JP4328813B2 - 移動装置、ならびにその制御方法および制御プログラム - Google Patents

移動装置、ならびにその制御方法および制御プログラム Download PDF

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Publication number
JP4328813B2
JP4328813B2 JP2007100000A JP2007100000A JP4328813B2 JP 4328813 B2 JP4328813 B2 JP 4328813B2 JP 2007100000 A JP2007100000 A JP 2007100000A JP 2007100000 A JP2007100000 A JP 2007100000A JP 4328813 B2 JP4328813 B2 JP 4328813B2
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JP
Japan
Prior art keywords
space
spatial
spatial element
processing unit
mobile device
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Expired - Fee Related
Application number
JP2007100000A
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English (en)
Japanese (ja)
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JP2008257531A (ja
JP2008257531A5 (enExample
Inventor
眞 中村
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2007100000A priority Critical patent/JP4328813B2/ja
Priority to US12/062,000 priority patent/US8103383B2/en
Publication of JP2008257531A publication Critical patent/JP2008257531A/ja
Publication of JP2008257531A5 publication Critical patent/JP2008257531A5/ja
Application granted granted Critical
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Expired - Fee Related legal-status Critical Current
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05D1/0212—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
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
JP2007100000A 2007-04-06 2007-04-06 移動装置、ならびにその制御方法および制御プログラム Expired - Fee Related JP4328813B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2007100000A JP4328813B2 (ja) 2007-04-06 2007-04-06 移動装置、ならびにその制御方法および制御プログラム
US12/062,000 US8103383B2 (en) 2007-04-06 2008-04-03 Mobile apparatus, control device and control program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2007100000A JP4328813B2 (ja) 2007-04-06 2007-04-06 移動装置、ならびにその制御方法および制御プログラム

Publications (3)

Publication Number Publication Date
JP2008257531A JP2008257531A (ja) 2008-10-23
JP2008257531A5 JP2008257531A5 (enExample) 2009-03-26
JP4328813B2 true JP4328813B2 (ja) 2009-09-09

Family

ID=39827674

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2007100000A Expired - Fee Related JP4328813B2 (ja) 2007-04-06 2007-04-06 移動装置、ならびにその制御方法および制御プログラム

Country Status (2)

Country Link
US (1) US8103383B2 (enExample)
JP (1) JP4328813B2 (enExample)

