EP0402764A2
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EP
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Control apparatus for plane working robot
Assignee: Toshiba Corp
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Filing: 1990-06-07
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Granted: —
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Expires: 2010-06-07
Abstract
Abstract There is disclosed a control apparatus for controlling a plane working robot (1, 1A) comprising a running unit (14) for running on a plane surface, a steering unit for steering the running unit (15) in a predetermined direction, a working unit (13) for performing a predetermined plane working such as cleaning, and a detecting unit (16) for detecting various and actual informations about running direction and distance of the robot and an obstacle on the plane surface, thus permitting the working robot (1, 1A) to take an optimum running path while avoiding an obstacle on the basis of sense outputs from the detecting unit (16) to conduct a work. This control apparatus comprises a working information setting element (21) for setting a working area where the plane working is conducted, and for setting an optimum working running path within the set working area in accordance with a predetermined algorithm, and a working control element (11, 11a) for controlling the running unit and the steering unit (15) so that the running unit (14) allows the robot (1, 1A) to run along the working running path set by the working information setting element (21), and for controlling the working unit (13) so that the robot (1, 1A) conducts a predetermined work during running.
Inventors
- 👤 Sueyoshi Mizuno
- 👤 Yuuji Takiguchi
- 👤 Tetsushi Koshiyama
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-25 20:38
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0238; G05D1/024; B; B08; B08B; B08B3/00; B08B3/02; B08B3/024; G05D1/0212; G05D1/0219; A; A47; A47L; A47L2201/00; A47L2201/04; G05D1/0244; G05D1/0255; G05D1/0268; G05D1/027; G05D1/0272
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
188 words
A control apparatus for a plane working robot (1, 1A) comprising a running unit (14) for running on a plane surface as a working object, a steering unit (15) for steering said running unit in a predetermined direction, a working unit (13) for performing a predetermined plane working to said plane surface, a detecting unit (16) for detecting various and actual informations about running direction and distance of said robot and an obstacle on said plane surface, and a control unit (11) for controlling running and working of said robot on the basis of said informations from said detecting unit (16), characterized by the provision of: working information setting means (21) for setting a working area where said plane working is conducted to set an optimum working running path within said working area thus set by a predetermined algorithm, and working control means (11a) for controlling said running unit (14) and said steering unit (15) so that said running unit (14) runs along said working running path set by said working information setting means (21), and for controlling said working unit (13) to carry out said plane working.
Claim 2
Dependent Claim
188 words
A control apparatus for a plane working robot (1, 1A) comprising a running unit (14) for running on a plane surface as a working object, a steering unit (15) for steering said running unit in a predetermined direction, a working unit (13) for performing a predetermined plane working to said plane surface, a detecting unit (16) for detecting various and actual informations about running direction and distance of said robot and an obstacle on said plane surface, and a control unit (11) for controlling running and working of said robot on the basis of said informations from said detecting unit (16), characterized by the provision of: working information setting means (21) for setting a working area where said plane working is conducted to set an optimum working running path within said working area thus set by a predetermined algorithm, and working control means (11a) for controlling said running unit (14) and said steering unit (15) so that said running unit (14) runs along said working running path set by said working information setting means (21), and for controlling said working unit (13) to carry out said plane working.
Claim 3
Dependent Claim
41 words
A control apparatus as set forth in claim 1, wherein said working robot (1, 1A) to be controlled is comprised of a floor cleaning robot, said working unit (13) being a cleaning unit for cleaning the floor surface of a room.
Claim 4
Dependent Claim
73 words
A control apparatus as set forth in claim 2, wherein said working information setting means (21) comprises: data processing means (25) for processing various data in regard to a cleaning work that said robot conducts, data storage unit (24) for storing said various data, a data input unit (22) for inputting predetermined data into said processing means, and a display unit (23) for displaying data contents in order to set said various data.
Claim 5
Dependent Claim
204 words
A control apparatus as set forth in claim 3, wherein said processing means (25) comprises: running area setting means (26) for setting a cleaning area as an area where said robot (1, 1A) should carry out a learning work, obstacle setting means (27) for setting a position of an obstacle within a cleaning area set by said area setting means (26), running path setting means (28) for setting a running path in accordance with a predetermined algorithm so that a cleaning work is carried out on the basis of data set by said two setting means (26, 27), path attribute setting means (29) for adding a slight modification to said running path by data obtained by adding a path attribute peculiar to a running path set by said path setting means (28), next block setting means (33) wherein when said cleaning area is a broad area and/or is in a complicated form, said next block setting means (33) divides said area into several blocks to make a setting every block such that cleaning can be conducted while avoiding said obstacle, and storage unit management means (30) for allowing said data storage unit (24) to store a cleaning/running path set by said respective setting means.
Claim 6
Dependent Claim
78 words
A control apparatus as set forth in claim 4, wherein said running path setting means (28) prepares a graphic picture on the basis of a running area and information of an obstacle to first set a basic running path by inputting a work starting point and a traveling direction thereafter to make a fine setting of a path along which said working robot (1, 1A) avoids an obstacle and is reversely turned in accordance with said basic path.
Claim 7
Dependent Claim
57 words
A control apparatus as set forth in claim 4, wherein said running path setting means (28) basically first forms a running path along the length side of a room thereafter to set a lateral travel running path for avoiding an obstacle and/or reversing said running path with respect to a straight advance path in the length direction.
Claim 8
Dependent Claim
52 words
A control apparatus as set forth in claim 3, wherein said data storage unit (24) is comprised of a memory card storage unit using a memory card (32) as the memory medium, and wherein said management means (30) conducts a management writing information into said memory card (32) and/or reading it therefrom.
Claim 9
Dependent Claim
65 words
A control apparatus as set forth in claim 1, wherein said detecting unit (16) comprises a direction sensor (16a) for sensing an angle of attitude for an attitude control of said running unit (14), a running distance sensor (16b) for sensing a running distance of said running unit (14), an obstacle sensor (16c) for sensing an obstacle on a wall surface and a floor surface.
Claim 10
Dependent Claim
49 words
A control apparatus as set forth in claim 8, wherein said detecting unit (16) further comprises a falling prevention sensor (16d) for preventing said robot (1, 1A) from being fallen down from said plane surface, and a touch sensor (16e) provided on a front of said robot (1, 1A).
Claim 11
Dependent Claim
42 words
A control apparatus as set forth in claim 9, wherein said touch sensor (16e) is comprised of left and right attitude sensors (16f) which provide a time difference with said control unit (11), to calculate an inclination of said robot (1, 1A).
References Cited (Backward Citations)
No citation records indexed.
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