CN103869815A - Automatic driving vehicle and automatic driving system - Google Patents
Automatic driving vehicle and automatic driving system Download PDFInfo
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- CN103869815A CN103869815A CN201310519890.2A CN201310519890A CN103869815A CN 103869815 A CN103869815 A CN 103869815A CN 201310519890 A CN201310519890 A CN 201310519890A CN 103869815 A CN103869815 A CN 103869815A
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Abstract
The present invention provides an automatic driving vehicle, an automatic driving system and a control method of the automatic driving vehicle. The automatic driving vehicle with rotation wheels (3a and 3b) and which drives on a road has an induction line sensor (5) for detecting induction lines (10A and 10B) arranged on a road, a color information detection sensor (5) for detecting color information (28 and 29) for changing the driving path of the automatic driving vehicle and arranged on a road and a controller for controlling rotation of wheels. The controller and the information from the color information detection sensor during driving of the automatic driving vehicle along the induction line (10A) control rotation of the wheels correspondingly to drive the automatic driving vehicle to leave from the induction line (10A). The controller and other induction line (10B) different from the induction line (10A) and detected by the induction line sensor (5) control rotation of the wheels correspondingly to make the automatic driving vehicle drive along the other induction line (10B), and therefore the driving path of the automatic driving vehicle is changed.
Description
Technical field
The present invention relates to the automatic running cars such as a kind of carrier of automatic running and used the automatic running system of this automatic running car.
Background technology
As disclosed in TOHKEMY (Japanese Patent Laid-Open No.) 2008-139963 communique, in automatic running system as above, there is following system: the part in the front side of direct of travel in automatic running car at least arranges pair of right and left for detection of the sensor that is arranged at the line of induction on road.In this system, close (off) for detecting for one in the sensor of pair of right and left, close and maintain stipulated time and whole sensors and become and detect while closing in this detection, make with the driving wheel reversion of an above-mentioned sensor opposition side and car body is turned.
Summary of the invention
But the disclosed automatic running system of TOHKEMY 2008-139963 communique is changed along line of induction travel direction.Therefore, be difficult to reduce travel direction and change required area.
The invention provides a kind of line of induction that can leave carrys out inbound path before changing, can also and use the automatic running system of this automatic running car with the automatic running car of area travel direction conversion less when changing along line of induction travel direction.
Automatic running car of the present invention travels on road by rotating multiple wheels.This automatic running car is characterised in that to have: line of induction sensor, detects the line of induction being arranged on road; Colouring information detecting sensor, detect be arranged on road, for changing the colouring information of progress path of this automatic running car; And controller, control the rotation of wheel.And, the information from colouring information detecting sensor when controller and this automatic running car travel along the line of induction is controlled the rotation of wheel accordingly so that this automatic running car is left from this line of induction, from line of induction sensor detect the line of induction of different other with this line of induction corresponding control wheel rotation so that this automatic running car is travelled along this other the line of induction, change thus the progress path of this automatic running car.
In addition, comprise above-mentioned automatic running car, be arranged on the line of induction on the road that this automatic running car can travel and the automatic running system of colouring information and the control method of automatic running car and also form the present invention.
Accompanying drawing explanation
Fig. 1 is the side view as the carrier of embodiments of the invention.
Fig. 2 is the ground plan of the carrier of embodiment.
Fig. 3 is the figure that has represented to use the setting example of the line of induction in the handling system of carrier of embodiment.
Fig. 4 is the block diagram that represents the structure of the control part of the carrier of embodiment.
Fig. 5 is the process flow diagram that represents the identifying processing of the line of induction in the carrier of embodiment and color guiding
Fig. 6 is the process flow diagram that represents the turning control processing in the carrier of embodiment.
Embodiment
With reference to accompanying drawing, embodiments of the invention are described below.
At the carrier 100 as the automatic running car of embodiments of the invention shown in Fig. 1 and Fig. 2.Fig. 1 illustrates the situation of carrier 100 from the side, Fig. 2 illustrate under see the situation of carrier 100.In the present embodiment, suppose that carrier 100 is for for example automatic handing system (automatic running system), this automatic handing system is used in factory, warehouse from moving into the be handled upside down thing of position to specified preservation position automatic transporting various parts, goods etc.But, as other embodiment of the present invention, also comprise people's the automatic running car or the automatic running car of the mixed carrier of carrying and parts, goods etc. that are handled upside down thing as carrying conduct, this automatic running car is controlled automatic running by the automatic running system identical with the automatic handing system illustrating in the present embodiment.
