Floor cleaning robot and method of controlling same

• US 5,402,051 A
• Filed: 03/23/1993
• Issued: 03/28/1995
• Est. Priority Date: 03/24/1992
• Status: Expired due to Fees

• Current Assignee: Sanyo Electric Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Sanyo Electric Company Limited (Panasonic Holdings Corporation)
• Inventors: Suzuki, Ryuji, Arakawa, Hiroaki, Takaoka, Daizo, Yamaue, Yoshiya, Fujiwara, Yoshimori, Hiratsuka, Kazuhiro
• Primary Examiner(s): Wysocki, Jonathan
• Application Number:
  US08/035,593
• Time in Patent Office: 735 Days
• Field of Search: 312/567, 312/568, 312/568.12, 312/580, 312/587, 364/424.02, 364/424.01, 364/424.04, 364/443, 364/444, 364/445, 180/167, 180/168
• US Class Current: 318/587
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B60S 3/008 for interiors of land vehicles
• 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 1/0272 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A robot for cleaning a floor of a railroad vehicle has a robot body equipped with a cleaning mechanism and includes a travel mechanism controllable for locomotion in a desired direction. The robot also includes a distance detecting arrangement directed at least toward the front and opposite sides of the robot body for measuring the distance to an obstacle or a wall, and a map storing arrangement which has stored therein a cleaning region of the floor previously as a two-dimensional map. The robot also includes a path storing arrangement which has stored therein a predetermined path of travel for cleaning the floor as expressed in coordinates on the map. A first control arrangement is provided for recognizing the coordinates of the position of the robot body on the map based on outputs from the distance detecting arrangement when the robot body is placed at an end portion of the floor. A second control arrangement is also provided for correcting the course of the robot body based on outputs from the distance detecting arrangement while the robot body travels from the coordinate position recognized by the first control arrangement along the predetermined path.

Claims

1. A robot for cleaning a floor of a railroad vehicle while automatically traveling over the floor, the vehicle having seats and entrance-exit doors along both side walls of the vehicle, the robot having a robot body equipped with a cleaning mechanism and comprising:

a travel mechanism controllable for locomotion in a desired direction,

distance detecting means arranged as directed at least toward the front and opposite sides of the robot body for measuring the distance to an obstacle or a wall,

map storing means having stored therein a cleaning region of the floor previously as a two-dimensional map,

path storing means having stored therein a predetermined path of travel for cleaning the floor as expressed in coordinates on the map,

first control means for recognizing the coordinates of the position of the robot body on the map based on outputs from the distance detecting means when the robot body is placed at an end portion of the floor, and

second control means for correcting the course of the robot body based on outputs from the distance detecting means while the robot body travels from the coordinate position recognized by the first control means along the predetermined path.

2. A floor cleaning robot as defined in claim 1 wherein the robot is to clean a floor of a railroad vehicle while automatically travelling over the floor, the seats of the vehicle being elongated in the direction of advance of the vehicle and entrance-exit doors, the seats and the doors being arranged alternately along both side walls of the vehicle.

3. A floor cleaning robot as defined in claim 2 wherein the robot body further comprises:

means for distinguishing between two types of vehicles based on outputs from the distance detecting means, the two types of vehicles being a motor vehicle having a driver'"'"'s cab at one end thereof and a passenger vehicle having no driver'"'"'s cab, and

means for correcting the map in the map storing means according to the type of vehicles based on the result of distinction.

4. A robot as defined in claim 1 wherein map storing means stores therein a plurality of predetermined maps respectively representing cleaning regions of floors of different types of room in a form representing a two-dimensional map.

5. A method of controlling a robot for cleaning a floor of a railroad vehicle wile automatically traveling over the floor, the vehicle having seats and entrance-exit doors along both side walls of the vehicle, the robot having a robot body and comprising a travel mechanism controllable for locomotion in a desired direction, distance detecting means arranged as directed at least toward the front and opposite sides of the robot body for measuring the distance to the seat or the wall, map storing means having stored therein a cleaning region of the floor as a two-dimensional map, and path storing means having stored therein a predetermined path of travel for cleaning the floor as expressed in coordinates on the two-dimensional map, the method comprising:

the first step of causing the robot body as placed in the interior of the vehicle to travel to an end portion of the vehicle along the direction of advance of the vehicle,

the second step of recognizing at the vehicle end portion the coordinates of the position of the robot body on the map based on outputs from the distance detecting means,

the third step of setting the recognized coordinate position as a reference point of automatic travel of the robot body on the map, and

the fourth step of correcting the course of the robot body automatically traveling along the predetermined path based on outputs from the distance detecting means so that the robot body travels the predetermined path.

6. A controlling method as defined in claim 5 wherein in the fourth step, the robot body detects the current position thereof at a suitable time from outputs delivered from the distance detecting means to thereby check whether the robot body is actually traveling the predetermined path and corrects the course thereof only when deviating from the path.

7. A controlling method as defined in claim 5 wherein map storing means stores therein a plurality of predetermined maps respectively representing cleaning regions of floors of different types of room in a form representing a two-dimensional map.

8. A controlling method as defined in claim 5, wherein the robot is to clean a floor of a railroad vehicle while automatically travelling over the floor, the seats of the vehicle being elongated in the direction of advance of the vehicle and entrance-exit doors, the seats and the doors being arranged alternately along both side walls of the vehicle.

9. A controlling method as defined in claim 7 wherein in the fourth step, the robot body further distinguishes between two types of vehicles one of which is a motor vehicle having a driver'"'"'s cab at one end thereof and the other of which is a passenger vehicle having no driver'"'"'s cab, based on outputs from the distance detecting means, and corrects the map in the map storing means according to the type of vehicles based on the result of distinction.