Apparatus for positioning moving body allowing precise positioning of moving body

• US 5,903,124 A
• Filed: 09/25/1997
• Issued: 05/11/1999
• Est. Priority Date: 09/30/1996
• Status: Expired due to Term

• Current Assignee: Moneual Incorporated (Hong-Seok Park, MBA)
• Original Assignee: Minolta Corporation Limited (Konica Minolta Inc.)
• Inventors: Kawakami, Yuichi
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Leykin, Rita
• Application Number:
  US08/937,732
• Time in Patent Office: 593 Days
• Field of Search: 318/466, 318/587, 318/568.12, 318/568.11, 395/95, 395/93, 382/1, 364/424.02, 364/424.029
• US Class Current: 318/587
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

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.

Claims

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.

2. The apparatus for positioning a moving body according to claim 1,

wherein the driver adjusts the attitude of said moving body based on the result of a determination by said determining unit.

3. The apparatus for positioning the moving body according to claim 1, wherein

said driver includes a pair of driving wheels drivable independent from each other;

wherein said driver rotates said pair of driving wheels in mutually opposite directions such that the end portion of said moving body which has touched said object is away from said object after said sensor detects touching.

4. The apparatus for positioning the moving body according to claim 2, wherein

said driver includes a pair of driving wheels drivable independent from each other;

wherein said driver rotates said pair of driving wheels in mutually opposite directions such that the end portion of said moving body which has touched said object is away from said object after said sensor detects touching.

5. The apparatus for positioning a moving body according to claim 1,

wherein the driver stops driving said moving body when the amount of driving performed by said driver attains at least a prescribed amount.

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:

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.

12. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 6,

wherein the step of rotating said movable body to one of left and right directions comprises simultaneously rotating two driving devices contained in said movable body in opposite directions;

and

wherein the step of rotating said movable body to the other one of said left and right directions comprises simultaneously rotating said two driving devices contained in said movable body in opposite directions.

13. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 6, further comprising the step of:

moving said movable body against said object based on the determination of the attitude of said movable body with respect to the object.

14. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 6, further comprising the steps of:

rotating said movable body according to a predetermined relationship using the attitude of said movable body determined in said determining step, whereby said movable body is rotated in the same direction as in the step of rotating said movable body to one of left and right directions; and

moving said movable body against said object.

7. An autonomous running vehicle for autonomously running in a prescribed area having at least one wall surface comprising:

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.

8. The autonomous running vehicle according to claim 7, wherein said sensor is a touch type sensor for detecting touching with said at least one wall surface.

9. The autonomous running vehicle according to claim 7, wherein said positioning controller positions the attitude of said autonomous running vehicle when said autonomous running vehicle turns near the wall surface.

10. The autonomous running vehicle according to claim 9, wherein

said positioning controller positions, after said autonomous running vehicle turns near the wall surface, by moving backward the autonomous running vehicle until it touches the wall surface and thereafter by rotating the running vehicle.

11. The autonomous running vehicle according to claim 7, wherein

said autonomous running vehicle is a cleaning vehicle for cleaning a running surface by repeating straight running in a direction perpendicular to said wall surface.

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:

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.

16. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 15, wherein the step of rotating said movable body to one of left and right directions comprises simultaneously rotating two driving devices contained in said movable body in opposite directions;

and

wherein the step of rotating said movable body to the other one of said left and right directions comprises simultaneously rotating said two driving devices contained in said movable body in opposite directions.

17. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 15,

wherein the step of rotating said movable body to one of left and right directions comprises rotating only one driving device contained in said movable body;

and

wherein the step of rotating said movable body to the other one of said left and right directions comprises simultaneously rotating only one driving device contained in said movable body.

18. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 15 further comprising the step of:

moving said movable body against said object after the step of rotating said movable body to the other one of said left and right directions.

19. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 15 further comprising the step of:

moving said movable body until one of the movable body contacts said object and the movable body has moved at least a predetermined distance occurs,

wherein said step of moving said movable body is performed after said step of rotating said movable body to one of the left and right directions and before said step of rotating said movable body to the other one of said left and right directions.

20. The method of positioning a moving body which is freely movable and rotatable both in left and right directions of claim 19 further comprising the step of:

moving said movable body against said object after the step of rotating said movable body to the other one of said left and right directions.