Carrier 100 has: chassis portion 1, motor 4a, the 4b of the actuator that comprises wheel 3a, 3b and this wheel of conduct driving 3a, 3b; And loading platform 2, this loading platform 2 supports (traction) by this chassis portion 1, can load and be handled upside down thing.In addition, carrier 100 is not limited to this, for example, also can not have loading platform and carrier.In addition, " wheel " is not only the wheel of common circle but also comprised crawler belt and other various mobile devices.The 1(of chassis portion is carrier 100) can exercise on the floor of the inside of the buildings such as factory, warehouse, the various road surfaces that can travel such as road surface of mating formation of buildings outside (below be called road).Be that carrier 100 is exercised on road by rotating multiple wheel 3a, 3b.
In Fig. 3, represent the one-piece construction of automatic handing system.In chassis portion 1, can detect three line of induction sensor 5a, 5b, the 5c spread configuration of the line of induction (recording three line of induction 10A, 10B, 10C in figure) being arranged on road in overall width direction.In the following description, line of induction 10A, 10B, 10C are referred to as to the line of induction 10.For carrier 100 is exercised along the line of induction 10, line of induction sensor 5 is as long as detect the direct of travel right-hand member of the line of induction 10 and minimum two positions of left end.
But, in the present embodiment, be more or less suppressed at carrier 100 left and right while enforcement along the line of induction 10 and wriggle, therefore arrange three line of induction sensor 5a, 5b, 5c in overall width direction, to make it possible to detect central authorities, right-hand member and the left end of the line of induction.In order to detect the required and cost degradation in above-mentioned minimum two positions, the quantity that is arranged in the line of induction sensor of overall width direction can be also two, and take better rideability (inhibition, the raising of parking spot precision of wriggling and travelling) for object can also be three, more than four (for example, 24 of maximums).In the following description, three line of induction sensor 5a, 5b, 5c in the present embodiment are referred to as to line of induction sensor 5.Be that line of induction sensor 5 detects the line of induction 10 being arranged on road.
As the line of induction 10, use the colour band with the monochrome (or polychrome) in redness, yellow, blueness and green etc. shades of colour.Therefore, line of induction sensor 5 still can read the color sensor of color.About line of induction sensor 5, can use can according to the color of the light being reflected by the line of induction 10 (intensity, wavelength) identify the color of the line of induction 10 light reflection type, can identify some in the image processing class type of color of the line of induction 10 according to the image of taking.In addition, it is all color sensor that three line of induction sensors 5 do not need, as long as minimum one is color sensor.The situation of the color sensor that has used three light reflection type is described in the present embodiment.
And, be also mounted with the controller being formed by CPU, MPU etc. in chassis portion 1.Controller 6 is controlled the driving of motor 4a, 4b so that carrier 100 is travelled along the line of induction 10 detecting by line of induction sensor 5.
In addition, controller 6 is controlled the driving of motor 4a, 4b so that carrier 100 and the color of color guiding (to this aftermentioned) are turned (direction conversion) accordingly, and this color guiding is as the colouring information reading by doubling as the line of induction sensor 5 of color sensor (colouring information detecting sensor).Now, about controller 6, details aftermentioned, but the color guiding (colouring information) that controller 6 detects by the line of induction sensor 5 as color sensor while travelling along line of induction 10A with carrier 100 is controlled wheel 3a, 3b( motor 4a, 4b accordingly) rotation so that this carrier 100 is left from this line of induction 10A.And, control accordingly wheel 3a, 3b( motor 4a, 4b from the line of induction 10B, the 10C that are detected different other with this line of induction 10A by line of induction sensor 5) rotation so that this carrier 100 is travelled along this other line of induction 10B, 10C, change thus the progress path of this carrier 100.
In addition, in the present embodiment, the situation that line of induction sensor and color sensor (colouring information detecting sensor) are made up of same sensor has as described above been described, but they also can be made up of different sensors.In the present embodiment, make line of induction sensor 5b in multiple line of induction sensors 5 also as colouring information detecting sensor performance function.Colouring information detecting sensor 5b detect be arranged on road for changing the colouring information of progress path of carrier 100.
In addition, as the head of route information reading part, can also use the sensor different from line of induction sensor 5 (control information read special sensor).In the present embodiment, carrier 100 have detect color that the color that arranges respectively with the line of induction 10 on road leads, navigation information reads special color sensor 7.Color sensor 7 and colouring information detecting sensor also can be made up of same sensor.
