a2) United States Patent
`US 6,574,536 B1
`(10) Patent No.:
`Jun. 3, 2003
`(45) Date of Patent:
`Kawagoeet al.
`
`
`US006574536B1
`
`(54) MOVING APPARATUSFOR EFFICIENTLY
`MOVING ON FLOOR WITH OBSTACLE
`
`(75)
`
`Inventors: Nobukazu Kawagoe, Toyonaka (JP);
`Yuichi Kawakami, Itami (JP); Kyoko
`>
`>
`:
`Nakamura, Toyonaka (JP); Yasuhisa
`Kinto, Amagasaki (JP)
`
`(73) Assignee: Minolta Co., Ltd., Osaka (JP)
`
`(*) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C, 154(b) by 799 days.
`
`(21) Appl. No.: 08/789,127
`(22)
`Filed:
`Jan. 27, 1997
`(30)
`Foreign Application Priority Data
`
`5,280,431 A
`........ 701/23
`1/1994 Summerville et al.
`5,283,739 A
`2/1994 Summerville et al.
`........ 701/23
`5,305,217 A
`............ 701/25
`4/1994 Nakamuraet al.
`
`5,353,224 A
`10/1994 Lee et abe sees 701/25
`5,402,051 A
`.. 318/587
`3/1995 Fujiwara etal...
`
`5,434,490 A
`... 318/587
`7/1995 Ishida et al.
`......
`
`5,488,277 A
`......... 318/587
`1/1996 Nishikawa et al.
`5,548,511 A
`......esceseeeeee: 701/23
`8/1996 Bancroft
`
`5.568.589 A
`. 706/52
`10/1996 Hwang oo...
`
`5,613,261 A *
`3/1997 Kawakamietal. ...
`.. 15/98
`
`5,636,402 A *
`6/1997 Kubo etal. ..........
`... 15/98
`
`5,652,489 A *
`w.. 318/587
`7/1997 Kawakami........
`5,696,675 A : it00g Nakamura et “ seesSSOLD
`
`.......
`5,717,484
`amaguchi et al.
`.
`
`2/1998 Nakamura et al... 15/340.1
`5,720,077 A *
`4/1998 Kuboet al... 15/98
`5,735,959 A *
`FOREIGN PATENT DOCUMENTS
`61045215
`so/to8e
`P
`62-154008
`7/1987
`JP
`2-127378
`5/1990
`JP
`3-184105
`8/1991
`JP
`(IP)
`Jan. 29,1996
`secceesecceceesctecseseeessseesesenssesenaaes 8-013134
`
`
`
`Jan. 29,1996 IP) vieceeecceceeceeeecseccneneeneneseeeeeens 8-013225 JP 5-165517 7/1993
`
`
`Mar. 29, 1996
`(IP) ees eceecececsecceneererseeeee cen enenes 8-076953
`JP
`5-257533
`10/1993
`JP
`6-119035
`4/1994
`JP
`7-47045
`2/1995
`JP
`7-16204
`3/1995
`* cited by examiner
`
`Int. C17cee GOI1C 22/00; GOSD 1/00
`(51)
`(52) US. Ch. eccceccescsesseees 701/23; 701/24; 15/53.3;
`15/98; 15/319; 318/568.1; 318/568.12;
`318/568.13; 901/1; 901/5
`(58) Field of Search o...0..ee 701/23, 24, 25,
`701/26, 27, 117, 118, 301, 302; 318/587,
`568.12, 580; 15/340.1, 319, 325, 49.1,
`53.3, 98; 901/1, 2, 3; 180/167, 168, 279,
`169
`
`(56)
`
`References Cited
`U.S. PATENT DOCUMENTS
`
`4,473,787 A
`4,700,427 A
`4,780,817 A
`4,802,096 A
`4,920,520 A
`4,962,453 A
`4,982,329 A
`5,032,775 A
`5,036,935 A
`5,179,329 A
`5,220,263 A
`
`9/1984 Schick... eee 318/587
`
`10/1987 Knepper....
`» 15/319
`
`10/1988 Lofgren ..............
`- 701/23
`.
`. 364/461
`1/1989 Hainsworth et al.
`
`.........
`.. 367/99
`4/1990 Gobelet al.
`
`. 701/25
`10/1990 Pong etal. ...
`1/1991 Tabataet al.
`....
`... 701/25
`... 318/587
`7/1991 Mizunoet al.
`..
`8/1991 Kohara ou... eee 180/168
`
`......... 318/587
`1/1993 Nishikawaet al.
`6/1993 Onishi et al. oo... 318/587
`
`Primary Examiner—Jacques H. Louis-Jacques
`(74) Attorney, Agent, or Firm—McDermott, Will & Emery
`
`(57)
`
`ABSTRACT
`
`A moving robot first moves straight in a first forward path.
`When encountering an obstacle such as shelf,
`the robot
`makes a U-turn to movestraight in a backward path located
`with a prescribed distance away from the first forward path.
`Whenencountering another obstacle, the robot again makes
`a U-turn to movestraight in a second forward path extending
`in the same direction as that of the first forward path but
`located with a distance away from the backward path. When
`the robot exceeding the point of the U-turn in the first
`forward path is detected during running in the second
`forward path, presence of a region where the robot has not
`run yet is recognized, and running in that region is carried
`out thereafter.
`
`27 Claims, 22 Drawing Sheets
`
`MEASURE DISTANCE TO
`RIGHT AND LEFT OBSTACLES
`
`
` #102|MOVE TOWARD CLOSER
`OBSTACLE (ON WORKING
`START SIDE) AND FOLLOW IT
`
` #101
`
`
`
` #105
`
`#103
`
`x0=0,y0=0
`x1=Xmax,y1=Ymax
`
`#104 [CALCULATE TRANSVERSE
`MOVEMENTPITCH PO BASED ON
`DISTANCE TO FURTHER OBSTACLE
`(ON WORKING COMPLETION SIDE)
`
`#106
`
`|
`
`ZIGZAG RUNNING
`
`|
`
`Silver Star Exhibit 1007
`
`Silver Star Exhibit 1007
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 1 of 22
`
`US 6,574,536 B1
`
`FIG. 1
`
`Silver Star Exhibit 1007 - 2
`
`Silver Star Exhibit 1007 - 2
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 2 of 22
`
`US 6,574,536 B1
`
`Silver Star Exhibit 1007 - 3
`
`Silver Star Exhibit 1007 - 3
`
`

