travel, whereinthe control unit has modes of;
travel control for, while a distance between the main casing and a sideward object detected by the distance measuring sensor is kept within a specified distance range, driving the motor so as to make the main casing travel along the object; and
directional change control for, when an object forward of the main casing is detected by the object sensor during the travel control, driving the motor so as to make the main casing change in advancing direction along the detected forward object, and whereinthe directional change control includes at least swing control for driving the motor so as to make the main casing swing to a specified swing angle while disregarding a distance detected by the distance measuring sensor.
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Accused Products
Abstract
A vacuum cleaner capable of smoothly traveling along an obstacle. A control unit has modes of travel control and directional change control. In the travel control, while a distance between a main casing and a sideward obstacle detected by a distance measuring sensor is kept within a specified distance range, a motor is driven so as to make the main casing travel along the obstacle. In the directional change control, when an obstacle forward of the main casing is detected by a contact sensor during the travel control, the motor is driven so as to make the main casing change in advancing direction along the detected forward obstacle. The directional change control includes at least swing control for driving the motor so as to make the main casing swing to a specified swing angle while disregarding a distance detected by the distance measuring sensor.
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Citations
7 Claims
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1. :
- An autonomous traveling body comprising;
a main casing; a driving wheel for making the main casing travel; a motor for driving the driving wheel; a distance measuring sensor for detecting a distance to an object located sideward of the main casing; an object sensor for detecting an object located forward of the main casing; and a control unit for controlling drive of the motor to make the main casing autonomously travel, wherein the control unit has modes of; travel control for, while a distance between the main casing and a sideward object detected by the distance measuring sensor is kept within a specified distance range, driving the motor so as to make the main casing travel along the object; and directional change control for, when an object forward of the main casing is detected by the object sensor during the travel control, driving the motor so as to make the main casing change in advancing direction along the detected forward object, and wherein the directional change control includes at least swing control for driving the motor so as to make the main casing swing to a specified swing angle while disregarding a distance detected by the distance measuring sensor. - View Dependent Claims (2, 3, 4, 5, 6)
- An autonomous traveling body comprising;
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7. :
- A travel control method for an autonomous traveling body for making a main casing autonomously travel, the method including modes of;
travel control for, while a distance between a main casing and a sideward object detected by a distance measuring sensor is kept within a specified distance range, making the main casing travel along the object; and directional change control for, when an object forward of the main casing is detected by an object sensor during the travel control, making the main casing change in advancing direction along the detected forward object, wherein the directional change control includes swing control for making the main casing swing to a specified swing angle while disregarding a distance between the main casing and the sideward object detected by the distance measuring sensor.
- A travel control method for an autonomous traveling body for making a main casing autonomously travel, the method including modes of;
Specification