Autonomously moving body, movement controlling method, and recording medium storing movement controlling program

Patent metadata

Field	Value
Publication number	US-2018178391-A1
Application number	US-201715831490-A
Country	US
Kind code	A1
Filing date	Dec 5, 2017
Priority date	Dec 22, 2016
Publication date	Jun 28, 2018
Grant date	—

Abstract

A cleaning robot which performs a predetermined task while autonomously moving includes: a driver which makes the cleaning robot move; an image capturer which detects a movement state indicating whether a different cleaning robot existing in front of the cleaning robot is moving along an obstacle, a direction in which the different cleaning robot exists relative to the cleaning robot, and a distance between the cleaning robot and the different cleaning robot; and a following run controller which controls the driver in order for the cleaning robot to move following the different cleaning robot while keeping a position diagonally behind the different cleaning robot at an opposite side of the different cleaning robot from the obstacle, if the movement state indicates that the different cleaning robot is moving along the obstacle.

First claim

What is claimed is:

1 . An autonomously moving body which performs a predetermined task while autonomously moving, comprising:
a driver which makes the autonomously moving body move; a moving body detector which detects a movement state indicating whether a different autonomously moving body existing in front of the autonomously moving body is moving along an obstacle, a direction in which the different autonomously moving body exists relative to the autonomously moving body, and a distance between the autonomously moving body and the different autonomously moving body; and a movement controller which controls the driver in order for the autonomously moving body to move following the different autonomously moving body while keeping a position diagonally behind the different autonomously moving body at an opposite side of the different autonomously moving body from the obstacle, if the movement state indicates that the different autonomously moving body is moving along the obstacle.

2 . The autonomously moving body according to claim 1 , wherein
while the autonomously moving body is moving following the different autonomously moving body, if the movement state of the different autonomously moving body becomes no longer the movement state indicating that the different autonomously moving body is moving along the obstacle, the movement controller controls the driver in order for the autonomously moving body to move straight ahead for a predetermined time.

3 . The autonomously moving body according to claim 2 , further comprising:
a front obstacle detector which detects the obstacle existing in front of the autonomously moving body; and a side obstacle detector which detects the obstacle existing beside a side surface of the autonomously moving body, wherein the autonomously moving body moves along the obstacle as the different autonomously moving body, and while the autonomously moving body is moving along the obstacle as the different autonomously moving body, if the front obstacle detector detects the obstacle in front, the movement controller controls the driver in order for the autonomously moving body to turn until the side obstacle detector detects the obstacle beside the side surface, and thereafter to stop for a predetermined time.

4 . The autonomously moving body according to claim 1 , further comprising a side obstacle detector which detects the obstacle existing beside a side surface of the autonomously moving body, wherein
if the movement state indicates that the different autonomously moving body is moving along the obstacle, and concurrently the obstacle is detected beside the side surface on an opposite side from the different autonomously moving body, the movement controller controls the driver in order for the autonomously moving body not to move following the different autonomously moving body.

5 . The autonomously moving body according to claim 1 , wherein
while moving along the obstacle, the different autonomously moving body sends a first signal from a rear portion of the different autonomously moving body, the first signal indicating that the different autonomously moving body is moving along the obstacle, and the movement body detector detects the movement state by receiving the first signal sent from the different autonomously moving body.

6 . The autonomously moving body according to claim 5 , further comprising
a transmitter which is disposed in a rear portion of the autonomously moving body, and which, upon reception of the first signal sent from the different autonomously moving body, transmits a second signal indicating that the autonomously moving body is moving following the different autonomously moving body.

7 . The autonomously moving body according to claim 1 , further comprising a cleaner which cleans a floor.

8 . A movement controlling method for an autonomously moving body which performs a predetermined task while autonomously moving, comprising:
detecting a movement state indicating whether a different autonomously moving body existing in front of the autonomously moving body is moving along an obstacle, a direction in which the different autonomously moving body exists relative to the autonomously moving body, and a distance between the autonomously moving body and the different autonomously moving body; and controlling a driver which makes the autonomously moving body move, in order for the autonomously moving body to move following the different autonomously moving body while keeping a position diagonally behind the different autonomously moving body at an opposite side of the different autonomously moving body from the obstacle, if the movement state indicates that the different autonomously moving body is moving along the obstacle.

9 . A non-transitory computer-readable recording medium storing a movement controlling program for controlling movements of an autonomously moving body which performs a predetermined task while autonomously moving, the program executed by a computer included in the an autonomously moving body, and causing the computer to perform a method comprising:
detecting a movement state indicating whether a different autonomously moving body existing in front of the autonomously moving body is moving along an obstacle, a direction in which the different autonomously moving body exists relative to the autonomously moving body, and a distance between the autonomously moving body and the different autonomously moving body; and controlling a driver which makes the autonomously moving body move, in order for the autonomously moving body to move following the different autonomously moving body while keeping a position diagonally behind the different autonomously moving body at an opposite side of the different autonomously moving body from the obstacle, if the movement state indicates that the different autonomously moving body is moving along the obstacle.

10 . An autonomously moving body which performs a predetermined task while autonomously moving, comprising:
processing circuitry; and storage including at least one set of instructions that, when executed by the processing circuitry, cause the processing circuitry to perform operations including: detecting a movement state indicating whether a different autonomously moving body existing in front of the autonomously moving body is moving along an obstacle, a direction in which the different autonomously moving body exists relative to the autonomously moving body, and a distance between the autonomously moving body and the different autonomously moving body; and controlling a driver which makes the autonomously moving body move, in order for the autonomously moving body to move following the different autonomously moving body while keeping a position diagonally behind the different autonomously moving body at an opposite side of the different autonomously moving body from the obstacle, if the movement state indicates that the different autonomously moving body is moving along the obstacle.

Assignees

• Panasonic Ip Corp America

Inventors

• Naito Eiichi
• Aoshima Takenobu

Classifications

• G05D1/0219

  ensuring the processing of the whole working surface · CPC title

• B25J11/0085 Primary

  Cleaning · CPC title

• A47L11/4061

  Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated · CPC title

• A47L11/4011

  Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor · CPC title

• Y10S901/01

  Mobile robot · CPC title