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Publication number
JP2003167628A5
JP2003167628A5 JP2001402163A JP2001402163A JP2003167628A5 JP 2003167628 A5 JP2003167628 A5 JP 2003167628A5 JP 2001402163 A JP2001402163 A JP 2001402163A JP 2001402163 A JP2001402163 A JP 2001402163A JP 2003167628 A5 JP2003167628 A5 JP 2003167628A5
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JP
Japan
Prior art keywords
distance
main body
work vehicle
measuring means
vehicle according
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Pending
Application number
JP2001402163A
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Japanese (ja)
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JP2003167628A (en
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Priority to JP2001402163A priority Critical patent/JP2003167628A/en
Priority claimed from JP2001402163A external-priority patent/JP2003167628A/en
Publication of JP2003167628A publication Critical patent/JP2003167628A/en
Publication of JP2003167628A5 publication Critical patent/JP2003167628A5/ja
Pending legal-status Critical Current

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Claims (4)

本体を移動させる駆動手段と、
障害物までの距離を計測すると共に計測可能な最小距離Ｌ min よりも内側の不感知範囲を有する測距手段と、
前記測距手段で計測した測定距離と、障害物との衝突を防止するために減速ないし停止すべきか否かの判別の基準となる判別距離Ｌ i に基づいて、前記駆動手段を制御することで前記本体の走行制御を行う走行制御手段とからなり、
前記判別距離Ｌ i 、前記最小距離Ｌ min および前記測距手段の設置位置から本体周囲までの距離Ｄが下記の (1) 式の関係となるように設定されていることを特徴とする自律走行作業車。
Ｄ＜Ｌ min ＜Ｌ i … (1) 。Driving means for moving the main body;
A distance measuring means for measuring a distance to an obstacle and having a non-sensing range inside a minimum measurable distance L min ;
The measurement distance measured by the distance measuring means, on the basis of the first determined distance L i which is a reference deceleration to whether or not to suspend judgment in order to prevent a collision with an obstacle, by controlling the driving means It comprises travel control means for performing travel control of the main body,
Autonomous traveling characterized in that the discrimination distance L i , the minimum distance L min, and the distance D from the installation position of the distance measuring means to the periphery of the main body are set to satisfy the following relationship (1) Work vehicle .
D <L min <L i ... (1). 前記測距手段の設置位置が本体の内部で移動可能であることを特徴とする請求項１に記載の自律走行作業車。  2. The autonomous traveling work vehicle according to claim 1, wherein an installation position of the distance measuring means is movable inside the main body. 前記判別距離Ｌ i を記憶する記憶手段と、外部から前記判別距離Ｌ i を変更する入力手段とを有することを特徴とする請求項１もしくは２に記載の自律走行作業車。It said storage means for storing the first determined distance L i, autonomous work vehicle according to claim 1 or 2, characterized in that it has an input means for changing the first determined distance L i from the outside. 前方左右に比較的長距離を測定する超音波測距センサーを設け、その間の位置に、前記超音波センサーの死角を補うべく、比較的近距離を測定する光学式測距センサーを設けた、請求項１乃至請求項３のいずれかに記載の自律走行作業車。An ultrasonic ranging sensor that measures a relatively long distance is provided on the front left and right, and an optical ranging sensor that measures a relatively short distance is provided at a position between them to compensate for the blind spot of the ultrasonic sensor. The autonomous traveling work vehicle according to any one of claims 1 to 3.
JP2001402163A 2001-11-28 2001-11-28 Autonomous traveling service car Pending JP2003167628A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2001402163A JP2003167628A (en) 2001-11-28 2001-11-28 Autonomous traveling service car

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2001402163A JP2003167628A (en) 2001-11-28 2001-11-28 Autonomous traveling service car

Publications (2)

Publication Number Publication Date
JP2003167628A JP2003167628A (en) 2003-06-13
JP2003167628A5 true JP2003167628A5 (en) 2005-10-20

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2001402163A Pending JP2003167628A (en) 2001-11-28 2001-11-28 Autonomous traveling service car

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JP (1) JP2003167628A (en)

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US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US7720554B2 (en) 2004-03-29 2010-05-18 Evolution Robotics, Inc. Methods and apparatus for position estimation using reflected light sources
EP1776624A1 (en) 2004-06-24 2007-04-25 iRobot Corporation Programming and diagnostic tool for a mobile robot
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
ATE467164T1 (en) * 2005-01-20 2010-05-15 O M G S R L AUTOMATICALLY DRIVEN CAR FOR TRANSPORTING OBJECTS, PARTICULARLY ON GOLF COURSES
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
EP2298149B1 (en) 2005-02-18 2012-10-03 iRobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
KR101300493B1 (en) 2005-12-02 2013-09-02 아이로보트 코퍼레이션 Coverage robot mobility
EP1969438B1 (en) 2005-12-02 2009-09-09 iRobot Corporation Modular robot
EP2829939B1 (en) 2005-12-02 2019-11-13 iRobot Corporation Autonomous coverage robot navigation system
EP2544066B1 (en) 2005-12-02 2018-10-17 iRobot Corporation Robot system
WO2007137234A2 (en) 2006-05-19 2007-11-29 Irobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
KR101393196B1 (en) 2007-05-09 2014-05-08 아이로보트 코퍼레이션 Compact autonomous coverage robot
CN108378771B (en) 2010-02-16 2021-06-11 艾罗伯特公司 Vacuum cleaner brush
KR102121537B1 (en) * 2013-01-22 2020-06-10 한국전자통신연구원 Apparatus for measuring position of other apparatus and method for measuring of other apparatus
JP6155784B2 (en) * 2013-04-15 2017-07-05 三菱電機株式会社 Self-propelled vacuum cleaner
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WO2015159883A1 (en) * 2014-04-18 2015-10-22 株式会社豊田自動織機 Conveyance assistance device
JP6003942B2 (en) 2014-04-24 2016-10-05 トヨタ自動車株式会社 Operation restriction device and operation restriction method
US10620011B2 (en) 2016-11-10 2020-04-14 International Business Machines Corporation Autonomous vehicle routing
US11181618B2 (en) 2017-02-20 2021-11-23 Mitsubishi Electric Corporation Sensor data integration device, sensor data integration method and computer readable medium
JP6618225B1 (en) * 2019-02-27 2019-12-11 フラワー・ロボティクス株式会社 Obstacle detection device and obstacle detection method
CN110547732A (en) * 2019-08-16 2019-12-10 湖南格兰博智能科技有限责任公司 sweeper obstacle detection device and detection escaping method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8463438B2 (en) 2001-06-12 2013-06-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8838274B2 (en) 2001-06-12 2014-09-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8382906B2 (en) 2005-02-18 2013-02-26 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning

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