TRAVEL DEVICE FOR SELF-PROPELLED DEVICE

• US 20090164123A1
• Filed: 01/17/2007
• Published: 06/25/2009
• Est. Priority Date: 05/17/2006
• Status: Abandoned Application

• Current Assignee: Murata Machinery Limited (Muratec)
• Original Assignee: Murata Machinery Limited (Muratec)
• Inventors: Moriguchi, Toshiki
• Application Number:
  US12/299,916
• Publication Number:
  US 20090164123A1
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area

Abstract

A traveling unit for a self-propelled apparatus, which is capable of detecting two different collision levels. The traveling unit includes: two running wheels rotatably supported by a frame; a motor that drives and rotates the two running wheels; and two tape switches that detect a collision of the frame with an obstacle. When the tape switch detects a small level of collision which is a first collision, the traveling unit performs an operation to avoid the obstacle. When the tape switch detects a second collision whose collision level is higher than the first collision, the traveling unit stops traveling.

Claims

1. :

A traveling unit for a self-propelled apparatus, comprising;

a main body;

running wheels rotatably supported by the main body; and

traveling-drive means for driving and rotating the running wheels,

wherein the main body includes a collision detection means for detecting a collision when the main body collides an obstacle, and

the collision detection means is capable of detecting two different collisions one of which is a first collision and the other one of which is a second collision whose collision level is higher than that of the first collision.

2. :

The traveling unit for a self-propelled apparatus according to claim 1, further comprising;

avoidance control means for, upon detection of the first collision by the collision detection means, controlling the traveling-drive means so that the main body avoids the obstacle; and

travel stopping means for, upon detection of the second collision by the collision detection means, causing the traveling-drive means to stop driving the running wheels.

3. :

The traveling unit for a self-propelled apparatus according to claim 2, wherein

the travel stopping means stops driving the running wheels by shutting off power supply to the traveling-drive means.

4. :

The traveling unit for a self-propelled apparatus according to claim 1, wherein;

the collision detection means includes a first detector which detects the first collision and a second detector which detects the second collision;

the first and second detectors each has a pair of electrodes and an elastic member coating the pair of electrodes; and

the elastic member of the first detector has a greater elasticity than that of the second detector.

5. :

The traveling unit for a self-propelled apparatus according to claim 4, wherein

the elastic member of the first detector and that of the second detector overlap each other in a direction in which the pair of electrodes are spaced from each other.

6. :

The traveling unit for a self-propelled apparatus according to claim 4, wherein;

the first and second detectors, respective pairs of electrodes and elastic members of the first and second detectors, are formed in a shape which is long in one direction; and

the first and second detectors cover substantially the entire outer circumference of the main body.

7. :

The traveling unit for a self-propelled apparatus according to claim 2, wherein;

the collision detection means includes a first detector which detects the first collision and a second detector which detects the second collision;

the first and second detectors each has a pair of electrodes and an elastic member coating the pair of electrodes; and

the elastic member of the first detector has a greater elasticity than that of the second detector.

8. :

The traveling unit for a self-propelled apparatus according to claim 3, wherein;

the collision detection means includes a first detector which detects the first collision and a second detector which detects the second collision;

the first and second detectors each has a pair of electrodes and an elastic member coating the pair of electrodes; and

the elastic member of the first detector has a greater elasticity than that of the second detector.

9. :

The traveling unit for a self-propelled apparatus according to claim 7, wherein

the elastic member of the first detector and that of the second detector overlap each other in a direction in which the pair of electrodes are spaced from each other.

10. :

The traveling unit for a self-propelled apparatus according to claim 8, wherein

the elastic member of the first detector and that of the second detector overlap each other in a direction in which the pair of electrodes are spaced from each other.

11. :

The traveling unit for a self-propelled apparatus according to claim 5, wherein;

the first and second detectors, respective pairs of electrodes and elastic members of the first and second detectors, are formed in a shape which is long in one direction; and

the first and second detectors cover substantially the entire outer circumference of the main body.

12. :

The traveling unit for a self-propelled apparatus according to claim 7, wherein;

the first and second detectors, respective pairs of electrodes and elastic members of the first and second detectors, are formed in a shape which is long in one direction; and

the first and second detectors cover substantially the entire outer circumference of the main body.

13. :

The traveling unit for a self-propelled apparatus according to claim 8, wherein;

the first and second detectors, respective pairs of electrodes and elastic members of the first and second detectors, are formed in a shape which is long in one direction; and

the first and second detectors cover substantially the entire outer circumference of the main body.

14. :

The traveling unit for a self-propelled apparatus according to claim 9, wherein;

the first and second detectors, respective pairs of electrodes and elastic members of the first and second detectors, are formed in a shape which is long in one direction; and

the first and second detectors cover substantially the entire outer circumference of the main body.

15. :

The traveling unit for a self-propelled apparatus according to claim 10, wherein;

the first and second detectors, respective pairs of electrodes and elastic members of the first and second detectors, are formed in a shape which is long in one direction; and

the first and second detectors cover substantially the entire outer circumference of the main body.