The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 11, 2014
Filed:
Nov. 10, 2010
Applicants:
Masaki Takahashi, Yokohama, JP;
Takafumi Suzuki, Yokohama, JP;
Toshiki Moriguchi, Kyoto, JP;
Inventors:
Assignee:
Murata Machinery, Ltd., Kyoto-shi, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G01C 22/00 (2006.01); G05D 1/00 (2006.01); B25J 5/00 (2006.01); G05D 1/02 (2006.01);
U.S. Cl.
CPC ...
B25J 5/007 (2013.01); G05D 1/0274 (2013.01); G05D 1/024 (2013.01); G05D 2201/0211 (2013.01); G05D 1/0251 (2013.01); G05D 1/0217 (2013.01);
Abstract
An autonomous mobile body is configured to smoothly avoid obstacles. The mobile body has a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis, and the distance to an obstacle is derived for each directional angle using an obstacle sensor. Using a model having two arcs, one at each end in a major axis direction, connected by line segments that lie in the major axis direction and containing the autonomous mobile body, the movement mechanism is driven with a combination of translation and rotation, without interference between the obstacle and the model.