`

`TEACH
`
`EDIT
`
`OPERATE
`
`FIG. 4 yuajed
`
`“SN
`€007‘¢“une
`CTJO€WITS
`Ta9¢S‘PLs‘9Sn
`
`Silver Star Exhibit 1007 - 4
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 4 of 22
`
`US 6,574,536 B1
`
`FIG. 5
`
`START RUNNING BY SETTING "ZIGZAG"
`
`LONGITUDINAL 300 cm TRANSVERSE ii]cm END_{_
`
`INTERFACE
`
`INPUT
`CONTROL
`
`EXTERNAL
`
`Silver Star Exhibit 1007 - 5
`
`Silver Star Exhibit 1007 - 5
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 5 of 22
`
`US 6,574,536 B1
`
`FIG. 6
`
`73
`
`33
`LIQUID
`
`DETECTING
`
`SENSOR
`DISPLAY7'8
`
`UNIT
`
`PUMP
`
`
`
`CONTROL
`
`INPUT416
`NI
`UNIT
`
`memory7'°
`CARD
`
`
` 7\TFORWARD
`
`
`20
`
`BATTERY
`
`OBSTACLE
`ENSOR
`
`LEFT-HAND
`DRIVE
`WHEEL
`
` MAIN BODY
`ROTATION
`
`CONTROL UNIT
`
`
` 68
`MAIN BODY
`ROTATION
`MOTOR
`
`Silver Star Exhibit 1007 - 6
`
`Silver Star Exhibit 1007 - 6
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 6 of 22
`
`US 6,574,536 B1
`
`FIG. 8
`
`START
`
`#101|MEASURE DISTANCE TO
`RIGHT AND LEFT OBSTACLES
`
`#102
`
`MOVE TOWARD CLOSER
`
`
`OBSTACLE (ON WORKING
`START SIDE) AND FOLLOW IT
`
`#103
`
`x0=0,y0=0
`x1=Xmax,y1=Ymax
`
`#104 |CALCULATE TRANSVERSE
`MOVEMENTPITCH PO BASED ON
`DISTANCE TO FURTHER OBSTACLE
`
`(ON WORKING COMPLETIONSIDE)
`
`#105
`
`#106
`
`MF=0
`
`ZIGZAG RUNNING
`
`END
`
`Silver Star Exhibit 1007 - 7
`
`Silver Star Exhibit 1007 - 7
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 7 of 22
`
`US 6,574,536 B1
`
`FIG. 9
`
`ZIGZAG RUNNING
`
`#201] START MOVING STRAIGHT
`
`
`
`
`
`
`ANY OTHER
`CLOSER OBSTACLE FOUND
`ON WORKING COMPLETION
`SIDE?
`
`
`
`NO
`
` # 206 STOREMF ,PO,x1, yO
`
`IN STACK
`
`Silver Star Exhibit 1007 - 8
`
`Silver Star Exhibit 1007 - 8
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 8 of 22
`
`US 6,574,536 B1
`
`FIG. 10
`
`(B)
`
`YES #28
`
`#211
`NO
`YES
`
`
`
`#212 [MOVE TRANSVERSELYBY
`PITCH PO IN WORKING
`
`COMPLETION DIRECTION
`
`#019
`AND MAKE U-TURN
`
` MOVE TRANSVERSELY BY
`
`PITCH PO IN WORKING
`
`
`
`|
`LANE ALONG
`
`COMPLETION DIRECTION
`
`CLOSEST OBSTACLE ON
`
`AND MAKE U-TURN
`
`
`WORKING COMPLETION
`SIDE?
`
`
`RETURN
`
`#215
`MOVE STRAIGHT
`TO y=yO
`
`
`
`
`#216 en
`
`YES
`
`RUN LANE ON WORKING
`COMPLETIONSIDE
`
`NO
`#217
`MOVE TRANSVERSELY BY
`PITCH PO IN WORKING
`COMPLETION DIRECTION
`AND MAKE U-TURN
`
`
`
`
`
`
`
`
`Silver Star Exhibit 1007 - 9
`
`Silver Star Exhibit 1007 - 9
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 9 of 22
`
`US 6,574,536 B1
`
`FIG. 11.
`
`#300
`
`
`
`(REMAINING WORKING
`REGION RUNNING
`
`MF=1, yO=y1
`x1=x, yi=Ymax
`
`
`
`#301 [MEASURE DISTANCE D TO
`OBSTACLE ON WORKING STARTSIDE
`
`# 302
`
`NO
`
`
`
`MOVE TRANSVERSELY TOWARD
`WORKING COMPLETIONSIDE BY
`D AND FOLLOW OBSTACLE
`
`#307|SET NUMBER OF LANESIN
`REMAINING WORKING REGION TO 1
`
`
`
`# 303—.
`
`
`
`|SET NUMBER OFLANESIN REMAINING
`MOVE TRANSVERSELY TOWARD]
`OBSTACLE ON WORKING START|[WORKING REGION TO 3 AND CALCULATE
`
`SIDE AND FOLLOW OBSTACLE
`TRANSVERSE MOVEMENTPITCH PO
`
`
`
`
` # 308
`START MOVING STRAIGHT
`
`
`ELOSER OBSTACLE FOUND O
`BESIDE OBSTACLE
`WORKING COMPLETION
`
`
`SIDE?
`
`
`
` FORWARD
`OBSTACLE?
`
`STORE PRESENCE OF
`UNWORKED REGION
`
`
`
`
`CALCULATE TRANSVERSE
`MOVEMENTPITCH PO
`
`yl=y
`
`©)
`
`@
`
`Silver Star Exhibit 1007 - 10
`
`Silver Star Exhibit 1007 - 10
`
`