In Fig. 4, represent the structure of controller 6.Controller 6 is inputted from line of induction sensor 5(5a, 5b, 5c) line of induction detection signal and color read signal.Controller 6 has to be identified the line of induction identification part 21 of the line of induction 10, comes the color guiding identification part 25 of identification colors guiding and accept the motor control operational part 24 that carries out the computing of the driving for controlling motor 4a, 4b from the recognition result of these identification parts 21,25 with color read signal with line of induction detection signal.
And, controller 6 have accept with motor control operational part 24 in the corresponding control signal of operation result and the motor driver 22 of CD- ROM drive motor 4a, 4b and to detect motor 4a, 4b(be wheel 3a, 3b) rotational speed and be input to the motor speed test section 23 of motor control operational part 24.It is the rotation that controller 6 is controlled wheel 3a, 3b.
In addition, controller 6 is connected with to outside instruction unit 26, for example, in the time having inputted outside indication from carrier 100 (, forcing the indication that stops, turning and end), indicates to stop the processing of grade according to this outside.
Illustrate for carrier 100 being provided with the color of the relevant indication of turning (change of indication progress path) and lead 28,29 with Fig. 3.Here, about color guiding 28, so that carrier 100 is from moving into position a(11) move to the preservation position a(12 that is made as target), the basic look of line of induction 10A is that yellow situation is that example describes.
In this case, by moving into position a(11 in the direct of travel of the carrier 100 on line of induction 10A) front, by the length with regulation (for example, about 10mm) blue part 1 15 and green part 2 16 combination by this order on direct of travel with identical specified length be configured, indicate turning to the right to carrier 100 thus.And, the turning of blue the 3rd part 17 indication lockings (motor 4b is imposed to short braking) with specified length in front that are configured in part 2 16 as the right wheel 3b of the wheel of turn direction and take the overall width of this right wheel 3b as axle take chassis portion 1 as radius (below be also called axle locking turn).
Then, about color guiding 29, take by carrier 100 from moving into position b(13) move to the preservation position b(14 that is made as target) and situation, with above-mentioned example in the same manner the basic look of line of induction 10B describe as yellow situation as example.In this case, on the travel direction of the carrier 100 on line of induction 10B, move into position b(13) front, the blue part 1 18 of the length with afore mentioned rules is configured with red part 2 19 combination by this order on direct of travel of the length with identical regulation, thus carrier 100 is indicated to turning left.
And then, be configured in the 3rd red part 20 with specified length in the front of part 2 19, indication for example, is reversed with the slow speed of the rotational speed with respect to right wheel 3b (20% speed) as the left wheel 3a of the wheel of turn direction by making, thereby carries out than the turning under the less radius of the overall width of chassis portion 1 (being also called reversion below turns).
Like this, each color guiding by the 1st and the combination of the color of part 2 indicate turn direction, and indicate radius of turn by the color of the 3rd part.But, here the structure of the color guiding of explanation is only example, also can adopt by part 1 indicate turn direction or by the 2nd and the combination of the color of the 3rd part indicate radius of turn or generally indicate other the structure of color guiding such as turn direction and radius of turn with the combination of the color of the 1st～3rd part.It can be also more than four that the quantity (having the quantity of the part of specified length) of the color that in addition, formation color leads can be both two.
By lead 28 the carrier 100(controller 6 that reads in the indication of having accepted turn direction and radius of turn of color) indicate to start the control of the driving (or stopping) of motor 4a, 4b according to these.And, so far always along the line of induction (below be called the 1st line of induction) 10A on turning start after, controller 6 becomes " non-detection " with the detected state of the line of induction sensor 5 to the 1st line of induction 10A, other the detected state of line of induction sensor 5 of the line of induction (being called the 2nd line of induction below) 10B that is connected to the preservation position that is made as target is become to " non-detection " (from " detection " temporarily, line of induction sensor 5 is by the 2nd line of induction 10B), the detected state of the line of induction sensor 5 to the 2nd line of induction 10B becomes " detection " accordingly again, identification carrier 100 to completing along the turning of the state of the 2nd line of induction 10B (turning of the replacing based on from line of induction 10A to line of induction 10B).
In other words, after the detected state of (the 1st and the 2nd) line of induction 10 based on line of induction sensor 5 after turning starts becomes non-detection, detection and non-detection, with again become detection and stop accordingly this turning, can carry out thus the turning control of the minor radius in narrow and small road.Also with read in color lead within 28 o'clock, similarly carry out by color lead 29 read in the indication of having accepted turn direction and radius of turn time the control (turning of the replacing based on from line of induction 10B to line of induction 10C) of controller 6.
According to the present embodiment, when travel direction conversion (turnings), the travel direction conversion by leaving from the line of induction 10, and along line of induction 10(along the line of induction 10) can carry out travel direction conversion with less area compared with when travel direction conversion.,, according to the present embodiment, compared with the situation of in the past turning along the line of induction like that, can carry out the turning of minor radius.For example, need to the about 240cm of about 120cm(turning width along the line of induction 10 travel directions conversion in the situation that radiuss of turn), on the other hand, according to the present embodiment, the travel direction conversion by leaving from the line of induction 10, the about 30cm of the about 15cm(turning width of radius of turn).
According to the present embodiment, can detect the line of induction and colouring information by being made as, inbound path is to make travelling, change the line of induction at carrier 100 line of induction 10B along other from line of induction 10A leaves before changing.And, change this line of induction by utilization, for example, in the situation that making carrier 100 change direct of travel (, the situation of turning), compare and can change direct of travel with less area with the situation that changes direct of travel along the identical line of induction.In addition, here, the state that carrier 100 leaves from line of induction 10A refers to that the detected state of line of induction sensor 5 becomes the state of " non-detection ".
In the process flow diagram of Fig. 5, the flow process of the identifying processing of the line of induction 10 based on controller 6 and color guiding is shown.Controller 6 carrys out the processing (control method) shown in execution graph 5 and Fig. 6 described later according to the automatic ride control program as computer program.
In step S101, controller 6 starts line of induction sensor 5.And in step S102, controller 6 is confirmed the color of the line of induction 10 detecting by line of induction sensor 5.Here, be to enter into step S111 yellow in the color of the line of induction, be to enter into step S121 blue in the color of the line of induction 10, being to enter into step S131 red in the color of the line of induction 10, is to enter into step S141 green in the color of the line of induction 10.
In step S111, S121, S131, S141, controller 6 reads in the pattern of (confirmation) line of induction 10, the control of keeping straight on, turning left or turning right according to read in pattern.Afterwards, in step S112, S122, S132, S142, controller 6 judge institute along the line of induction 10 color whether variation, whether detect color lead (part 1).In the situation that there is no change color, controller 6 turns back to step S111, S121, S131, S141.On the other hand, in the situation that having change color, controller 6 enters into step S103, jumps to the turning control processing shown in the process flow diagram of Fig. 6.
The controller 6 that having started turning control processing in step S201 in Fig. 6 reads in the color of the 1st～3rd part of (confirmation) color guiding in step S202.Here the color that the line of induction 10 is described, is yellow situation (entering into the situation of step S103 from the step S112 of Fig. 5).
In the case of the color of the 1st～3rd part be blue, green, basket, controller 6 enters into step S211, the control that enters right-hand bend and the locking of right motor (axle lock is turned) makes left motor 4a rotate as former state and right motor 4b is imposed to short braking in step S212.Then, enter into step S203.In addition, in the case of the color of the 1st～3rd part be blue, green, red, controller 6 enters into step S221, enter and turn right and the control of right motor reversion (reversion is turned), in step S222, make left motor 4a rotate as former state and right motor 4b is reversed with 20% the speed of left motor 4a.And, enter into step S203.
In addition, in the case of the color of the 1st～3rd part be blue, red, basket, controller 6 enters into step S231, enters into the control of left-hand bend and the locking of left motor (axle lock is turned), makes right motor 4b rotate as former state and left motor 4a is imposed to short braking in step S232.Then, enter into step S203.And, in the case of the color of the 1st～3rd part be blue, red, green, controller 6 enters into step S241, enter and the control of left motor reversion (reversion is turned), in step S242, make right motor 4b rotate as former state and left motor 4a is reversed with 20% the speed of right motor 4b.And, enter into step S203.
In step S203, whether controller 6 is judged after turning starts by line of induction sensor 5 and is detected the passing through of the 2nd described line of induction 10, whether the detected state of the 2nd line of induction 10 is become to " non-detection " → " detection " → " non-detection ".Repeat this step in the case of not detecting the passing through of the 2nd line of induction symbol, detect by the situation that enter into step S204.By this control, carrier 1 leaves and travel direction conversion from the line of induction 10.Thus, with along line of induction 10(along the line of induction 10) can carry out travel direction conversion with less area compared with the situation of travel direction conversion.
