Autonomous vehicle capable of traveling/stopping in parallel to wall and controlling method thereof

• US 6,038,501 A
• Filed: 02/26/1998
• Issued: 03/14/2000
• Est. Priority Date: 02/27/1997
• 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): Zanelli, Michael J.
• Application Number:
  US09/031,041
• Time in Patent Office: 747 Days
• Field of Search: 701/23, 701/217, 701/205, 701/300, 701/220, 318/587, 180/167, 180/168, 180/169, 901/1
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• 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

Abstract

An autonomous vehicle capable of traveling and stopping parallel to a wall includes right and left driving wheels receiving driving force to be driven independently, a dependent wheel for supporting the autonomous vehicle together with the driving wheels for a straightforward movement and a U-turn, a motor for driving the right and left driving wheels, a coupling mechanism for transmitting the rotation of the motor to the driving wheels, an encoder for detecting the rotation amount and velocity of the motor, a gyro sensor for detecting the direction of the autonomous vehicle, a distance measurement sensor for measuring the distance to a right or left object of interest, and a controller for controlling the autonomous vehicle through the motor and the driving wheels. The controller receives the output of the encoder, calculates a control value for the driving wheels based on the rotation amount and rotation velocity of the motor, and determines that the autonomous vehicle travels parallel to the wall if the ratios of a time period to turn the autonomous vehicle rightward and a time period to turn the vehicle leftward in a prescribed time period are equal based on the control value.

Claims

1. An autonomous vehicle, comprising:

a body;

direction detection means attached to said body for detecting the moving direction of said body;

driving means for moving said body; and

control means for controlling said driving means to move straightforward and/or turn said body,

said control means including first direction correction means receiving the output of said direction detection means for correcting the moving direction of said body after traveling based on the difference between the directions of said body before and after traveling.

2. The autonomous vehicle as recited in claim 1, further comprising distance detection means attached to said body for measuring the distance to a wall positioned facing a side of the body,

said control means further including parallel traveling control means receiving the output of said distance detection means for controlling said body to travel parallel to said wall.

3. The autonomous vehicle as recited in claim 2, further comprising distance measurement tracing determination means for determining that said body travels parallel to said wall for a prescribed period under the control of said parallel traveling control means,

said control means including:

average direction calculation means receiving the output of said direction detection means for obtaining the average direction of said body for a fixed time period after receiving a determination result that said body travels parallel to said wall from said distance measurement tracing determination means;

second direction correction means for correcting the direction of said body after traveling based on the difference between said average direction output from said average direction calculation means and the direction of said body after traveling output from said direction detection means, and

stop mode changing means for correcting the direction after traveling by said first direction correction means if said body stops traveling before the average direction of said body is obtained by said average direction calculation means and for correcting the direction after traveling by said second direction correction means if said body stops traveling after the average direction of said body is obtained by said average direction calculation means.

4. The autonomous vehicle as recited in claim 3, wherein

said distance measurement tracing determination means determines that said body travels parallel to said wall if the difference between the maximum and minimum values of the distance output from said distance detection means during a prescribed time period is within the range of prescribed values.

5. The autonomous vehicle as recited in claim 3, wherein

said distance measurement tracing determination means determines that said body travels parallel to said wall if the difference between the maximum and minimum values of the direction during traveling output from said direction detection means in a prescribed time period is within the range of prescribed values.

6. The autonomous vehicle as recited in claim 3, wherein

said control means further includes means for calculating a rightward or leftward moving direction control period during which a control signal to move said body rightward or leftward is output, and

said distance measurement tracing determination means determines that said body travels parallel to said wall, if the ratios of the rightward moving direction control period and the leftward moving direction control period in a prescribed time period are substantially equal.

7. The autonomous vehicle as recited in claim 3, wherein

said control means further includes third direction correction means for correcting the direction during traveling based on said average direction and the direction during traveling output from said direction detection means, after the average direction of said body is obtained by said average direction calculation means,

said stop mode changing means corrects the direction after traveling by said first direction correction means if said body stops traveling before the average direction of said body is obtained by said average direction calculation means, and corrects the direction after traveling by said second direction correction means if said body stops traveling after the average direction of the body is obtained by the average direction calculation means and before said third direction correction means starts correcting the direction during traveling, and the direction after traveling is not corrected if said body stops traveling thereafter.