`

`FIG. 12
`
`(C)
`
`#316
`
`NO
`
`#322
`
`
`
`NUMBER OF
`LANES IN REMAINING
`
`
`WORKING REGION
`
`
`ene FoOVE TRANSVERSELYBY
`
`
`YES
`#323
`
`MOVE TO END OF
`
`UNWORKED REGION ON
`WORKING STARTSIDE
`
`
`#324
`
`CALCULATE NUMBER OF
`
`LANES AND TRANSVERSE
`NO
`
`MOVEMENTPITCH
`
`
`BASED ON(x1-x)
`ROTATE BY 90° TOWARD
`WORKING COMPLETION SIDE,
`
`
`MOVE STRAIGHT TO x=x1, AND
`ZIGZAG RUNNING [
`FURTHER ROTATEBY 90°
`
`TOWARD OPPOSITE DIRECTION
`
`PITCH PO IN WORKING START
`DIRECTION AND MAKE U-TURN
`
`#318
`
`#319
`
`MOVE TRANSVERSELYBY
`PITCH PO IN WORKING START
`DIRECTION AND MAKE U-TURN
`
`
`
`
`yuajed“SN
`
`€007‘¢“une
`CTJOOTONS
`Ta9¢S‘PLs‘9Sn
`
`Silver Star Exhibit 1007 - 11
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 11 of 22
`
`US 6,574,536 B1
`
`FIG. 13
`
`WORKING COMPLETION
`SIDE LANE RUNNING
`
`#401
`
`
`# 4021 CHANGE WORKING START DIRECTION
`WITH WORKING COMPLETION DIRECTION
`
`
`AND REVERSE POSITIVE AND NEGATIVE
`DIRECTIONS OFx- AND y-AXES
`
`
`
`# 403
`
`
`x=0, y=0, yO=0
`x1=x, yi=Y¥max
`
`
`
`# 404 WEASURE DISTANCE De TO
`OBSTACLE ON WORKING
`START SIDE
`
`#405
`
`De > DO?
`
`YES
`
`
`
`CALCULATE NUMBER OF
`NO
`
`
`LANES AND TRANSVERSE
` # 407
`
`MOVEMENTPITCH PO
`NUMBER OF LANES = 1
`BASED ON De
`
`
`
`# 408] MOVE TOWARD OBSTACLE ON WORKING
`START SIDE AND FOLLOW OBSTACLE
`
`# 409 | ZIGZAG RUNING |
`
`RETURN
`
`Silver Star Exhibit 1007 - 12
`
`Silver Star Exhibit 1007 - 12
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 12 of 22
`
`US 6,574,536 B1
`
`FIG. 14
`
`MLiL2
`
`FORWARD
`MOVING
`DIRECTION
`
`
`LLLLLLLLLLLLLLLLLLLLLLLLLlblil
`LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL
`
`BACKWARD
`MOVING
`DIRECTION
`
`MLLLLLLLLLLLLLLLLE
`MLLLLLLLLILLLLLLL
`LLL C|
`
`LiL
`
`
`
`<—_—_____
`WORKING
`START
`DIRECTION
`
`DO=Dmin
`
`——_—_——_—_—_>
`WORKING
`PROCEEDING
`DIRECTION
`
`Silver Star Exhibit 1007 - 13
`
`Silver Star Exhibit 1007 - 13
`
`

`

`U.S. Patent
`
`Jun. 3, 2003
`
`Sheet 13 of 22
`
`US 6,574,536 B1
`
`FIG. 15
`
`maAaES SASSSSSSSSAS
`
`
`
`
`VITITIPTILLLeDILLLLLLLLLLLLLLLLLLLLDLLLLLLLELLLL
`LiLiiliLliblliiiiiiiiiiiidipgilllLisLiLlblllbibbblbbybfLLlip~elitglll})
`
`
`Silver Star Exhibit 1007 - 14
`
`Silver Star Exhibit 1007 - 14
`
`
`

`

`U.S. Patent
`
`Jun. 3, 2003
`
`Sheet 14 of 22
`
`US 6,574,536 B1
`
`SSXsas4s_Q_3q_au yYYyU;UUyyYYYU
`FIG. 16fALLGSSIILLLLLLLLLGLLLLILLEIo
`
`Silver Star Exhibit 1007 - 15
`
`Silver Star Exhibit 1007 - 15
`
`

`

`U.S. Patent
`
`Jun. 3, 2003
`
`Sheet 15 of 22
`
`US 6,574,536 B1
`
`FIG. 17
`
`RSS.W00goAAAIHA
` Ve
`LYLLLLLLLLLLLLLLLL
` MLL
`
` MLLLiillidididdddddds
`
` LLLLLLLLLLLLLLLLLLLLLa VII
`
`
`
`FORWARD
`MOVING
`DIRECTION
`
`BACKWARD
`MOVING
`DIRECTION
`
`Yre
`[——)KNEE
`TEE
`
`a
`
`<______—.
`WORKING
`START
`DIRECTION
`
`OS
`WORKING
`PROCEEDING
`DIRECTION
`
`Silver Star Exhibit 1007 - 16
`
`Silver Star Exhibit 1007 - 16
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 16 of 22
`
`US 6,574,536 B1
`
`FIG. 18
`
`CALCULATE
`PITCH
`
`$10
`
`SET REFERENCE RUNNING WIDTH TO
`
`$11
`
`SET MAXIMUM RUNNING PITCH TO (WORING
`
`
`
`COMPLETE WORKING
`ON THIS SIDE?
`
`(RUNNING WIDTH-WORKING WIDTH)
`WIDTH-MINIMUM WORKING MARGIN)
`
`
`
`
`
`SET NUMBER OFTIMES
`SET NUMBER OF TIMES
`
`OF RECIPROCATION TO
`OF RECIPROCATION TO
`
`
`ODD NUMBER
`EVEN NUMBER
`
`
`$14
`
`OBTAIN MINIMUM NUMBER OF TIMES
`OF RECIPROCATION WITH REFERENCE
`RUNNING WIDTH BY AT MOST
`
`MAXIMUM RUNNING PITCH
`
`
`S15
`
`SET PITCH TO REFERENCE RUNNING
`WIDTH/ (NUMBER OF TIMES OF
`RECIPROCATION-1)
`
`COMPLETE PITCH
`CALCULATION
`
`Silver Star Exhibit 1007 - 17
`
`Silver Star Exhibit 1007 - 17
`
`

`

`U.S. Patent
`
`Jun. 3, 2003
`
`Sheet 17 of 22
`
`US 6,574,536 Bl
`
`FIG. 19
`
`W3
`
`Silver Star Exhibit 1007 - 18
`
`Silver Star Exhibit 1007 - 18
`
`

`

`U.S. Patent
`
`Jun. 3, 2003
`
`Sheet 18 of 22
`
`US 6,574,536 Bl
`
`FIG. 20A
`
`Silver Star Exhibit 1007 - 19
`
`Silver Star Exhibit 1007 - 19
`
`

`

`U.S. Patent
`
`Jun. 3, 2003
`
`Sheet 19 of 22
`
`US 6,574,536 Bl
`
`FIG. 21
`
`101
`100
`
`FIG. 22
`
`107
`
`Silver Star Exhibit 1007 - 20
`
`Silver Star Exhibit 1007 - 20
`
`

`

`U.S. Patent
`
`Jun. 3, 2003
`
`Sheet 20 of 22
`
`US 6,574,536 B1
`
`FIG. 23
`
`
`
`
`FIG. 24
`
`Silver Star Exhibit 1007 - 21
`
`Silver Star Exhibit 1007 - 21
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 21 of 22
`
`US 6,574,536 B1
`
`FIG. 25
`
`101a
`
`101b
`
`101c
`
`100
`
`rf)
`
`FIG. 26
`
`RELATED ART
`
`
`
`
`
`100 iC L4te_4 101
`
`Silver Star Exhibit 1007 - 22
`
`Silver Star Exhibit 1007 - 22
`
`

