Mobile vehicle
First Claim
1. A mobile vehicle, comprising:
- a main body;
moving means for moving the main body, the moving means being provided on the main body;
a displacement sensor provided on the main body; and
movement control means for controlling the moving means on the basis of a detected value detected by the displacement sensor,wherein the movement control means designates a pattern of movement of the mobile vehicle by the moving means for a forward/backward rectilinear movement or an in-place rotational movement;
the displacement sensor is only a single optical displacement sensor for taking images of a travel floor surface beneath the main body facing the displacement sensor, the displacement sensor being placed on the bottom of the main body at a position significantly off-center with respect to a rotation center around which the mobile vehicle performs the in-place rotational movement, the displacement sensor has, as displacement detection axes orthogonal two axes formed of a front-rear axis corresponding to a vehicle front-rear center line orthogonal to the rotation center axis line and a left-right axis parallel to a vehicle left-right center line orthogonal to the rotation center axis and perpendicular to the vehicle front-rear center line; and
the movement control means obtains, at specified time intervals, a forward/backward rectilinear movement distance and an in-place rotation angle, on the basis of data on changes between the images of the travel floor surface taken by the optical displacement sensor, by obtaining a forward/backward rectilinear movement distance as a displacement in the front-rear axis direction from the detected value with respect to the front-rear displacement detection axis direction, and by calculating an in-place rotation angle from displacement in the left-right axis direction obtained from the detected value with respect to the left-right displacement detection axis direction; and
wherein the movement control means obtains a current position of the mobile vehicle with respect to a starting point by integrating the obtained displacement in the front-rear axis direction and the obtained displacement in the left-right axis direction.
1 Assignment
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Accused Products
Abstract
A mobile vehicle provided with moving means and a moving control device automatically travels while detecting an advance distance and a turning angle by means of one optical displacement sensor. The mobile vehicle comprises a moving unit (2) for moving a body (1), one optical displacement sensor (7) as a displacement sensor provided on the body (1), and a moving control device for controlling the moving unit (2) based on a moving distance detected by the optical displacement sensor (7). The moving control device determines the distance of rectilinear movement and a turning angle of the body (1) from an amount detected by the optical displacement sensor (7). The optical displacement sensor (7) picks up patterns or the like on a traveling floor surface at specified time intervals and detects a moving distance by comparing images before and after the specified time.
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Citations
8 Claims
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1. A mobile vehicle, comprising:
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a main body; moving means for moving the main body, the moving means being provided on the main body; a displacement sensor provided on the main body; and movement control means for controlling the moving means on the basis of a detected value detected by the displacement sensor, wherein the movement control means designates a pattern of movement of the mobile vehicle by the moving means for a forward/backward rectilinear movement or an in-place rotational movement; the displacement sensor is only a single optical displacement sensor for taking images of a travel floor surface beneath the main body facing the displacement sensor, the displacement sensor being placed on the bottom of the main body at a position significantly off-center with respect to a rotation center around which the mobile vehicle performs the in-place rotational movement, the displacement sensor has, as displacement detection axes orthogonal two axes formed of a front-rear axis corresponding to a vehicle front-rear center line orthogonal to the rotation center axis line and a left-right axis parallel to a vehicle left-right center line orthogonal to the rotation center axis and perpendicular to the vehicle front-rear center line; and the movement control means obtains, at specified time intervals, a forward/backward rectilinear movement distance and an in-place rotation angle, on the basis of data on changes between the images of the travel floor surface taken by the optical displacement sensor, by obtaining a forward/backward rectilinear movement distance as a displacement in the front-rear axis direction from the detected value with respect to the front-rear displacement detection axis direction, and by calculating an in-place rotation angle from displacement in the left-right axis direction obtained from the detected value with respect to the left-right displacement detection axis direction; and wherein the movement control means obtains a current position of the mobile vehicle with respect to a starting point by integrating the obtained displacement in the front-rear axis direction and the obtained displacement in the left-right axis direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification