JP2007034866A - 移動体の走行制御方法及び自走式掃除機 - Google Patents
移動体の走行制御方法及び自走式掃除機 Download PDFInfo
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Abstract
自走式掃除機において、容易に自律掃除領域を設定する。
【解決手段】
自走式掃除機9は、マーカ2が発する濃淡または色彩の信号を検出するセンサ10と、自身の回転角度を検出する回転角度センサ28と、障害物を検出する障害物センサ27と、これらセンサからの情報取り込みを制御するセンサ入出力制御部24を有する。マーカからのRFID情報を入力するリーダライタ30を通信制御部25が有する。障害物センサが検出した信号が、マーカからの信号か否かをタグ判定部26が判定する。センサの出力を予め記憶手段31に記憶されたデータと比較して、走行方向を方向認識部32が判断する。
【選択図】 図5
Description
ステップ206〜208において、自走式掃除機9を自身の中心回りに回転させても、2個の回転角度θs、θeが得られない、つまり明度変化がほとんどないときは、前方障害物センサ27aが検出した障害物は、仮想壁指標タグ1ではないと判断する(ステップ211)。
Claims (10)
- 境界を規定するマーカの信号を検出して移動体を走行させる移動体の走行制御方法において、マーカに対する移動体の向きの変化に応じて変化する信号を検出し、この検出信号を予め求めた移動体の角度情報と比較して移動体のマーカに対する向きを判定し、判定された移動体の角度に基づいて移動体の走行方向を制御することを特徴とする移動体の走行制御方法。
- 前記マーカにRFID発信手段を設け、このRFID発信手段からの信号によりマーカであることを移動体に認識させることを特徴とする請求項1に記載の移動体の走行制御方法。
- 前記マーカは、移動体がマーカと正対する位置からの回転角度により変化する濃淡または色彩の信号を発生するものであることを特徴とする請求項1に記載の移動体の走行制御方法。
- マーカが発する濃淡または色彩の信号を検出するセンサと、自身の回転角度を検出する回転角度センサと、障害物を検出する障害物センサと、これらセンサからの情報取り込みを制御するセンサ入出力制御部と、マーカからのRFID情報を入力するリーダライタを有する通信制御部と、前記障害物センサが検出した信号がマーカからの信号か否かを判定するタグ判定部と、前記センサの出力を予め記憶手段に記憶されたデータと比較して走行方向を判断する方向認識部とを備えたことを特徴とする自走式掃除機。
- 前記濃淡信号は、矩形状の板を左右方向に折りたたんだ形状に作成され、折りたたんだ板が交互に明度の高い色と明度の低い色に彩色されているマーカが発生する信号であることを特徴とする請求項4に記載の自走式掃除機。
- 床面上を水平方向に移動させる移動手段を備えた移動体の走行制御方法であって、移動体が検出する視野におけるパターンが移動体の向きに応じて変化する構造物を配置し、この構造物のパターンを移動体に認識させ、この変化するパターンに対応する移動体の視野の方向を記憶し、移動体が認識したパターンと記憶手段に記憶した視野の方向とから移動体の向きを定めることを特徴とする移動体の走行制御方法。
- 前記パターンが変化する構造体は、平板を多数回山形および谷形に交互に折り曲げた形に形成されており、折り曲げられた形の隣り合う面は互いに異なる方向を向いており、移動体の視野の方向に直交する面にこの構造体を射影したパターンに基づいて移動体の向きを定めることを特徴とする請求項6に記載の移動体の走行制御方法。
- 前記構造体のパターンを、構造体の表面の濃淡明度と輝度と色相の少なくともいずれかを用いて定めることを特徴とする請求項7に記載の移動体の走行制御方法。
- 前記構造体のパターンを定めた濃淡明度または輝度または色相を、閾値を用いてディスクリート化し、この閾値と前記射影したパターンから求めた濃淡明度または輝度または色相が合致するように前記移動体を移動させて、移動体の向きを定めることを特徴とする請求項8に記載の移動体の走行制御方法。
- 前記パターンが変化する構造体に取り付けた固体識別手段からの信号を移動体が検出可能であることを特徴とする請求項6ないし9のいずれか1項に記載の移動体の走行制御方法。
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