Moving apparatus for efficiently moving on floor with obstacle

• US 6,574,536 B1
• Filed: 01/27/1997
• Issued: 06/03/2003
• Est. Priority Date: 01/29/1996
• Status: Expired due to Fees

• Current Assignee: Moneual Incorporated (Hong-Seok Park, MBA)
• Original Assignee: Minolta Corporation Limited (Konica Minolta Inc.)
• Inventors: Kawagoe, Nobukazu, Kawakami, Yuichi, Nakamura, Kyoko, Kinto, Yasuhisa
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/789,127
• Time in Patent Office: 2,318 Days
• Field of Search: 701/23, 701/24, 701/25, 701/26, 701/27, 701/117, 701/118, 701/301, 701/302, 318/587, 318/568.12, 318/580, 153/401, 153/19, 153/25, 15/491, 15/533, 15/98, 901/1, 901/2, 901/3, 180/167, 180/168, 180/279, 180/169
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• 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 1/027 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

A moving robot first moves straight in a first forward path. When encountering an obstacle such as shelf, the robot makes a U-turn to move straight in a backward path located with a prescribed distance away from the first forward path. When encountering another obstacle, the robot again makes a U-turn to move straight in a second forward path extending in the same direction as that of the first forward path but located with a distance away from the backward path. When the robot exceeding the point of the U-turn in the first forward path is detected during running in the second forward path, presence of a region where the robot has not run yet is recognized, and running in that region is carried out thereafter.

Claims

1. A moving apparatus for moving on a floor, covering an entire accessible surface of said floor, comprising:

running control means for controlling the moving apparatus to run along running lanes in a zigzag fashion by repeatedly carrying out control including the steps of;

detecting presence of an obstacle while running in a Y direction,

storing a Y coordinate of said detected obstacle, and

upon detection of said obstacle, stopping running in said Y direction, moving by a prescribed pitch in an X direction perpendicular to said Y direction, and thereafter running in a direction opposite to said Y direction; and

recognizing means for recognizing, when the moving apparatus travels in a current running lane in the Y direction beyond the previously stored Y coordinate of the obstacle, presence of a remaining running region between the current running lane and said obstacle and not yet covered by the moving apparatus.

2. The moving apparatus as recited in claim 1, further comprising:

remaining running region control means for controlling, when said recognizing means recognizes a remaining running region, the moving apparatus to run the recognized remaining running region.

3. The moving apparatus as recited in claim 2, further comprising:

measuring means for measuring a width of the remaining running region recognized by said recognizing means.

4. The moving apparatus as recited in claim 3, wherein

said remaining running region control means controls running in the remaining running region according to the width measured by said measuring means.

5. The moving apparatus as recited in claim 1, wherein

when said recognizing means recognizes presence of a remaining running region, running in the Y direction is continued, and when another obstacle to running is detected, running in the Y direction is stopped and running in the recognized remaining running region is carried out.

6. The moving apparatus as recited in claim 1, wherein

when said recognizing means recognizes presence of a remaining running region, running in the Y direction is continued, and after running a prescribed distance, said running in the Y direction is stopped to carry out running in the recognized remaining running region.

7. The moving apparatus as recited in claim 1, wherein

when said recognizing means recognizes a remaining running region, running in the Y direction is continued, and upon running beyond said obstacle, said running in the Y direction is stopped to carry out running in the recognized remaining running region.

8. A moving apparatus for moving on a floor, covering an entire accessible surface of said floor, comprising:

measuring means for measuring a distance up to a first obstacle existing in a first direction;

operation means for determining a predescribed pitch for the apparatus to move in the first direction according to the distance measured by said measuring means; and

running control means for controlling the moving apparatus to run along running lanes in a zigzag fashion, whereby the moving apparatus repeatedly,

runs in one of a plurality of lanes in a second direction,

moves the predescribed in the first direction perpendicular to said second direction, and

thereafter runs in one of a plurality of lanes in a third direction, opposite to said second direction.

storing a Y coordinate of the obstacle; and

upon running in a current one of the plurality of lanes in the Y direction beyond the Y coordinate of the obstacle, recognizing presence of a remaining running region between the current running lane and the obstacle not yet covered by the moving apparatus.

9. The moving apparatus as recited in claim 8, wherein said measuring means periodically measures the distance up to the first obstacle, and said running control means controls the zigzag running a predescribed pitch determined by said operation means based on a minimum value of the distance periodically measured by said measuring means.

10. The moving apparatus as recited in claim 9, wherein, while running in a final lane along the first obstacle, if the moving apparatus detects a presence of a remaining region between said final lane and a second obstacle not yet covered by the moving apparatus, the running in said final lane is interrupted to carry out running in the remaining region, and upon completing the running in the remaining region, the moving apparatus returns to complete the running in said final lane.

