CN113544614B - 移动体控制方法、移动体控制系统 - Google Patents

移动体控制方法、移动体控制系统 Download PDF

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Publication number
CN113544614B
CN113544614B CN202080017921.2A CN202080017921A CN113544614B CN 113544614 B CN113544614 B CN 113544614B CN 202080017921 A CN202080017921 A CN 202080017921A CN 113544614 B CN113544614 B CN 113544614B
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moving
moving body
control
control system
conveying device
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Chinese (zh)
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CN113544614A (zh
Inventor
高山诚悟
今仲隆晃
村田健太郎
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/227—Handing over between remote control and on-board control; Handing over between remote control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN202080017921.2A 2019-03-04 2020-02-12 移动体控制方法、移动体控制系统 Active CN113544614B (zh)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
JP2019-039010 2019-03-04
JP2019039008 2019-03-04
JP2019039009 2019-03-04
JP2019-039008 2019-03-04
JP2019039010 2019-03-04
JP2019-039009 2019-03-04
PCT/JP2020/005380 WO2020179386A1 (ja) 2019-03-04 2020-02-12 移動体制御方法、移動体制御システム、及びプログラム

Publications (2)

Publication Number Publication Date
CN113544614A CN113544614A (zh) 2021-10-22
CN113544614B true CN113544614B (zh) 2024-05-24

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US (1) US12084328B2 (enExample)
JP (1) JP7681836B2 (enExample)
CN (1) CN113544614B (enExample)
WO (1) WO2020179386A1 (enExample)

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JP7565499B2 (ja) * 2021-02-22 2024-10-11 パナソニックＩｐマネジメント株式会社 移動体、及び移動体制御方法
US12448263B2 (en) * 2021-06-20 2025-10-21 Hoopo Systems Ltd. System for monitoring the location and load status of a wheeled platform
NO347290B1 (en) * 2022-03-28 2023-08-28 Sp Dev As Transport apparatus and method for transporting a load
JP2023154361A (ja) * 2022-04-06 2023-10-19 パナソニックＩｐマネジメント株式会社 搬送ロボット制御システム及び搬送ロボット制御方法
JPWO2024116332A1 (enExample) * 2022-11-30 2024-06-06
CN116143030A (zh) * 2023-02-20 2023-05-23 劢微机器人科技(深圳)有限公司 一种无人叉车

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Also Published As

Publication number Publication date
JP7681836B2 (ja) 2025-05-23
JPWO2020179386A1 (enExample) 2020-09-10
US12084328B2 (en) 2024-09-10
CN113544614A (zh) 2021-10-22
WO2020179386A1 (ja) 2020-09-10
US20220135384A1 (en) 2022-05-05

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