Control apparatus for plane working robot

• US 5,032,775 A
• Filed: 06/05/1990
• Issued: 07/16/1991
• Est. Priority Date: 06/07/1989
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Mizuno, Sueyoshi, Takiguchi, Yuuji, Koshiyama, Tetsushi
• Primary Examiner(s): Ip, Paul
• Application Number:
  US07/533,456
• Time in Patent Office: 406 Days
• Field of Search: 318/580-589, 901/1, 364/424.01, 364/424.02, 180/168, 180/169, 180/170, 180/171, 180/167, 15/319, 15/320
• US Class Current: 701/25
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B08B 3/024 Cleaning by means of spray elements moving over the surface to be cleaned
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A control apparatus for controlling a plane working robot comprise a running unit for running on a plane surface, a steering unit for steering the running unit in a predetermined direction, a working unit for performing predetermined plane working such as cleaning, and a detecting unit for detecting information about running direction and distance of the robot and an obstacle on the plane surface, thus permitting the working robot to take an optimum running path while avoiding an obstacle on the basis of sensor outputs from the detecting unit. This control apparatus comprises a working information setting element for setting a working area where the plane working is conducted, and for setting an optimum working running path within the set working area in accordance with a predetermined algorithm, and a working control element for controlling the running unit and the steering unit so that the running unit allows the robot to run along the working running path set by the working information setting element, and for controlling the working unit so that the robot conducts a predetermined work during running.

Claims

1. A control apparatus for a floor cleaning robot comprising a running unit for running on a plane surface as a working object, a steering unit for steering said running unit in a predetermined direction, a cleaning unit for cleaning said plane surface, a detecting unit for detecting information about running direction and distance of said robot and an obstacle on said plane surface, and a control unit for controlling running and cleaning of said robot on the basis of said informations from said detecting unit, characterized by the provision of:

working information setting means for setting a cleaning area where said cleaning is conducted to set an optimum working running path within said cleaning area thus set by a predetermined algorithm, and comprising data processing means for processing various data in regard to cleaning that said robot conducts, a data storage unit for storing said various data, a data input unit for inputting predetermined data into said processing means, and a display unit for displaying data contents in order to set said various data; and

working control means for controlling said running unit and said steering unit so that said running unit runs along said working running path set by said working information setting means and for controlling said working unit to carry out said cleaning; and

wherein said processing means comprises running area setting means for setting a cleaning area as an area where said robot should carry out cleaning;

obstacle setting means for setting a position of an obstacle within a cleaning area set by said area setting means;

running path setting means for setting a running path in accordance with a predetermined algorithm so that cleaning is carried out on the basis of data set by said two setting means;

path attribute setting means for adding a path attribute peculiar to a running path set by said path setting means;

next block setting means wherein when said cleaning area is a broad area and/or is in a complicated form, said next block setting means divides said area into several blocks to make a setting every block such that cleaning can be conducted while avoiding said obstacle; and

storage unit management means for allowing said data storage unit to store a cleaning/running path set by said respective setting means.

2. A control apparatus as set forth in claim 1 wherein said running path setting means prepares a graphic picture on the basis of a running area and information of an obstacle to first set a basic running path by inputting a work starting point and a traveling direction thereafter to make a fine setting of a path along which said working robot avoids an obstacle and is reversely turned in accordance with said basic path.

3. A control apparatus as set forth in claim 1 wherein said running path setting means basically first forms a running path along the length side of a room thereafter to set a lateral travel running path for avoiding an obstacle and/or reversing said running path with respect to a straight advance path in the length direction.

4. A control apparatus as set forth in claim 1 wherein said data storage unit is comprised of a memory card storage unit using a memory card as the memory medium, and wherein said management means conducts a management writing information into said memory card and/or reading it therefrom.

5. A control apparatus as set forth in claim 1, wherein said detecting unit comprises a direction sensor for sensing an angle of attitude for an attitude control of said running unit, a running distance sensor for sensing a running distance of said running unit, an obstacle sensor for sensing an obstacle on a wall surface and a floor surface.

6. A control apparatus as set forth in claim 5, wherein said detecting unit further comprises a falling prevention sensor for preventing said robot from being fallen down from said plane surface, and a touch sensor provided on a front of said robot.

7. A control apparatus as set forth in claim 6, wherein said touch sensor is comprised of left and right attitude sensors which provide a time difference with said control unit, to calculate an inclination of said robot.