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JP5080333B2 (ja) * 2007-04-06 2012-11-21 本田技研工業株式会社 自律移動体のための物体認識装置
JP4328819B2 (ja) * 2007-11-30 2009-09-09 本田技研工業株式会社 移動装置およびその制御プログラム
JP4577697B2 (ja) * 2007-11-30 2010-11-10 本田技研工業株式会社 移動装置および移動装置システム
US8352077B2 (en) * 2008-12-19 2013-01-08 Honda Motor Co., Ltd. Inertia shaping for humanoid fall direction change
US8369991B2 (en) * 2008-12-19 2013-02-05 Honda Motor Co., Ltd. Humanoid fall direction change among multiple objects
US8024069B2 (en) * 2009-01-28 2011-09-20 Ge Intelligent Platforms, Inc. System and method for path planning
DE112010000035B4 (de) * 2009-08-03 2015-04-30 Honda Motor Co., Ltd. Roboter und Regelungs- /Steuerungssystem
US8386080B2 (en) * 2009-09-15 2013-02-26 Harris Corporation Robotic apparatus implementing collision avoidance scheme and associated methods
US8508590B2 (en) * 2010-03-02 2013-08-13 Crown Equipment Limited Method and apparatus for simulating a physical environment to facilitate vehicle operation and task completion
US8538577B2 (en) * 2010-03-05 2013-09-17 Crown Equipment Limited Method and apparatus for sensing object load engagement, transportation and disengagement by automated vehicles
US9807925B2 (en) * 2010-07-28 2017-11-07 Deere & Company Robotic mower area coverage system
JP5480799B2 (ja) * 2010-12-14 2014-04-23 本田技研工業株式会社 移動装置およびロボットならびにこれらの制御システム
KR102041093B1 (ko) 2011-04-11 2019-11-06 크라운 이큅먼트 코포레이션 조정된 경로 계획기를 사용하는 다수의 자동화 비-홀로노믹 차량들을 효율적으로 스케줄링하는 방법 및 장치
US8655588B2 (en) 2011-05-26 2014-02-18 Crown Equipment Limited Method and apparatus for providing accurate localization for an industrial vehicle
US8548671B2 (en) 2011-06-06 2013-10-01 Crown Equipment Limited Method and apparatus for automatically calibrating vehicle parameters
US8594923B2 (en) 2011-06-14 2013-11-26 Crown Equipment Limited Method and apparatus for sharing map data associated with automated industrial vehicles
US8589012B2 (en) 2011-06-14 2013-11-19 Crown Equipment Limited Method and apparatus for facilitating map data processing for industrial vehicle navigation
US20140058634A1 (en) 2012-08-24 2014-02-27 Crown Equipment Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
US9056754B2 (en) 2011-09-07 2015-06-16 Crown Equipment Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
WO2013046563A1 (ja) * 2011-09-29 2013-04-04 パナソニック株式会社 自律移動装置、自律移動方法、及び、自律移動装置用のプログラム
US9044863B2 (en) 2013-02-06 2015-06-02 Steelcase Inc. Polarized enhanced confidentiality in mobile camera applications
JP5807170B2 (ja) 2013-03-21 2015-11-10 パナソニックＩｐマネジメント株式会社 自律走行装置の自律走行制御方法及び装置並びに自律走行制御装置用プログラム
US9354070B2 (en) 2013-10-31 2016-05-31 Crown Equipment Corporation Systems, methods, and industrial vehicles for determining the visibility of features
US9561829B1 (en) * 2014-09-03 2017-02-07 X Development Llc Robotic leg with multiple robotic feet
US9740207B2 (en) * 2015-12-23 2017-08-22 Intel Corporation Navigating semi-autonomous mobile robots
CN106843239B (zh) * 2017-04-11 2020-05-01 珠海市一微半导体有限公司 基于地图预测的机器人运动控制方法
JP6946459B2 (ja) 2017-04-11 2021-10-06 珠海市一微半導体有限公司Ａｍｉｃｒｏ Ｓｅｍｉｃｏｎｄｕｃｔｏｒ Ｃｏ．， Ｌｔｄ． 地図予測に基づくロボット運動制御方法
US11221497B2 (en) 2017-06-05 2022-01-11 Steelcase Inc. Multiple-polarization cloaking
US11106124B2 (en) 2018-02-27 2021-08-31 Steelcase Inc. Multiple-polarization cloaking for projected and writing surface view screens
JP7095427B2 (ja) * 2018-06-15 2022-07-05 トヨタ自動車株式会社 自律移動体、および自律移動体の制御プログラム
KR102749960B1 (ko) * 2018-12-26 2025-01-03 삼성전자주식회사 청소 로봇 및 그의 태스크 수행 방법
DE102019203808A1 (de) * 2019-03-20 2020-09-24 Robert Bosch Gmbh Verfahren und Datenverarbeitungsvorrichtung zum Analysieren einer Sensorverbundkonfiguration und zumindest teilautonomer Roboter
CN118898739A (zh) * 2020-11-06 2024-11-05 北京石头创新科技有限公司 一种识别障碍物的方法、装置、介质和电子设备

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WO2000010062A2 (de) * 1998-08-10 2000-02-24 Siemens Aktiengesellschaft Verfahren und anordnung zur ermittlung eines weges um eine vorgegebene bezugsposition
DE10257842A1 (de) * 2002-05-07 2003-11-27 Bosch Gmbh Robert Verfahren zur Bestimmung einer Unfallgefahr eines ersten Objekts mit wenigstens einem zweiten Objekt
DE10235414A1 (de) * 2002-08-02 2004-02-12 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung des Bevorstehens einer unausweichbaren Kollision
JP4578795B2 (ja) * 2003-03-26 2010-11-10 富士通テン株式会社 車両制御装置、車両制御方法および車両制御プログラム
EP1475765A3 (de) * 2003-05-08 2006-05-24 Robert Bosch Gmbh Vorrichtung zur Bestimmung einer Durchfahrtsmöglichkeit für ein Fahrzeug
DE10356309A1 (de) * 2003-11-28 2005-06-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Warnung des Fahrers eines Kraftfahrzeugs
JP4645108B2 (ja) 2004-09-09 2011-03-09 パナソニック電工株式会社 自律移動装置
JP4262196B2 (ja) 2004-12-14 2009-05-13 本田技研工業株式会社 自律移動ロボット
WO2006070865A1 (ja) * 2004-12-28 2006-07-06 Kabushiki Kaisha Toyota Chuo Kenkyusho 車両運動制御装置

Also Published As

Publication number Publication date
JP2008257531A (ja) 2008-10-23
US20080249662A1 (en) 2008-10-09
US8103383B2 (en) 2012-01-24

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