In step S204, controller 6 judges whether line of induction sensor 5 is returned on the 2nd line of induction mark, whether the detected state of the 2nd line of induction 10 is become to " detection ".In the situation that not returning on the 2nd line of induction 10, repeat this step, enter into step S205 in the situation that having returned, completing turns controls.Afterwards, turn back to the step S102 of Fig. 5.
As previously mentioned, the rotation that the information from colouring information detecting sensor 5b when controller 6 travels along the line of induction 10 with carrier 1 is controlled wheel 3a, 3b is accordingly to make carrier 1 leave from the line of induction 10.In addition, controller 6 and line of induction sensor 5 detect rotation that the line of induction 10B of different other with line of induction 10A controls wheel 3a, 3b accordingly so that carrier 1 is travelled along other line of induction 10B.Thus, controller 6 changes the progress path of carrier 1.
In addition, controller 6 is in the case of carrying out the direction conversion as the change of progress path carrier 1, the detected state of the line of induction sensor 5 after direction conversion starts becomes after non-detection, detection and non-detection, with the direction conversion that again becomes detection and stop accordingly carrier 1.
In addition, controller 6 is in the case of carrying out the direction conversion as the change of progress path carrier 1, direction and radius that the rotation of controlling wheel 3a, 3b is changed to make to obtain the direction corresponding with information from colouring information detecting sensor 5b.
The control method of carrier (automatic running car) 1 then, is described.According to the control method of the present embodiment, the information from colouring information detecting sensor 5b while travelling along the line of induction 10 with carrier 1 is controlled the rotation of left wheel 3a and right wheel 3b accordingly so that carrier 1 is left from the line of induction 10.And, detect that from line of induction sensor 5 rotation that the line of induction 10B of different other with line of induction 10A controls left wheel 3a and right wheel 3b is accordingly to make carrier 1 travel along other line of induction 10B.Thus, change the progress path of carrier 1.According to this control method, can obtain the effect identical with aforesaid effect.
Then, illustrate as making computing machine carry out the automatic ride control program of the computer program of the control of automatic running car, this automatic running car is the carrier 1 travelling on road by rotating multiple wheels, has: line of induction sensor 5, detects the line of induction 10 being arranged on road; And colouring information detecting sensor 5b, detect be arranged on road, for changing the colouring information of progress path of carrier 1.
This program has following steps: the information from colouring information detecting sensor 5b while travelling along the line of induction 10 with carrier 1 accordingly, makes the left wheel 3a of computer control car and the rotation of right wheel 3b so that carrier 1 is left from the line of induction 10.In addition, this program has following steps: the line of induction 10B that detects different other with line of induction 10A from line of induction sensor 5 accordingly, makes the rotation of computer control left wheel 3a and right wheel 3b so that carrier 1 is travelled along other line of induction 10B.According to program, can obtain the effect identical with aforesaid effect.
In addition, using many carriers in the situation that, both the color of the line of induction can be set as specially for each carrier, also can be set as sharing same color to many carriers.
In addition, the line of induction of explanation can also bring making by commercially available colored plastic strip in the present embodiment.Therefore,, compared with using the mode in the past of the guiding based on IC chip, bar code, can construct simply automatic handing system.But, about the line of induction, also can use mode in the past and use the guiding based on IC chip, bar code.
According to each embodiment described above, can control accordingly with multiple colors that read color leads the turning of automatic running car.Thereby, can turn with minor radius (small size) compared with the situation of turning along the line of induction.In addition, automatic running car does not advance with the handoff functionality retreating, can turn with minor radius with the communication function of IC chip and the read functions of bar code yet.
In addition, according to the present embodiment, be illustrated as an example of the situation of turning example, but the invention is not restricted to this.For example, be also contained in embodiments of the invention in the situation that makes the progress path of the change carriers 100 such as carrier 100 is turned right, left-hand rotation (being direct of travel in this case).And the travel direction of carrier 100 is made as situation identical and inbound path (track) before changing and is also contained in embodiments of the invention.
Each embodiment described above is only representational example, in the time that enforcement is of the present invention, can carry out various distortion, change to each embodiment.
Claims (5)
1. an automatic running car, travels on road by rotating multiple wheels (3a, 3b), and this automatic running car is characterised in that to have:
Line of induction sensor (5), detects the line of induction (10A, 10B) being arranged on described road;
Colouring information detecting sensor (5), detect be arranged on described road, for changing the colouring information (28,29) of progress path of this automatic running car; And
Controller (6), controls the rotation of described wheel,
The information from described colouring information detecting sensor when described controller and this automatic running car travel along the described line of induction (10A) is controlled the rotation of described wheel accordingly so that this automatic running car is left from this line of induction (10A), the rotation that the line of induction (10B) that detects different other with the described line of induction (10A) from described line of induction sensor is controlled described wheel to be accordingly so that this automatic running car is travelled along described other the line of induction (10B), thereby changes the progress path of this automatic running car.
