To provide a mobile robot capable of automatically detecting a step without contact and selecting a method of riding over the step according to the kind of step.
The body frame 10 of the mobile robot is moved over a runway by means of drive wheels 6, 12. A first driven wheel 30 is provided in front along the direction of travel of the body frame. A second driven wheel 32 is provided therebehind. The distance in the direction of travel of the body frame is detected by a distance sensor part 28 that observes the runway at a certain elevation angle. The body frame is provided with a first vertical movement mechanism for moving the first driven wheel and the distance sensor integrally on the body frame while keeping the elevation angle roughly constant, and a second vertical movement mechanism for moving the second driven wheel vertically. Any step on the runway is detected based upon a distance signal from the distance sensor part, and the first and second vertical movement mechanisms are moved vertically as the body frame moves.
COPYRIGHT: (C)2006,JPO&NCIPI
Hideki Ogawa
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Satoshi Kono
Makoto Nakamura
Kurata Masatoshi
Takashi Mine
Yoshihiro Fukuhara
Sadao Muramatsu
Ryo Hashimoto
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