JP2018169953A - 自律移動システム - Google Patents
自律移動システム Download PDFInfo
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- JP2018169953A JP2018169953A JP2017068761A JP2017068761A JP2018169953A JP 2018169953 A JP2018169953 A JP 2018169953A JP 2017068761 A JP2017068761 A JP 2017068761A JP 2017068761 A JP2017068761 A JP 2017068761A JP 2018169953 A JP2018169953 A JP 2018169953A
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- 238000001514 detection method Methods 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 description 113
- 210000002414 leg Anatomy 0.000 description 47
- 238000005259 measurement Methods 0.000 description 25
- 210000000323 shoulder joint Anatomy 0.000 description 24
- 210000004394 hip joint Anatomy 0.000 description 21
- 210000003811 finger Anatomy 0.000 description 19
- 210000002683 foot Anatomy 0.000 description 19
- 210000003857 wrist joint Anatomy 0.000 description 15
- 238000003384 imaging method Methods 0.000 description 14
- 210000001624 hip Anatomy 0.000 description 9
- 210000002310 elbow joint Anatomy 0.000 description 8
- 210000000629 knee joint Anatomy 0.000 description 8
- 101100233056 Caenorhabditis elegans ima-2 gene Proteins 0.000 description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 description 6
- 101100233050 Caenorhabditis elegans ima-1 gene Proteins 0.000 description 5
- 101100233059 Caenorhabditis elegans ima-3 gene Proteins 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
【解決手段】ロボット1は、上部基体10を備え、上部基体10の内部には、制御部13が設けられている。制御部13は、2個のLRF205の各駆動部205bを駆動して、測定部205cをヨー軸周りに左右方向に回転させる。ロボット1が通過するために必要な通過幅をWとしたときに、制御部13は、2個のLRF205の各駆動部205bを駆動して、(W/2)の範囲において各測定部205cを回転させる。LRF走査速度・範囲算出部71は、測定部205cの回転角度θswing、及び、測定部205cの回転速度Vswingを算出する。制御部13は、LRF走査速度・範囲算出部71で算出された回転角度θswing、及び、回転速度Vswingで測定部205cを回転させるように、駆動部205bを駆動する。
【選択図】図10
Description
図10に示すように、ロボット1が前方に移動する場合、制御部13は、2個のLRF205の各駆動部205bを駆動して、測定部205cをヨー軸(Z軸)周りに左右方向に回転させる。ロボット1が通過するために必要な通過幅をWとしたときに、制御部13は、2個のLRF205の各駆動部205bを駆動して、(W/2)の範囲において各測定部205cを回転させる。
(式1)θswing={90−tan−1(L1/L2)}+{90−tan−1(L1/L3)}
(式2)Vswing={(((D/ΔT)−(Vrobot×2×θswing/180)×π)/L1)/π}×180(deg/s)
θswing={90−tan−1(0.9/0.141)}+{90−tan−1(0.9/0.259)}=24.96°となり、
Vswing={(((0.02/0.025)−(0.555×2×24.96/180)×π)/0.9)/π}×180=20.15(deg/s)となる。
Claims (4)
- 設定された設定移動速度で移動する移動体と、
前記移動体に設けられ、対象物までの距離を検出する距離検出部と、
前記移動体に設けられ、前記距離検出部を、上下方向の軸を回転中心にして回転させることで走査する走査手段と、
前記移動体の前記設定移動速度に基づいて、前記走査手段の駆動を制御する走査制御手段と、
を備えることを特徴とする自律移動システム。 - 請求項1に記載の自律移動システムにおいて、
前記走査制御手段は、前記設定移動速度に基づいて、前記走査手段の駆動を制御して前記距離検出部の走査範囲及び走査速度の少なくとも一方を制御することを特徴とする自律移動システム。 - 請求項2に記載の自律移動システムにおいて、
前記走査制御手段は、前記設定移動速度が上昇した場合に、前記距離検出部の走査範囲を小さくする制御及び走査速度を上昇させる制御の少なくとも一方を行うように前記走査手段の駆動を制御することを特徴とする自律移動システム。 - 請求項1〜3のいずれか1項に記載の自律移動システムにおいて、
前記走査制御手段は、前記移動体の移動予定経路に基づいて、前記距離検出部の走査範囲の中心を決定することを特徴とする自律移動システム。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017068761A JP7014523B2 (ja) | 2017-03-30 | 2017-03-30 | 自律移動システム |
US15/892,544 US10144130B2 (en) | 2017-03-30 | 2018-02-09 | Autonomous mobile system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017068761A JP7014523B2 (ja) | 2017-03-30 | 2017-03-30 | 自律移動システム |
Publications (2)
Publication Number | Publication Date |
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JP2018169953A true JP2018169953A (ja) | 2018-11-01 |
JP7014523B2 JP7014523B2 (ja) | 2022-02-01 |
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Family Applications (1)
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JP2017068761A Active JP7014523B2 (ja) | 2017-03-30 | 2017-03-30 | 自律移動システム |
Country Status (2)
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US (1) | US10144130B2 (ja) |
JP (1) | JP7014523B2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10478968B2 (en) * | 2017-07-03 | 2019-11-19 | UBTECH Robotics Corp. | Driving assembly, ankle assembly and robot having the same |
US10719085B2 (en) * | 2018-02-22 | 2020-07-21 | Boston Dynamics, Inc. | Mobile robot sitting and standing |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001318148A (ja) * | 2000-05-10 | 2001-11-16 | Mitsubishi Heavy Ind Ltd | 全方位光波測距計および走行制御システム |
JP2007225342A (ja) * | 2006-02-21 | 2007-09-06 | Toyota Motor Corp | 3次元測定装置及び3次元測定装置を搭載した自律移動装置 |
JP2008033633A (ja) * | 2006-07-28 | 2008-02-14 | Secom Co Ltd | 移動ロボット |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8050863B2 (en) * | 2006-03-16 | 2011-11-01 | Gray & Company, Inc. | Navigation and control system for autonomous vehicles |
JP2012247400A (ja) | 2011-05-31 | 2012-12-13 | Toyota Motor Corp | 自律移動システム、その制御方法及びプログラム |
-
2017
- 2017-03-30 JP JP2017068761A patent/JP7014523B2/ja active Active
-
2018
- 2018-02-09 US US15/892,544 patent/US10144130B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001318148A (ja) * | 2000-05-10 | 2001-11-16 | Mitsubishi Heavy Ind Ltd | 全方位光波測距計および走行制御システム |
JP2007225342A (ja) * | 2006-02-21 | 2007-09-06 | Toyota Motor Corp | 3次元測定装置及び3次元測定装置を搭載した自律移動装置 |
JP2008033633A (ja) * | 2006-07-28 | 2008-02-14 | Secom Co Ltd | 移動ロボット |
Also Published As
Publication number | Publication date |
---|---|
US10144130B2 (en) | 2018-12-04 |
US20180281192A1 (en) | 2018-10-04 |
JP7014523B2 (ja) | 2022-02-01 |
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