Apparatus for positioning moving body allowing precise positioning of moving body
First Claim
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1. An apparatus for positioning a moving body attached on the moving body, comprising:
- a sensor for detecting at which of left and right sides of an end portion of said moving body has touched an object;
a driver for driving said moving body after detection by said sensor that the end portion of said moving body touched the object at the other one of the left and right sides;
a measuring device for measuring the amount of driving performed by said driver; and
a determining unit for determining attitude of said moving body with respect to said object based on said measured amount of driving from the measuring device.
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Abstract
When a running vehicle moves backward and a right back portion of the robot, which is one end of it touches a wall, the robot is rotated to the left until a left back portion of the robot touches the wall. The angle of rotation β at this time is measured and the value β/2 is represented by α. The robot is rotated to the right by the angle β-α. Therefore, the robot is positioned perpendicular to the wall. Thereafter, the robot is moved backward until the back portion of the robot touches the wall. As a result, an apparatus for positioning the running robot relative to the wall is provided.
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Citations
20 Claims
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1. An apparatus for positioning a moving body attached on the moving body, comprising:
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a sensor for detecting at which of left and right sides of an end portion of said moving body has touched an object; a driver for driving said moving body after detection by said sensor that the end portion of said moving body touched the object at the other one of the left and right sides; a measuring device for measuring the amount of driving performed by said driver; and a determining unit for determining attitude of said moving body with respect to said object based on said measured amount of driving from the measuring device. - View Dependent Claims (2, 3, 4, 5)
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6. A method of positioning a movable body which is freely movable and rotatable both in left and right directions, said method comprising the steps of:
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detecting contact between said movable body and an object by at least one sensor mounted on said movable body; moving said movable body away from said object; rotating said movable body to one of left and right directions until a second contact with the object is detected by said sensor; rotating said movable body to the other one of said left and right directions until a third contact with the object is detected by said sensor, and measuring the amount of rotation of said movable body at this time; and determining the attitude of said movable body with respect to said object based on said measured amount of rotation. - View Dependent Claims (12, 13, 14)
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7. An autonomous running vehicle for autonomously running in a prescribed area having at least one wall surface comprising:
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sensors provided juxtaposed to each other on a side of the autonomous running vehicle, for detecting distance to the at least one wall surface; a driving unit for driving said autonomous running vehicle, whereby said driving unit is rotatable; and a positioning controller for determining the attitude of said autonomous running vehicle with respect to the at least one wall surface by using detection output of the sensors, and for controlling said driving unit to rotate based on the attitude of said autonomous running vehicle when said autonomous running vehicle is positioned near said wall surface. - View Dependent Claims (8, 9, 10, 11)
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15. A method of positioning a movable body which is freely movable and rotatable both in left and right directions, said method comprising the steps of:
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detecting contact between said movable body and an object by at least one sensor mounted on said movable body; rotating said movable body to one of left and right directions until one of a second contact with the object is detected by said sensor and the attitude of the movable body is at least a predetermined threshold occurs; and rotating said movable body to the other one of said left and right directions until one of a third contact with the object is detected by said sensor and the attitude of the movable body is at least a second predetermined threshold occurs. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification