JP2006517312A - 自律機械 - Google Patents
自律機械 Download PDFInfo
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- JP2006517312A JP2006517312A JP2005518363A JP2005518363A JP2006517312A JP 2006517312 A JP2006517312 A JP 2006517312A JP 2005518363 A JP2005518363 A JP 2005518363A JP 2005518363 A JP2005518363 A JP 2005518363A JP 2006517312 A JP2006517312 A JP 2006517312A
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- 238000000034 method Methods 0.000 claims description 48
- 238000005259 measurement Methods 0.000 claims description 15
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Power Engineering (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Soil Working Implements (AREA)
- Electric Suction Cleaners (AREA)
- Catching Or Destruction (AREA)
- Threshing Machine Elements (AREA)
- Massaging Devices (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
Abstract
Description
12 本体(支持シャシー)
14 分離物質収集装置
15 被駆動輪
16 牽引モータ
18 距離測定車輪
20〜26 センサ
30 センサ
40 クリーナヘッド
45 ブラシバー
48 モータ
50 吸引ファン
52 吸引モータ
60 ボタン、スイッチ
65 表示ランプ
70 ピンチローラ
71 ケーブルリール
72 モータ
73 シャフト
74 振子
75 開口部
80 マイクロプロセッサ
82 不揮発性メモリ
84 メモリ
95 電力ケーブル
98 マーカ
301〜304 部屋の壁
305〜308 部屋の中に置かれた物体
310 主電力ソケット
320 機械によって横切られる経路
331,332 経路
342,343 経路
350,360 障害物
365 経路
501,502,503,511 境界部分
Claims (26)
- 自律機械を作業区域の自由表面の実質的に全てを横切るようにする方式で、作業区域の方々に自律機械をナビゲートするための制御システムであって、機械に作業区域の境界を追従させ、複数の移動を実施させるように構成されており、前記移動の各々は、機械が作業区域の境界から境界に対してある角度で外側へ移動して、境界へ再び戻ることを含み、機械は各移動の間に作業区域の境界に沿って移動し、かつ機械が実質的に作業区域の全境界を追従しながらこれらの移動を繰り返すことを含む制御システム。
- 移動中に外側への行程および戻り行程が、実質的に同じである経路に沿っている請求項1に記載の制御システム。
- 前記機械を戻り行程中に逆転させる請求項2に記載の制御システム。
- 移動中、外側への行程および戻り行程が、互いに隣接または部分的に重なり合った経路に沿っている請求項1に記載の制御システム。
- 重なり合いの量を使用者が制御することができる請求項4に記載の制御システム。
- 移動中、外側への行程が最大所定距離にわたる請求項1ないし請求項5のいずれか一項に記載の制御システム。
- 外側への行程が、(a)障害物に到達した場合および(b)所定の距離だけ移動した場合の最短距離にわたる請求項1ないし請求項6のいずれか一項に記載の制御システム。
- 各移動が、この移動が開始される境界の部分に実質的に直角をなす請求項1ないし請求項7のいずれか一項に記載の制御システム。
- 各移動がベースライン方向に実質的に直角をなしており、ベースライン方向は通常境界と整列しており、ベースライン方向は、現在のベースライン方向と境界の次に続く部分の方向との間の角度差が所定の量より大きいときには変更される請求項1ないし請求項7のいずれか一項に記載の制御システム。
- 移動の外側への行程が、以前の移動の戻り行程に隣接するかまたは部分的にこれと重なり合っている経路を追従する請求項1ないし請求項9のいずれか一項に記載の制御システム。
- 機械が境界上の出発点に戻るまで、機械を区域の境界に追従させるように構成された請求項1ないし請求項10のいずれか一項に記載の制御システム。
- 請求項1ないし請求項11のいずれか一項に記載の制御システムを含む自律機械。
- 出発点に位置決めされるべき位置マーカと、この位置マーカを検出するための検出器とをさらに含み、前記制御システムは位置マーカを検出することによって出発点を認識するよう構成されている請求項12に記載の自律機械。
- 機械には電力ケーブルを介して電力が供給され、位置マーカを電力ケーブルの上に位置付けることができる請求項13に記載の自律機械。
- 前記位置マーカが磁性体であり、機械の上の検出器が磁気位置マーカに対して応答する請求項13または請求項14に記載の自律機械。
- 機械が外部電源によって電力を供給され、機械は、この機械を外部電源に接続するための一定長の電力ケーブルを格納している請求項12ないし請求項15のいずれか一項に記載の自律機械。
- 各移動中に、機械は、境界から外側への行程時には電力ケーブルを繰り出し、戻り行程時には電力ケーブルを巻き取るように構成された請求項16に記載の自律機械。
- 戻り行程時には、機械は外側への行程時に置かれたケーブルをたどる請求項16または請求項17に記載の自律機械。
- 戻り行程時に、機械は距離測定情報を使用して境界へ向かう請求項16または請求項17に記載の自律機械。
- 前記制御システムは、機械が電力ケーブルをすべて使い尽くした場合に、機械が作業区域の境界を追従することを停止させるよう構成されている請求項16ないし請求項19のいずれか一項に記載の自律機械。
- 電力ケーブルの全てが機械から繰り出され、機械はまだ作業区域を完了していない場合には、制御システムは作業区域の出発位置に戻って、出発位置から反対方向に境界のまわりを移動し始めるよう構成された請求項20に記載の自律機械。
- 機械が出発位置から反対方向に境界のまわりを移動するとき、制御システムは機械が境界全体のまわりを移動してしまった時点を検出するよう構成された請求項21に記載の自律機械。
- 制御システムが、作業区域における通った位置のマップを構築して、機械が前記マップを使用して境界全体のまわりを移動してしまったことを認識する請求項22に記載の自律機械。
- 自律機械を作業区域の自由表面の実質的に全てを横切るように、作業区域の方々で自律機械を作動させるための方法であって、機械に作業区域の境界を追従させて複数の移動を実施させることを含み、各移動は、機械が作業区域の境界から境界に対してある角度で外側へ移動すること、および境界へ再び戻ることを含み、機械は各移動の間に作業区域の境界に沿って移動し、機械が実質的に作業区域の全境界を追従しながらこれらの移動を繰り返すようにした自律機械を作動させるための方法。
- 自律機械を作業区域の自由表面の実質的に全てを横切るように、作業区域の方々における自律機械の移動を制御するためのソフトウェアであって、機械に作業区域の境界を追従させて複数の移動を実施させるよう構築されており、各移動は、機械が作業区域の境界から境界に対してある角度で外側へ移動すること、および境界へ再び戻ることを含み、機械は各移動の間に作業区域の境界に沿って移動し、機械が実質的に作業区域の全境界を追従しながらこれらの移動を繰り返すようにしたソフトウェア。
- 添付図面に示された実施形態のいずれか一つを参照して本明細書に説明されたような、自律機械、自律機械を作動させるための方法、自律機械のための制御システム、または自律機械を実質的に制御するためのソフトウェア。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0303368A GB2398394B (en) | 2003-02-14 | 2003-02-14 | An autonomous machine |
PCT/GB2004/000604 WO2004072752A1 (en) | 2003-02-14 | 2004-02-13 | An autonomous machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006517312A true JP2006517312A (ja) | 2006-07-20 |
JP4542044B2 JP4542044B2 (ja) | 2010-09-08 |
Family
ID=9952986
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005518361A Ceased JP2006516770A (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
JP2005518363A Expired - Fee Related JP4542044B2 (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
JP2005518362A Expired - Fee Related JP4231052B2 (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005518361A Ceased JP2006516770A (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005518362A Expired - Fee Related JP4231052B2 (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
Country Status (7)
Country | Link |
---|---|
US (3) | US20060229765A1 (ja) |
EP (3) | EP1593011B1 (ja) |
JP (3) | JP2006516770A (ja) |
AT (1) | ATE405873T1 (ja) |
DE (1) | DE602004015936D1 (ja) |
GB (1) | GB2398394B (ja) |
WO (3) | WO2004072752A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012005401A1 (ko) * | 2010-07-06 | 2012-01-12 | 엘지전자 주식회사 | 자동 청소기의 제어방법 |
WO2022114051A1 (ja) * | 2020-11-27 | 2022-06-02 | 株式会社クボタ | 作業機および作業走行システム |
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WO2004072752A1 (en) | 2004-08-26 |
WO2004072750A1 (en) | 2004-08-26 |
ATE405873T1 (de) | 2008-09-15 |
JP2006516771A (ja) | 2006-07-06 |
JP4231052B2 (ja) | 2009-02-25 |
EP1593012B1 (en) | 2012-12-12 |
US20060161318A1 (en) | 2006-07-20 |
GB2398394A (en) | 2004-08-18 |
US20060150361A1 (en) | 2006-07-13 |
EP1593013A1 (en) | 2005-11-09 |
EP1593012A1 (en) | 2005-11-09 |
EP1593011A1 (en) | 2005-11-09 |
US20060229765A1 (en) | 2006-10-12 |
GB2398394B (en) | 2006-05-17 |
US7873437B2 (en) | 2011-01-18 |
WO2004072751A1 (en) | 2004-08-26 |
EP1593011B1 (en) | 2008-08-20 |
JP4542044B2 (ja) | 2010-09-08 |
GB0303368D0 (en) | 2003-03-19 |
JP2006516770A (ja) | 2006-07-06 |
DE602004015936D1 (de) | 2008-10-02 |
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