2. automatic running car according to claim 1, is characterized in that,
In the case of this automatic running car is carried out the direction conversion as the change of progress path, the detected state of the described line of induction sensor of described controller after the conversion of described direction starts becomes after non-detection, detection and non-detection, and again becomes detection and stops accordingly this direction conversion.
3. automatic running car according to claim 1, is characterized in that,
In the case of this automatic running car is carried out the direction conversion as the change of progress path, the rotation of wheel is changed to make to obtain the described direction corresponding with information from described colouring information detecting sensor described in described controller control direction and radius.
4. an automatic running system, is characterized in that, comprises:
Automatic running car described in any one in claim 1～3; And
Be arranged on the described line of induction and described colouring information on the road that described automatic running car can travel.
5. a control method for automatic running car, this automatic running car travels on road by the multiple wheels of rotation (3a, 3b), and this automatic running car possesses: line of induction sensor (5), detects the line of induction (10A, 10B) being arranged on described road; And colouring information detecting sensor (5), detect be arranged on described road, for changing the colouring information (28,29) of progress path of this automatic running car, this control method is characterised in that,
The information from described colouring information detecting sensor while travelling along the described line of induction (10A) with this automatic running car is controlled the rotation of described wheel accordingly so that this automatic running car is left from this line of induction (10A), the rotation that the line of induction (10B) that detects different other with the described line of induction (10A) from described line of induction sensor is controlled described wheel to be accordingly so that this automatic running car is travelled along described other the line of induction (10B), thereby changes the progress path of this automatic running car.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-276281 | 2012-12-18 | ||
| JP2012276281A JP6224319B2 (en) | 2012-12-18 | 2012-12-18 | Automated traveling vehicle and automated traveling system, automated traveling vehicle control method, automated traveling control program |
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| CN103869815A true CN103869815A (en) | 2014-06-18 |
| CN103869815B CN103869815B (en) | 2017-08-25 |
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| CN201310519890.2A Expired - Fee Related CN103869815B (en) | 2012-12-18 | 2013-10-29 | Automatic running car and automatic running system |
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| JP (1) | JP6224319B2 (en) |
| CN (1) | CN103869815B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108536402A (en) * | 2017-03-02 | 2018-09-14 | 北京嘀嘀无限科技发展有限公司 | Vehicle information display methods, device and electronic equipment |
| CN110147097A (en) * | 2019-04-28 | 2019-08-20 | 深兰科技（上海）有限公司 | A kind of location determining method of dispensing device, device, equipment and medium |
| CN113448331A (en) * | 2020-03-10 | 2021-09-28 | 株式会社理光 | Autonomous travel device, autonomous travel control method, storage medium, and computer device |
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| JP2020194279A (en) * | 2019-05-27 | 2020-12-03 | トヨタ自動車株式会社 | Information processing device, information processing method, and program |
| CN114167850B (en) * | 2020-08-21 | 2024-02-20 | 富联精密电子(天津)有限公司 | Self-propelled triangular warning frame and travelling control method thereof |
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| CN1395150A (en) * | 2001-06-29 | 2003-02-05 | 三洋电机株式会社 | Unmanned transporting vehicle |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536402A (en) * | 2017-03-02 | 2018-09-14 | 北京嘀嘀无限科技发展有限公司 | Vehicle information display methods, device and electronic equipment |
| CN108536402B (en) * | 2017-03-02 | 2021-08-27 | 北京嘀嘀无限科技发展有限公司 | Vehicle information display method and device and electronic equipment |
| CN110147097A (en) * | 2019-04-28 | 2019-08-20 | 深兰科技（上海）有限公司 | A kind of location determining method of dispensing device, device, equipment and medium |
| CN113448331A (en) * | 2020-03-10 | 2021-09-28 | 株式会社理光 | Autonomous travel device, autonomous travel control method, storage medium, and computer device |
| CN113448331B (en) * | 2020-03-10 | 2024-05-28 | 株式会社理光 | Autonomous traveling device, autonomous traveling control method, storage medium, and computer device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6224319B2 (en) | 2017-11-01 |
| JP2014120081A (en) | 2014-06-30 |
| CN103869815B (en) | 2017-08-25 |
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