`

`U.S. Patent
`
`Jun.3, 2003
`
`Sheet 22 of 22
`
`US 6,574,536 B1
`
`FIG. 27 RELATED ART
`
`————
`
`cs oe ee
`
`
`
`104 4;YC) 100
`
`FIG. 28 RELATED ART
`
`100b
`
`101b
`
`{1
`
`100a
`
`101a
`
`Silver Star Exhibit 1007 - 23
`
`Silver Star Exhibit 1007 - 23
`
`

`

`US 6,574,536 B1
`
`1
`MOVING APPARATUS FOR EFFICIENTLY
`MOVING ON FLOOR WITH OBSTACLE
`
`BACKGROUND OF THE INVENTION
`
`1. Field of the Invention
`
`invention relates to autonomous moving
`The present
`working vehicles, and more particularly, to an autonomous
`moving working vehicle for running all over the working
`range to carry out working such as cleaning and waxing.
`2. Description of the Related Art
`(1) First Related Art
`As a conventional autonomous moving working vehicle,
`Japanese Patent Publication No. 5-82601 for example dis-
`closes an autonomous moving working vehicle having a
`rotatable ultrasonic distance measuring sensor and a dead
`reckoning function for obtaining position coordinates Xmin,
`Xmax, Ymin, Ymax of obstacles (such as walls) by the
`ultrasonic distance measuring sensor, and while running the
`range surrounded by these four points, correcting these four
`points using the latest data obtained by the ultrasonic
`distance measuring sensor to search for a running range.
`Further, Japanese Patent Laying-Open No. 5-257533 dis-
`closes an autonomous moving working vehicle having a
`dead reckoning function and a non-contact obstacle sensor.
`This autonomous moving working vehicle has prescribed
`information such as a shape of the working region pre-input
`via a keyboardorthe like, but does not have information on
`obstacles. Accordingly,
`the vehicle carries out working
`according to a prescribed regular moving pattern in a region
`where obstacles are not detected, while in a region where
`obstacles are detected, it carries out working according to
`the above-mentioned regular moving pattern within a region
`where it can avoid the obstacles. More specifically,
`the
`vehicle recognizes a lane (hereinafter referred to as a first
`through path) in which it has been able to run a prescribed
`distance without detecting obstacles right before an obstacle
`existing region and a lane (hereinafter referred to as a second
`through path) in which it has been able to run a prescribed
`distance without detecting obstacles right behind the
`obstacle existing region, and recognizes the region sur-
`rounded by these two lanes as obstacle existing region.
`Then,it applies working to an unworked region within the
`obstacle existing region according to the above-mentioned
`regular moving pattern from the end point of the lane where
`it has been able to run a prescribed distance without detect-
`ing obstacles right behind the obstacle existing region.
`However, the conventional autonomous moving working
`vehicle disclosed in the above-mentioned Japanese Patent
`Publication No. 5-82601 determinesa cleaning region using
`the coordinates Xmin, Xmax, Ymin, Ymax and therefore
`always regards the cleaning region as rectangular region
`regardless of an actual shape thereof, whereby the area
`thereofis larger than the actual area, resulting in the need for
`an additional operation.
`In addition, searching for an
`unworked region requires an operation of subtracting a
`worked region from the above-mentionedrectangular region
`and therefore the vehicle must store the worked region,
`whereby memory capacity and operation time are increased
`with an increased number of obstacles and a complexed
`shape of the working region. In addition, the vehicle carries
`out working by running zigzag and making a U-turn when
`running up against an obstacle, and does not search for an
`unworked region until it cannot run any more being sur-
`rounded by obstacles and thereafter proceeds to the working
`of the unworked region, whereby it might be required for the
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`vehicle to move a long distance away to the position where
`it should start the working of the unworked region or to
`again run the worked region. Therefore,
`in the case of
`working such as waxing, and spreading and mopping of
`antiseptic solution, such re-running on the worked region
`undesirably degrades the working quality.
`Further, the above-mentioned conventional autonomous
`moving working vehicle disclosed in Japanese Patent
`Laying-Open No. 5-257533 recognizes an obstacle existing
`region and an obstacle non-existing region by determining
`whetheror not it has been able to run a prescribed distance
`without encountering an obstacle, and therefore information
`on a shape of the working region mustbe set (taught) before
`working. Accordingly, troublesome tasks such as premea-
`surementof the size of the working region must be carried
`out.
`
`Further, an obstacle in fact seldom corresponds to the
`pitch of the running lanes of the autonomous moving
`working vehicle, and therefore a remaining working region
`is produced between the through path and the obstacle.
`Accordingly,
`the vehicle merely carries out the working
`while simply avoiding obstacles after the first through path
`and before the second through path without
`taking the
`working of the remaining working region into account,
`producing a remaining working region aroundthe obstacles,
`in particular, in the vicinity of the sides of the obstacles.
`As described above, according to the conventional
`autonomous moving working vehicles for carrying out
`working such as floor cleaning while moving onall over the
`floor, working of such a working region as that being
`provided with a plurality of obstacles such as shelves and
`pillars at the wall surface of a room ora hall requires tasks
`such as map input and teaching, and further, even the
`autonomous moving working vehicle for automatically
`determining the size of a room by the distance measuring
`sensor spends much time in searching for the working
`region, requires large storage capacity, or the like.
`(2) Second Related Art
`A cleaning robot for working all over the surface of a
`designated region is known. Zigzag running is generally
`employed to control such a cleaning robot. The zigzag
`running herein means reciprocation in a designated region
`with a prescribed space between backward and forward
`paths. The zigzag running is realized by combination of
`forward moving operation and U-turn operation to the right
`and left on the plane.
`More specifically, the zigzag running includes right zig-
`zag running by whichthe cleaning robot carries out working
`to the right (in the direction of the arrow 103) from a
`working start position 100 to an end position 101 as shown
`in FIG. 26, and left zigzag running by whichit carries out
`workingto the left as shown in FIG. 27. The direction shown
`by the arrow 103 is hereinafter referred to as a working
`proceeding direction.
`The following method(1) or (2) is usedto realize the two
`kinds of zigzag running.
`(1) Ausergives instructions such as move forward, make
`a U-turn, move forward, make a U-turnto the cleaning robot
`by a remote controller to achieve the zigzag running.
`(2) Auserinputs the longitudinal length and the transverse
`length whereby pitch length (the distance between the
`backward and forward paths in reciprocation) of a U-turn is
`automatically calculated in consideration of the width by
`which the cleaning robot can work while movingstraight to
`achieve the zigzag running.
`The above method (1) achieves efficient working with a
`reduced running distance, but a user must input instructions
`
`Silver Star Exhibit 1007 - 24
`
`Silver Star Exhibit 1007 - 24
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`

`

`US 6,574,536 B1
`
`leading to
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`3
`such as move forward and make a U-turn,
`complex operation.
`Meanwhile, the above method (2) fixes a working end
`position (the position shown by the reference numeral 101 in
`FIGS. 26 and 27) and therefore cannot efficiently control a
`moving body.
`This gives rise to the problem particularly when such a
`region formed of two successive rectangular working
`regions as shown in FIG. 28 is to be subjected to working.
`More specifically, after carrying out the first zigzag run-
`ning from a workingstart position 100¢ to an end position
`1014, the cleaning robot must moveto a start position 100b
`of the second zigzag running. Such re-running of the already
`worked region causes a waste of time and battery as well as
`makes that region dirty.
`
`4
`moving apparatus completes the movementin the set region;
`and an operation unit for performing an operation of the
`prescribed pitch employed by the running control unit based
`on the region set by the setting unit and the position input by
`the input unit.
`Such an invention as described above allows efficient
`control of a moving apparatus with simple operation,
`improving operativity as well as achieving appropriate run-
`ning.
`The foregoing and other objects, features, aspects and
`advantages of the present
`invention will become more
`apparent from the following detailed description of the
`present
`invention when taken in conjunction with the
`accompanying drawings.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
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`SUMMARYOF THE INVENTION
`
`invention is made to solve the above
`The present
`described problems, and it
`is an object of the present
`invention to provide a moving apparatus capable of auto-
`matically efficiently moving on all over the working region
`including unknown obstacles according to simple process-
`ing without map input, a mass storage memory, and com-
`plicated calculation.
`It is another object of the present invention to provide a
`moving apparatus capable of moving the whole working
`region with uniform working quality.
`It is a further object of the present invention to provide a
`moving apparatus capable of appropriately controlling a
`moving body with a simple operation even if an operator has
`insufficient knowledge.
`In order to achieve such objects as described above, a
`moving apparatus according to one aspect of the present
`invention includes a running control unit for achieving
`zigzag running by repeatedly carrying out control including
`the steps of detecting presence/absence of an obstacle to
`running while running in a Y direction, storing the Y
`coordinate of the detected obstacle, and upon detection of
`the obstacle, stopping running in the Y direction, moving by
`a prescribed pitch in an X direction perpendicular to the Y
`direction and thereafter running in the direction opposite to
`the Y direction; and a recognizing unit for recognizing, upon
`running in the Y direction beyond previously stored Y
`FIGS. 14 to 17 are diagramsfor use in illustration offirst
`coordinate of the obstacle during zigzag running achieved
`to fourth operation examples of the cleaning robot shown in
`by the running control unit, presence of a remaining running
`FIG. 1, respectively.
`region between a current running path and the obstacle.
`FIG. 18 is a flow chart showing the processing of calcu-
`A moving apparatus according to another aspect of the
`lation of a U-turn pitch in zigzag running according to a
`50
`second embodiment.
`present invention includes a running control unit for repeat-
`edly carrying out zigzag running of runninga lane inafirst
`FIG. 19 is a diagram forusein illustration of reciprocation
`direction, moving by a prescribed pitch in a second direction
`of the cleaning robot.
`perpendicular to the first direction and thereafter running in
`FIGS. 20A and 20B are diagramsfor use in illustration of
`the next lane in the direction opposite to the first direction;
`zigzag running of a cleaning robot according to the second
`a measuring unit for measuring a distance up to an obstacle
`embodiment of the invention.
`existing in the second direction; and an operation unit for
`performing an operation of the prescribed pitch employed by
`the running control unit according to the distance measured
`by the measuring unit.
`A moving apparatus according to a further aspect of the
`present invention includes a running control unit for repeat-
`FIG. 23 is a second diagram showingthe state obtained
`edly carrying out zigzag running of runninga lane inafirst
`upon completion of zigzag running.
`direction, moving by a prescribed pitch in a second direction
`FIG. 24 is a diagram showing operation carried out by the
`perpendicular to the first direction and thereafter running in
`cleaning robot from the state shown in FIG. 23.
`the next lane in the direction opposite to the first direction;
`a setting unit for setting a region where the moving appa-
`FIG. 25 is a diagram for use in illustration of the effects
`of the invention.
`ratus moves; an input unit for inputting a position where the
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`FIG. 1 is a perspective view of a cleaning robot and a
`controller according to a first embodimentof the invention.
`FIG. 2 is a schematic diagram showingthe structure of the
`cleaning robot shown in FIG. 1.
`FIG. 3 is a diagram for use in illustration of how a side
`following sensor is used.
`FIG. 4 is a plan view of controller 2 shown in FIG. 1.
`FIG. 5 is a diagram showing a zigzag menu displayed on
`a display unit 49 of FIG. 4.
`FIG. 6 is a block diagram showing the structure of
`cleaning robot 1 of FIG. 1.
`FIG. 7 is a block diagram showing the structure of
`controller 2 of FIG. 1.
`FIG. 8 is a flow chart for use in illustration of the
`processing of measuring a distance and calculating a trans-
`verse movementpitch of zigzag running.
`FIGS. 9 and 10 together show a flow chart for use in
`illustration of the processing for zigzag running shown in
`FIG. 8.
`
`FIGS. 11 and 12 together show a flow chart for use in
`illustration of a subroutine for running in a remaining
`working region shown in FIG. 9.
`FIG. 13 is a flow chart for use in illustration of a
`subroutine for running in a lane on the working completion
`side shown in FIG. 10.
`
`FIG. 21 isa first diagram showing the state obtained upon
`completion of zigzag running.
`FIG. 22 is a diagram for use in illustration of operation
`carried out by the cleaning robot from the state shown in
`FIG. 21.
`
`Silver Star Exhibit 1007 - 25
`
`Silver Star Exhibit 1007 - 25
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`

`

`US 6,574,536 B1
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`5
`FIG. 26 is a diagram showing zigzag runningto the right.
`FIG. 27 is a diagram showing zigzag runningto theleft.
`FIG. 28 is a diagram forusein illustration of the problems
`of the related art.
`
`DESCRIPTION OF THE PREFERRED
`EMBODIMENTS
`
`[First Embodiment]
`Referring to FIG. 1, a cleaning robot 1 includes a forward
`obstacle sensor 7 for sensing contact with a wall or the like,
`following sensors 8a to 8d for measuring the distance up to
`a wall or the like to achieve running along the wall or the
`like, a cleaning portion 31 for cleaning a floor surface by
`rotating a nonwoven fabric cloth, a display unit 18 for
`displaying a messageto a user, and a workingstart button 90
`for starting working. Further, a memory card 13 is inserted
`into cleaning robot 1, whereby cleaning robot 1 can carry out
`instructions stored therein.
`
`FIG. 2 is a schematic diagram showing the structure of
`cleaning robot 1 of FIG. 1. Referring to FIG. 2, the cleaning
`robot includes a main body 60, a running portion 70, a
`forward obstacle sensor 7, side following sensors 8a to 8d,
`a left-hand drive wheel 3a, a right-hand drive wheel 3b, a
`left-hand drive motor 14a, a right-hand drive motor 148, a
`front swivel caster wheel 4a, a rear swivel caster wheel 4b,
`a cleaning portion 31, a main bodyrotating shaft 67, a main
`body rotation drive motor 68, a left-hand distance measuring
`sensor 6a, and a right-hand distance measuring sensor 6b.
`Main body 60 is mounted on running portion 70, and is
`rotatably supported around main body rotating shaft 67
`which is perpendicularto the floor surface. Main body 60 is
`rotatively driven by main body rotation drive motor 68.
`Running portion 70 is a member for moving the main body
`of the cleaning robot.
`Forward obstacle sensor 7 is mounted in front of main
`body 60, and detects the contact with a forward obstacle and
`outputs an obstacle detection signal to a running control unit
`32 (see FIG. 6). Side following sensors 8a to 8d detect the
`distance up to a wall when the robot movesstraight along a
`wall located on its side. A potentiometer is attached to the
`right and left sides of main body 60, and a shaft thereof is
`attached to rotate around a perpendicular axis. A rod pro-
`jecting in a transverse direction is attachedto the shaft of the
`potentiometer. Thus, the side following sensor is formed. A
`ball is attached to the tip of the rod so as to prevent damage
`to the wall. Side following sensors 8a to 8d structured as
`such are respectively attached to the forward and backward
`positions on the right and left sides of the cleaning robot.
`Left-hand drive wheel 3a and right-hand drive wheel 3b
`are directly connected to the respective driving shafts of
`left-hand drive motor 14a and right-hand drive motor 14b to
`be rotatable independently. Speed of rotation thereof is
`measured by a left-hand rotation speed detecting encoder 5a
`and a right-hand rotation speed detecting encoder 5b (see
`FIG. 6).
`Left-hand drive motor 14a and right-hand drive motor
`14bare fixed at a body base plate of running portion 70, and
`are independently driven by running control unit 32 to turn
`left-hand drive wheel 3a@ and right-hand drive wheel 35,
`thereby achieving forward movement, backward movement,
`rotation, or curve running.
`Front swivel caster wheel 4a and rear swivel caster wheel
`
`4d support the body together with left-hand drive wheel 3a
`and right-hand drive wheel 35, and turns the direction of
`their own wheels according to rotation of left-hand drive
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`wheel3a and right-hand drive wheel 3b, achieving smooth
`rotation and curve running.
`Cleaning portion 31 is connected to main body 60, and
`cleans the floor surface. Main body 60 rotates around main
`body rotating shaft 67 with respect to running portion 70.
`Main body rotation drive motor 67 is a motor for rotating
