JP2003167628A5 - - Google Patents
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- 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
- Prior art date
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Claims (4)
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).
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
ID=19189977
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2001402163A Pending JP2003167628A (en) | 2001-11-28 | 2001-11-28 | Autonomous traveling service car |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2003167628A (en) |
Cited By (3)
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US8382906B2 (en) | 2005-02-18 | 2013-02-26 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
US8387193B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US8780342B2 (en) | 2004-03-29 | 2014-07-15 | Irobot Corporation | Methods and apparatus for position estimation using reflected light sources |
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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 |
US9008835B2 (en) | 2004-06-24 | 2015-04-14 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
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 |
AU2005325434B2 (en) * | 2005-01-20 | 2010-07-01 | O.M.G. S.R.L. | Automatically driven cart for transporting objects, in particular on golf courses |
US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
KR101300492B1 (en) | 2005-12-02 | 2013-09-02 | 아이로보트 코퍼레이션 | Coverage robot mobility |
ES2623920T3 (en) | 2005-12-02 | 2017-07-12 | Irobot Corporation | Robot system |
EP2270619B1 (en) | 2005-12-02 | 2013-05-08 | iRobot Corporation | Modular robot |
KR101099808B1 (en) | 2005-12-02 | 2011-12-27 | 아이로보트 코퍼레이션 | Robot system |
EP2548489B1 (en) | 2006-05-19 | 2016-03-09 | iRobot Corporation | Removing debris from cleaning robots |
US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
KR101339513B1 (en) | 2007-05-09 | 2013-12-10 | 아이로보트 코퍼레이션 | Autonomous coverage robot |
CN105147193B (en) | 2010-02-16 | 2018-06-12 | 艾罗伯特公司 | Vacuum 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 |
WO2015159883A1 (en) * | 2014-04-18 | 2015-10-22 | 株式会社豊田自動織機 | Conveyance assistance device |
JP5915690B2 (en) * | 2014-04-18 | 2016-05-11 | 株式会社豊田自動織機 | Transport assist 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 |
WO2018150591A1 (en) | 2017-02-20 | 2018-08-23 | 三菱電機株式会社 | Sensor data integration device, sensor data integration method, and sensor data integration program |
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 |
-
2001
- 2001-11-28 JP JP2001402163A patent/JP2003167628A/en active Pending
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8780342B2 (en) | 2004-03-29 | 2014-07-15 | Irobot Corporation | Methods and apparatus for position estimation using reflected light sources |
US8382906B2 (en) | 2005-02-18 | 2013-02-26 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
US8387193B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
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