11. A method of moving a moving apparatus on a floor surface to cover an entire accessible area of the floor surface, said method comprising the steps of:

running along running lanes in a zigzag fashion by beginning at a starting Y coordinates, and, repeatedly;

running along one of plurality of lanes in a Y direction until detecting an obstacle, moving by a predescribed pitch in an X direction perpendicular to the Y direction, and running in one of a plurality of lanes in a direction opposite to the Y direction until the starting Y coordinate is reached;

storing a Y coordinate of the obstacle; and

upon running in a current one of the plurality of lanes in the Y direction beyond the Y coordinate of the obstacle, recognizing presence of a remaining running region between the current running lane and the obstacle not yet covered by the moving apparatus.

12. The method as recited in claim 11, further comprising the step of:

running said remaining running region.

13. The method as recited in claim 12, further comprising the step of:

measuring a width of said remaining running region.

14. The method as recited in claim 13, wherein

said step of running said remaining running region carries out running based on the measured width of said remaining running region.

15. The method as recited in claim 11, further comprising the steps of:

further running the current running lane after recognizing presence of said remaining running region until detecting a second obstacle; and

upon detecting the second obstacle, stopping running the current running lane to run said recognized remaining running region.

16. The method as recited in claim 11, further comprising the steps of:

further running the current running lane after recognizing presence of said remaining running region; and

after running a predescribed distance in the current running lane, stopping running the current running lane to run said recognized remaining running region.

17. The method as recited in claim 11, further comprising the steps of:

further running the current running lane after recognizing presence of said remaining running region;

detecting disappearance of said obstacle in a lateral direction;

after detecting disappearance of said obstacle, stopping running the current running lane to run said recognized remaining running region.

18. The method as recited in claim 17, further comprising the step of:

recognizing presence of a region where the moving apparatus has not run yet in a place where said obstacle has disappeared.

19. The method as recited in claim 18, further comprising the step of:

running said region where said moving apparatus has not run yet, after running said remaining running region.

20. A method of moving a moving apparatus on a floor surface to cover an entire accessible area of the floor surface, said method comprising the steps of:

measuring a distance up to an obstacle in an X direction;

determining a predescribed pitch for the apparatus to move in the X direction based on said measured distance; and

running along running lanes in a zigzag fashion by beginning at a starting coordinate in a Y direction, and, repeatedly;

running along one of plurality of lanes in the Y direction, moving by the predescribed pitch in the X direction perpendicular to the Y direction, and running in one of a plurality of lanes in a direction opposite to the Y direction until the starting coordinate in the Y direction is reached.

21. The method as recited in claim 20, wherein said measuring comprises periodically measuring, while running, the distance up to the obstacle, and said determining comprises performing an operation to determine said predescribed pitch based on a minimum value of said periodically measured distance.

22. The method as recited in claim 20, further comprising the steps of:

recognizing a presence of a remaining region where said moving apparatus has not run yet while running in a lane along said obstacle; and

upon recognizing the presence of said remaining region stopping running in the lane along said obstacle to run said remaining region.

23. The method as recited in claim 22, further comprising the step of, upon completing the running in the remaining region, returning to complete the running in the lane along said obstacle.

24. A moving apparatus for moving on a floor, covering an entire accessible surface of said floor, comprising:

measuring means for periodically measuring a distance up to an obstacle existing in a first direction;

operation means

for determining a predescribed pitch for the apparatus to move in the first direction according to the distance measured by said measuring means, and

for modifying the predescribed pitch according to a minimum value of the distance measured by said measuring means;

running control means for controlling the moving apparatus to run along running lanes in a zigzag fashion, whereby the moving apparatus repeatedly, runs in one of a plurality of lanes in a second direction, moves the predescribed pitch in the first direction perpendicular to said second direction, and thereafter runs in one of a plurality of lanes in a third direction, opposite to said second direction; and

recognizing means for recognizing, while running in a final lane along the obstacle corresponding to the minimum value of the distance measured by the measuring means, presence of a remaining running region between the final lane and a second obstacle and not yet covered by the moving apparatus.

25. The moving apparatus as recited in claim 24, wherein, when the recognizing means recognizes the presence of a remaining running region, the running control means interrupts the running in the final lane and controls the moving apparatus to perform running in the remaining running region, and then returns the moving apparatus to the final lane to continue running therein.

26. A method of moving a moving apparatus on a floor surface to cover an entire accessible area of the floor surface, said method comprising the steps of:

periodically measuring a distance up to an obstacle in an X direction;

determining a predescribed pitch for the apparatus to move in X direction based on the measured distance;

modifying said predescribed pitch based on a minimum value of said measured distance;

running along running lanes in a zigzag fashion by beginning at a starting coordinate in a Y direction, and, repeatedly, running along one of plurality of lanes in the Y direction, moving by the predescribed pitch in the X direction perpendicular to the Y direction, and running in one of a plurality of lanes in a direction opposite to the Y direction until the starting Y coordinate is reached; and

while running in a final lane along the obstacle corresponding to the minimum value of the measured distance, recognizing presence of a region between the final lane and a second obstacle where the moving apparatus has not run yet.

27. The method of claim 26, further comprising the step of, upon recognizing the presence of a region where the moving apparatus has not run yet, stopping running the final lane to run the recognized region.