Autonomous vehicle with an easily set work area and easily switched mode

• US 6,119,057 A
• Filed: 03/20/1998
• Issued: 09/12/2000
• Est. Priority Date: 03/21/1997
• Status: Expired due to Term

• Current Assignee: Moneual Incorporated (Hong-Seok Park, MBA)
• Original Assignee: Minolta Corporation Limited (Konica Minolta Inc.)
• Inventors: Kawagoe, Nobukazu
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US09/044,843
• Time in Patent Office: 907 Days
• Field of Search: 701/23, 701/25, 701/26, 701/300, 180/169, 180/167, 180/168, 318/568.12, 318/568.17, 318/568.16, 901/1, 395/80, 395/82, 395/88, 15/319, 15/320, 15/340.1, 15/340.3
• US Class Current: 701/23
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• 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 1/0272 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 which permits a work area to be set without requiring the operator to input a numerical value includes a body, a travel unit for moving said body, a distance measurement unit for measuring the distance from the body to a wall, and a travel control unit for determining a work area depending upon the distance output from the distance measurement unit at the start of operation and controlling the travel unit to travel the body within the determined work area. Note that a method of controlling the traveling of such an autonomous vehicle is claimed as well.

Claims

1. An autonomous vehicle autonomously traveling in a work area for operation, comprising:

a body;

a travel unit for moving said vehicle;

a distance measurement unit for measuring the distance from said body to a wall; and

a travel control unit for controlling said travel unit to determine said work area depending upon said distance output from said distance measurement unit at the start of operation and to move said body within said determined work area.

2. The autonomous vehicle as recited in claim 1, wherein

said travel control unit includes,

a travel control method selecting unit for selecting one of a plurality of travel control methods depending upon said distance from said body to said wall output from said distance measurement unit at the start of operation, and

a control unit for controlling said travel unit such that said body travels according to the travel control method selected by said travel control method selecting unit.

3. The autonomous vehicle as recited in claim 2, wherein

said plurality of travel control methods include,

a first travel control method to control said body to travel within said work area separated from said wall by said distance output from said distance measurement unit at the start of operation, and

a second travel control method to control said body to travel at the start of operation such that said distance from said body to said wall is equal to a first prescribed value and to control said body to travel within said work area separated from said wall by said first prescribed value, and

said travel control method selecting unit includes a unit for selecting said first travel control method if said distance from said body to said wall output from said distance measurement unit at the start of operation is larger than a second prescribed value, and said second travel control method if said distance from said body to said wall output from said distance measurement unit at the start of operation is smaller than said second prescribed value.

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

said second prescribed value is larger than said first prescribed value.

5. The autonomous vehicle as recited in claim 1, wherein

said operation is a waxing operation.

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

said travel control unit includes,

a travel control method selecting unit for selecting one of a plurality of travel control methods depending upon said distance from said body to said wall output from said distance measurement unit at the start of operation, and

a control unit for controlling said travel unit so that said body travels according to the travel control method selected by said travel control method selecting unit.

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

said plurality of travel control methods include,

a first travel control method to control said body to travel within said work area separated from said wall by said distance output from said distance measurement unit at the start of operation, and

a second travel control method to control said body to travel at the start of operation such that said distance from said body to said wall is equal to a first prescribed value and to control said body to travel within said work area separated from said wall by said first prescribed value, and

said travel control method selecting unit includes a unit for selecting said first travel control method if said distance from said body to said wall output from said distance measurement unit at the start of operation is larger than a second prescribed value, and said second travel control method if said distance from said body to said wall output from said distance measurement unit at the start of operation is smaller than said second prescribed value.

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

said second prescribed value is larger than said first prescribed value.

9. An autonomous vehicle autonomously traveling within a cleaning work area for cleaning, comprising:

a body;

a travel unit for moving said body;

a distance measurement unit for measuring the distance from said body to a wall;

a cleaning working area setting unit for setting said cleaning work area depending upon said distance output from said distance measurement unit at the start of cleaning operation; and

a travel control unit for controlling said travel unit to control said body to travel within said cleaning work area set by said cleaning work area setting unit for cleaning.

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

said cleaning work area setting unit includes a first unit for selecting one of a plurality of cleaning work areas depending upon said distance from said body to said wall output from said distance measurement unit at the start of cleaning operation.

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

said plurality of cleaning work areas include,

a first cleaning work area separated from said wall by said distance output from said distance measurement unit at the start of cleaning operation, and

a second cleaning work area separated from said wall by a first prescribed value, and

said first unit selects said first cleaning work area if said distance from said body to said wall output from said distance measurement unit at the start of cleaning operation is larger than a second prescribed value, and said second cleaning work area if said distance from said body to said wall output from said distance measurement unit at the start of cleaning operation is smaller than said second prescribed value.

12. The autonomous vehicle as recited in claim 11, wherein

said second prescribed value is larger than said first prescribed value.

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

said cleaning operation is a waxing operation.

14. A method of controlling the traveling of an autonomous vehicle, comprising:

a first step of measuring the distance from said autonomous vehicle to an obstacle;

a second step of comparing said distance measured in said first step and a first prescribed distance;

a third step of controlling said autonomous vehicle to travel such that the distance from said autonomous vehicle to said obstacle is equal to said distance measured in said first step, if said distance measured in said first step is larger than said first prescribed distance, and

a fourth step of controlling said autonomous vehicle to travel such that said distance from said autonomous vehicle to said obstacle is equal to a second prescribed distance smaller than said first prescribed distance, if said distance measured in said first step is smaller than said first prescribed distance.

15. A method of controlling the traveling of an autonomous vehicle, comprising:

a first step of measuring the distance from said autonomous vehicle to an obstacle;

a second step of comparing said distance measured in said first step and a first prescribed distance;

a third step of controlling said autonomous vehicle to travel within a work area separated from said obstacle by said distance measured in said first step, if said distance measured in said first step is larger than said first prescribed distance; and

a fourth step of controlling said autonomous vehicle to travel within said work area separated from said obstacle by a second prescribed distance smaller than said first prescribed distance, if said distance measured in said first step is smaller than said first prescribed distance.