JP2007193538A5 - - Google Patents

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Publication number
JP2007193538A5
JP2007193538A5 JP2006010480A JP2006010480A JP2007193538A5 JP 2007193538 A5 JP2007193538 A5 JP 2007193538A5 JP 2006010480 A JP2006010480 A JP 2006010480A JP 2006010480 A JP2006010480 A JP 2006010480A JP 2007193538 A5 JP2007193538 A5 JP 2007193538A5
Authority
JP
Japan
Prior art keywords
light emitting
obstacle detection
unit
detection unit
vertical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2006010480A
Other languages
Japanese (ja)
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JP2007193538A (en
Filing date
Publication date
Application filed filed Critical
Priority to JP2006010480A priority Critical patent/JP2007193538A/en
Priority claimed from JP2006010480A external-priority patent/JP2007193538A/en
Priority to PCT/JP2006/324654 priority patent/WO2007083459A1/en
Publication of JP2007193538A publication Critical patent/JP2007193538A/en
Publication of JP2007193538A5 publication Critical patent/JP2007193538A5/ja
Pending legal-status Critical Current

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Claims (2)

床面を走行するための走行手段を有する本体に、走行する空間内の障害物を検出する複数の障害物検出部が設けられ、
前記各障害物検出部は、複数の発光素子を有する発光部と、少なくとも１つの受光素子を有する受光部とを備え、
複数の前記障害物検出部は、前記発光部と前記受光部とが横方向に配列された横置き障害物検出部と、前記発光部と前記受光部とが縦方向に配列された縦置き障害物検出部とが混在し、
前記横置き障害物検出部は、前記発光部を構成する複数の発光素子を床面に対して垂直方向に一列に配列され、
前記縦置き障害物検出部は、前記発光部を構成する複数の発光素子を床面に対して水平方向に一列に配列されたことを特徴とする自走式移動体。 The main body having a traveling means for traveling on the floor surface is provided with a plurality of obstacle detection units for detecting obstacles in the traveling space,
Each obstacle detection unit includes a light emitting unit having a plurality of light emitting elements, and a light receiving unit having at least one light receiving element,
The plurality of obstacle detection units include a horizontal obstacle detection unit in which the light emitting unit and the light receiving unit are arranged in a horizontal direction, and a vertical obstacle in which the light emitting unit and the light receiving unit are arranged in a vertical direction. The object detector is mixed,
The lateral obstacle detection unit is arranged in a row in a direction perpendicular to the floor surface, a plurality of light emitting elements constituting the light emitting unit,
The vertical obstacle detection unit is a self-propelled movable body in which a plurality of light emitting elements constituting the light emitting unit are arranged in a row in a horizontal direction with respect to a floor surface . 横置き障害物検出部を、縦置き障害物検出部よりも下側に配置されたことを特徴とする請求項１に記載の自走式移動体。 The self-propelled mobile body according to claim 1 , wherein the horizontal obstacle detection unit is disposed below the vertical obstacle detection unit .
JP2006010480A 2006-01-18 2006-01-18 Self-running traveling object Pending JP2007193538A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2006010480A JP2007193538A (en) 2006-01-18 2006-01-18 Self-running traveling object
PCT/JP2006/324654 WO2007083459A1 (en) 2006-01-18 2006-12-11 Self-propelled mobile body

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006010480A JP2007193538A (en) 2006-01-18 2006-01-18 Self-running traveling object

Publications (2)

Publication Number Publication Date
JP2007193538A JP2007193538A (en) 2007-08-02
JP2007193538A5 true JP2007193538A5 (en) 2008-01-10

Family

ID=38287416

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006010480A Pending JP2007193538A (en) 2006-01-18 2006-01-18 Self-running traveling object

Country Status (2)

Country Link
JP (1) JP2007193538A (en)
WO (1) WO2007083459A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5761152B2 (en) * 2011-10-17 2015-08-12 日本精工株式会社 Traveling device
US9020641B2 (en) * 2012-06-07 2015-04-28 Samsung Electronics Co., Ltd. Obstacle sensing module and cleaning robot including the same
GB2529846B (en) 2014-09-03 2019-02-20 Dyson Technology Ltd Illumination Control of a Vision System for a Mobile Robot
GB2529847B (en) 2014-09-03 2018-12-19 Dyson Technology Ltd A mobile Robot with Independently Adjustable Light Sources
GB2529848B (en) * 2014-09-03 2018-12-19 Dyson Technology Ltd A mobile robot
JP6626723B2 (en) * 2016-01-29 2019-12-25 日立グローバルライフソリューションズ株式会社 A moving object that moves on the floor
EP3829824A4 (en) * 2018-08-01 2022-06-15 SharkNinja Operating LLC Robotic vacuum cleaner
EP3966653A1 (en) * 2019-05-09 2022-03-16 Aktiebolaget Electrolux Detecting objects using a line array
SE544561C2 (en) 2020-05-08 2022-07-19 Husqvarna Ab An outdoor robotic work tool comprising an environmental detection system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07229724A (en) * 1994-02-22 1995-08-29 Nikon Corp Device for recognizing difference in level
JP3224711B2 (en) * 1994-11-22 2001-11-05 富士通株式会社 Distance measuring device
JP2004237075A (en) * 2003-02-06 2004-08-26 Samsung Kwangju Electronics Co Ltd Robot cleaner system provided with external charger and connection method for robot cleaner to external charger
JP2005241340A (en) * 2004-02-25 2005-09-08 Sharp Corp Multi-range finding device

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