8. The autonomous vehicle as recited in claim 2, further comprising distance measurement contact detection means attached to said body for measuring the distance to said wall in contact with said wall,

said distance detection means including distance non-contact detection means for measuring the distance to said wall in a non-contact state,

said control means including,

contact parallel traveling control means receiving the output of said distance contact detection means for controlling said body to travel parallel to said wall, and

means receiving the distance between said body and said wall before traveling output from said distance non-contact detection means for starting said body to travel from a position at the time by said parallel traveling control means and for starting said body to travel by said contact parallel traveling control means by moving said body until said distance contact detection means comes into contact with the wall if said distance is smaller than a prescribed value.

9. The autonomous vehicle as recited in claim 8, wherein

said control means further includes contact distance measurement tracing determination means for determining that said body travels parallel to said wall during a prescribed period by said contact parallel traveling control means, and

said contact distance measurement tracing determination means determines that the body travels parallel to the wall if the difference between the maximum and minimum values of the distance output from said distance contact detection means during a prescribed period in the past is within the range of prescribed values.

10. The autonomous vehicle as recited in claim 8, wherein

said control means further includes wall direction change detection means for detecting a change in the direction formed between the moving direction of said body and said wall based on an output received from said distance detection means, and

said parallel traveling control means responds to the output of said wall direction change detection means to resume control such that said body travels parallel to the wall by said parallel traveling control means.

11. An autonomous vehicle, comprising:

a body;

a driving wheel,

a gyro sensor attached to said body for detecting the moving direction of said body;

a motor for driving said driving wheel; and

a control unit for controlling said motor to move straightforward and/or turn said body,

said control unit correcting the direction of said body after traveling based on the difference between the directions before and after traveling based on an output received from said gyro sensor.

12. The autonomous vehicle as recited in claim 11, further comprising a distance detection sensor attached to said body for measuring the distance to a wall positioned facing a side of the body,

said control unit controlling said body to travel parallel to said wall based on an output received from said distance detection sensor.

13. The autonomous vehicle as recited in claim 11, comprising a distance detection contact sensor attached to said body for measuring the distance to said wall positioned facing a side of the body in contact with said wall, and

a distance detection non-contact sensor attached to said body for measuring the distance to said wall positioned facing the side of the body in a non-contact state to said wall,

said control unit controlling said body to travel parallel to said wall based on an output received from said distance detection contact sensor and said distance detection non-contact sensor.

14. A method of controlling an autonomous vehicle having a driving wheel to control a body to travel and turn in an arbitrary direction by controlling said driving wheel, comprising:

a step of direction detecting to detect the moving direction of said body before traveling;

determining that the moving direction of said body after traveling is different from the moving direction of said body before traveling; and

operating said driving wheel such that the moving direction of said body after traveling is in coincidence with the moving direction of said body before traveling by correcting the moving direction of the body by a prescribed amount if the moving direction after traveling is different from the moving direction before traveling.

15. The method of controlling an autonomous vehicle as recited in claim 14, further comprising the steps of:

measuring the distance between said body after traveling and a wall positioned facing a side of said body; and

a step of parallel traveling to operate said driving wheel such that said body travels parallel to said wall.

16. The method of controlling an autonomous vehicle as recited in claim 14, wherein

said parallel traveling step further includes a distance measurement tracing determination step of determining that said body travels parallel to said wall during a prescribed time period, said method further comprising the steps of:

in said distance measurement tracing determination step, calculating the average direction of said body for a fixed time period after receiving a determination result that said body travels parallel to said wall;

a second direction correction step of correcting the direction after traveling based on the difference between said average direction calculated in said average direction calculation step and the direction after traveling calculated in said direction detection step; and

a step of stop mode changing for correcting the direction after traveling by said first direction correction step if said body stops traveling before the average direction of said body is obtained in said average direction calculation step and correcting the direction after traveling by said second direction correction step if said body stops traveling after the average direction of said body is obtained in said average direction calculation step.

17. The method of controlling an autonomous vehicle as recited in claim 16, wherein

said distance measurement tracing determination step includes determining that said body travels parallel to said wall if the difference between the maximum and minimum values of the distance measured in said distance measurement step in a prescribed period is within the range of prescribed values.

18. The method of controlling an autonomous vehicle as recited in claim 16, wherein

said distance measurement tracing determination step includes determining that said body travels parallel to said wall if the difference between the maximum and minimum values of the direction during traveling detected in said direction detection step in a prescribed period is within the range of prescribed values.

19. The method of controlling an autonomous vehicle as recited in claim 16, further comprising calculating a rightward or leftward moving direction control period during which a control signal to move said body rightward or leftward is output, and

said distance measurement tracing determination step determining that said body travels parallel to said wall if the ratios of the rightward moving direction control period and the leftward moving direction control period output from said control means in a prescribed period are substantially equal.