JP4542044B2 - 自律機械 - Google Patents
自律機械 Download PDFInfo
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- JP4542044B2 JP4542044B2 JP2005518363A JP2005518363A JP4542044B2 JP 4542044 B2 JP4542044 B2 JP 4542044B2 JP 2005518363 A JP2005518363 A JP 2005518363A JP 2005518363 A JP2005518363 A JP 2005518363A JP 4542044 B2 JP4542044 B2 JP 4542044B2
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Images
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
-
- 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
-
- 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)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Massaging Devices (AREA)
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 (21)
- 自律機械を作業区域の、前記自律機械が自由に移動できる表面の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走行させるための制御システムであって、自律機械に作業区域の境界を追従させ、複数の動作を実施させるように構成されており、前記動作の各々は、自律機械が作業区域の境界から離れるように、この境界に対してある角度で移動して、境界へ再び戻ることを含み、自律機械は、まだ当該自律機械によって横切られていない作業区域の一部分側に向かって、各動作の間に作業区域の境界に沿って移動し、かつ自律機械が作業区域の全境界を追従しながらこれらの動作を繰り返すことを含み、移動中に作業区域の境界から離れるように移動する行程および、この境界へと戻る戻り行程が同じである経路に沿っている制御システム。
- 前記機械を戻り行程中に逆転させる請求項1に記載の制御システム。
- 移動中、作業区域の境界から離れるように移動する行程が最大所定距離にわたる請求項1または請求項2に記載の制御システム。
- 作業区域の境界から離れるように移動する行程が、(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3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4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4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6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7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8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9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9または請求項10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8ないし請求項11のいずれか一項に記載の自律機械。
- 各移動中に、機械は、作業区域の境界から離れるように移動する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12に記載の自律機械。
- 戻り行程時には、機械は作業区域の境界から離れるように移動する行程時に置かれたケーブルをたどる請求項12または請求項13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12または請求項13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12ないし請求項15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16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17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18に記載の自律機械。
- 自律機械を作業区域の、前記自律機械が自由に移動できる表面の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、自律機械に作業区域の境界を追従させて複数の動作を実施させることを含み、各動作は、自律機械が作業区域の境界から離れるように、この境界に対してある角度で移動すること、および境界へ再び戻ることを含み、自律機械は、まだ当該自律機械によって横切られていない作業区域の一部分側に向かって、各動作の間に作業区域の境界に沿って移動し、自律機械が作業区域の全境界を追従しながらこれらの動作を繰り返すようにし、移動中に作業区域の境界から離れるように移動する行程および、この境界へと戻る戻り行程が同じである経路に沿っている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、前記自律機械が自由に移動できる表面の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動作を制御するためのソフトウェアであって、自律機械に作業区域の境界を追従させて複数の動作を実施させるよう構築されており、各動作は、自律機械が作業区域の境界から離れるように、この境界に対してある角度で移動すること、および境界へ再び戻ることを含み、自律機械は、まだ当該自律機械によって横切られていない作業区域の一部分側に向かって、各動作の間に作業区域の境界に沿って移動し、自律機械が作業区域の全境界を追従しながらこれらの動作を繰り返すようにし、移動中に作業区域の境界から離れるように移動する行程および、この境界へと戻る戻り行程が同じである経路に沿っているソフトウェア。
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 JP2006517312A (ja) | 2006-07-20 |
JP4542044B2 true JP4542044B2 (ja) | 2010-09-08 |
Family
ID=9952986
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
JP2005518361A Ceased JP2006516770A (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005518362A Expired - Fee Related JP4231052B2 (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
JP2005518361A Ceased JP2006516770A (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
Country Status (7)
Country | Link |
---|---|
US (3) | US7873437B2 (ja) |
EP (3) | EP1593012B1 (ja) |
JP (3) | JP4542044B2 (ja) |
AT (1) | ATE405873T1 (ja) |
DE (1) | DE602004015936D1 (ja) |
GB (1) | GB2398394B (ja) |
WO (3) | WO2004072752A1 (ja) |
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- 2004-02-13 JP JP2005518362A patent/JP4231052B2/ja not_active Expired - Fee Related
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WO2004072750A1 (en) | 2004-08-26 |
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EP1593011B1 (en) | 2008-08-20 |
US7873437B2 (en) | 2011-01-18 |
GB0303368D0 (en) | 2003-03-19 |
EP1593012A1 (en) | 2005-11-09 |
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