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Mobile robot and control method

A technology for moving robots and moving paths, used in non-electric variable control, control/regulation systems, program-controlled manipulators, etc.

Pending Publication Date: 2020-02-04
PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, the mobile robot of the conventional self-propelled vacuum cleaner has room for improvement in the setting of the moving path.

Method used

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  • Mobile robot and control method

Examples

Experimental program
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Embodiment approach 1

[0058] In this embodiment, the vacuum cleaner 1 will be described as a mobile robot that can move on a more appropriate movement path. In addition, the mobile robot can be applied to a mobile robot for various inspections, a transport robot for transporting articles, a communication robot for communicating with people, and the like in addition to the vacuum cleaner 1 . In addition, the moving path is also simply referred to as a path.

[0059] figure 1 as well as figure 2 It is a top view and a side view which schematically show the appearance of the vacuum cleaner 1 in this embodiment, respectively. The operation of the vacuum cleaner 1 will be described with reference to these figures. In addition, in the following description, it demonstrates using the XYZ coordinate axis|shaft shown in each figure. In addition, the positive direction of the Z axis is referred to as an upward direction.

[0060] The vacuum cleaner 1 automatically moves on the cleaning surface 9 in the...

Embodiment approach 2

[0152] In this embodiment, vacuum cleaner 1A which is a mobile robot which can move with a more appropriate movement route is demonstrated. Like the vacuum cleaner 1 of Embodiment 1, the cleaner of this embodiment generates a 2nd route, and further generates a 3rd route different from a 2nd route. And, select one path from the second path or the third path, and move along the selected path.

[0153] Vacuum cleaner 1A of this embodiment differs from vacuum cleaner 1 of Embodiment 1 in the structure of control circuit 19 . Hereinafter, the configuration of the control circuit 19A corresponding to the control circuit 19 of the first embodiment will be described in detail.

[0154] Figure 22 It is a block diagram showing in detail the function of the control circuit 19A of the vacuum cleaner 1A in this embodiment.

[0155] Such as Figure 22 As shown, the control circuit 19A includes an acquisition unit 21A, a determination unit 22 , a conversion unit 23 , a motor control uni...

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Abstract

The invention provides a mobile robot which can move along with a proper movement route. A cleaning device (1) includes: a range finding sensor (12); an acquisition unit (21) which acquires a map of an environment including object position information, and a first path where the cleaning device (1) is to move in the environment; an identification unit (22) which identifies a first path partial path; a converter (23) which converts the partial path into a differently-shaped path to generate a second path; and a motor controller (24) which causes the cleaning device to move along the second path. The identification unit (22) sets a region, on the map, where the range finding sensor can perform range finding from start and end points of a portion of the first path, and identifies the portionas the partial path when only one or more straight lines which traverse the region and are parallel to a line segment toward the end point from the start point are represented as the object in the region set.

Description

technical field [0001] The invention relates to a mobile robot and a control method. Background technique [0002] Conventionally, there has been disclosed a self-propelled vacuum cleaner capable of automatically traveling on a cleaning surface and sucking up garbage on the cleaning surface (see Patent Document 1). [0003] (Prior art literature) [0004] (patent documents) [0005] Patent Document 1 International Publication No. 2016 / 002186 [0006] However, there is room for improvement in the setting of the moving path of the conventional mobile robot of the self-propelled vacuum cleaner. Contents of the invention [0007] Therefore, the present invention provides a mobile robot that can move with a more appropriate movement path. [0008] A mobile robot according to an aspect of the present invention moves in an environment, and the mobile robot includes: a ranging sensor; an obtaining unit that obtains a map of the environment including positional information of o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0238G05D1/0248G05D1/0274G05D1/0257G05D1/0212B25J9/1666B25J9/1694
Inventor 法比奥·达拉·利伯拉津坂优子
Owner PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD
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