Self-propelled working robot having horizontally movable work assembly retracting in different speed based on contact sensor input on the assembly

• US 7,660,650 B2
• Filed: 10/05/2004
• Issued: 02/09/2010
• Est. Priority Date: 10/08/2003
• Status: Expired due to Fees

• Current Assignee: Figla Co. Ltd.
• Original Assignee: Figla Co. Ltd.
• Inventors: Kawagoe, Nobukazu, Oyokota, Shiegeru
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): Kong; Sze-Hon
• Application Number:
  US10/572,729
• Publication Number:
  US 20070032904A1
• Time in Patent Office: 1,953 Days
• Field of Search: None
• US Class Current: 701/23
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

The present invention relates to a self-propelled working robot, including a first distance sensor 4a and a second distance sensor 4b (4c) for measuring the distance to an obstacle W in front of the robot. The robot includes first determination means for comparing a first measured distance Dc to the obstacle obtained by the first distance sensor 4a with a predetermined first threshold value to determine the proximity to the obstacle W, second determination means for comparing a second measured distance Dr (D_L) to the obstacle W obtained by the second distance sensor 4b (4c) with a predetermined second threshold value to determine the proximity to the obstacle, and changing means for changing the first or second threshold value based on information regarding an inclination angle of the obstacle W obtained from the first and second measured distances.

Claims

1. A self-propelled working robot comprising:

a traveling assembly having a wheel rotating on a floor surface;

a working assembly for doing work on the floor surface, wherein the working assembly is attached to the traveling assembly so that the working assembly is movable in a left-right direction with respect to the traveling assembly;

a moving mechanism for moving the working assembly with respect to the traveling assembly so as to change a positional relationship between the traveling assembly and the working assembly;

a first contact sensor provided in the working assembly for detecting a contact of the obstacle with a front surface of the working assembly;

a second contact sensor provided in the working assembly for detecting a contact of the obstacle with a side surface of the working assembly; and

means for controlling a travel of the traveling assembly, for controlling the moving mechanism to move the working assembly left and right at a first retraction speed based on a detection signal from the first contact sensor, and for controlling the moving mechanism to move the working assembly left and right at a second retraction speed, being lower than the first retraction speed, based on a detection signal from the second contact sensor.

2. A self-propelled working robot according to claim 1, wherein the control means further comprises means for stopping the travel when a time for which a contact is being detected by the first contact sensor is longer than a predetermined time (H).

3. A self-propelled working robot according to claim 2, wherein the predetermined time (H) is set to a small value when a traveling speed is high, and is set to a large value when the traveling speed is low.