`main body 60 with respect to running portion 70.
`The left-hand distance measuring sensor 6a and right-
`hand distance measuring sensor 6b are sensors for measur-
`ing the distance up to obstacles on the left side and on the
`right side thereof, respectively, and an ultrasonic distance
`measuring sensor or an optical distance measuring sensor is
`used as those sensors.
`
`Side following sensors 8a to 8d shownin FIGS. 1 and 2
`will now be described in further detail. FIG. 3 is a diagram
`showing how the side following sensors are used. When the
`robot runs along a wall located on the side, the tip portions
`of side following sensors 8a to 8d come in contact with the
`wall and rotate around the shaft of the potentiometer accord-
`ing to the distance up to the wall, and rotation angles 61 and
`02 at this time are detected by the potentiometer.
`Running control unit 32 calculates both a parallel degree
`of the wall and the cleaning robot and the distance therebe-
`tween based on the rotation angles @1 and 62 of forward and
`backward side following sensors 8a to 8d, and then main-
`tains a prescribed distance such that
`the lateral side of
`cleaning portion 31 is in contact with the wall, as well as
`controls running such that the cleaning robotrunsin parallel
`with the wall.
`
`FIG. 4 is a plan view of a controller 2 shown in FIG. 1.
`Referring to FIG. 4, controller 2 is used to remotely
`control cleaning robot 1 and to teach running and working.
`As an input unit of the controller, an operation shift button
`group 40, a cross-shaped cursor button 35 for designating a
`direction, a mode switching button 36 for switching a mode,
`a start button 37 for indicating start of operation of the
`cleaning robot, a stop button 38 for indicating stop of
`operation, a pause button 39 for making a pause in operation,
`a cancel button 52 for canceling the setting, a set button 53
`for setting input data, and a power supply switch 46 are
`provided. Operation shift button group 40 includes a running
`portion rotation button 41 for turning only the direction of
`running portion 70 to the right and left without changing the
`direction of main body 60, a main body rotation button 42
`for simultaneously rotating main body 60 and running
`portion 70, a cleaning portion slide button 43 for moving
`cleaning portion 31 to the right and left with respect to main
`body 60, a U-turn button 44 for designating U-turn
`operation, and a zigzag button 45 for designating zigzag
`running. Remote control of the cleaning robot, and teaching,
`editing and setting of working are carried out by combina-
`tion of these buttons.
`
`Further, controller 2 has display unit 49 constituted by a
`liquid crystal display.
`Display unit 49 displays a set menu of zigzag running or
`the like as shown in FIG. 5. A user can input data to the
`controller through cross-shaped cursor button 35, set button
`53 or the like while looking at display unit 49.
`FIG. 6 is a block diagram showing the structure of
`cleaning robot 1 of FIG. 1.
`Referring to FIG. 6, cleaning robot 1 generally includes
`running control unit 32 for controlling running of the robot,
`and a cleaning control unit 33 for controlling cleaning.
`Running control unit 32 includes a microcomputer 27
`(referred to as “running portion CPU 27” hereinafter) for
`
`Silver Star Exhibit 1007 - 26
`
`Silver Star Exhibit 1007 - 26
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`

`

`US 6,574,536 B1
`
`7
`managing the processing of the running portion, drive
`motors 14a and 14b for respectively driving left-hand and
`right-hand drive wheels 3a and 35,rotation speed detecting
`encoders 5a and 3b for respectively detecting the speed of
`rotation of drive motors 14a and 144, an operation control
`unit 62 for controlling an operation, a storage unit 28 for
`storing a pitch or the like, a communication unit 11 for
`communicating with the controller, and a rotation control
`unit 69 fo