JP6935672B2 - 移動装置 - Google Patents
移動装置 Download PDFInfo
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- JP6935672B2 JP6935672B2 JP2017040284A JP2017040284A JP6935672B2 JP 6935672 B2 JP6935672 B2 JP 6935672B2 JP 2017040284 A JP2017040284 A JP 2017040284A JP 2017040284 A JP2017040284 A JP 2017040284A JP 6935672 B2 JP6935672 B2 JP 6935672B2
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- 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
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/02—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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Description
また、請求項1に係る本発明によれば、作業内容に応じて、障害物を検出しやすくすることが可能な移動装置を提供することができる。
サービス提供装置12は、制御手段としてのCPU52、メモリ54、入出力部56、無線通信部58、記憶装置60、サービス提供部16、移動部14及び検出手段としてのセンサ62を有し、これらが制御バス64を介して接続されている。
内部サーバ22は、CPU70、メモリ72、データベース74及びネットワークインターフェイス76を有し、これらが制御バス78を介して接続されている。CPU70は、メモリ72に格納された制御プログラムに基づいて予め定められた処理を実行して、内部サーバ22の動作を制御する。メモリ72は、制御プログラムを記憶する。また、データベース74は、利用者の認証情報、利用者の位置情報(利用者の登録されたパーソナルコンピュータの位置や利用者のスケジュールに基づいた利用者の位置)、オフィス34の地図、サービス提供情報等をデータベースとして記憶する。
12 サービス提供装置
14 移動部
16 サービス提供部
20 パーソナルコンピュータ
22 内部サーバ
52 CPU
54 メモリ
56 入出力部
58 無線通信部
60 記憶装置
62 センサ(検出手段)
Claims (14)
- 目的地点へ移動する移動手段と、
前記移動手段による移動後に、予め定められた作業を行う作業手段と、
障害物を検出する検出手段と、
前記移動手段により移動している間は、前記作業手段により作業している間よりも、移動方向と反対方向の検出距離を短くするよう前記検出手段を制御する制御手段と、
を有し、
前記制御手段は、前記作業手段により作業している間は、前記作業手段による作業内容が振動が影響する作業か否かに応じて、前記検出手段による検出距離を異ならせるよう前記検出手段を制御する移動装置。 - 前記制御手段は、前記移動手段により移動している間は、移動方向の検出距離よりも前記移動方向と反対方向の検出距離を短くするよう前記検出手段を制御する請求項1記載の移動装置。
- 前記制御手段は、前記移動手段により移動している間と、前記作業手段により作業している間とで、前記移動方向の検出距離を変更しないよう前記検出手段を制御する請求項1又は2に記載の移動装置。
- 前記制御手段は、前記作業手段による作業内容が振動が影響する作業か否かに応じて、前記移動手段による移動している間の検出距離を変更しないよう前記検出手段を制御する請求項1記載の移動装置。
- 前記制御手段は、前記目的地点から予め定められた範囲内に近づいた場合に、移動方向と反対方向の検出距離を長くするよう前記検出手段を制御する請求項1記載の移動装置。
- 前記検出手段は、自装置の位置から目的地点までの距離を特定する特定手段を有し、前記制御手段は、前記特定手段により特定された距離が閾値以下になった場合に、移動方向と反対方向の検出距離を長くするよう前記検出手段を制御する請求項5記載の移動装置。
- 前記制御手段は、目的地点付近の電波を受信した場合に、移動方向と反対方向の検出距離を長くするよう前記検出手段を制御する請求項5記載の移動装置。
- 前記作業手段による作業開始の指示を受け付ける受付手段を有し、
前記制御手段は、前記受付手段により作業開始の指示を受け付けた場合に、作業開始前よりも移動方向と反対方向の検出距離を長くするよう前記検出手段を制御する請求項1記載の移動装置。 - 前記制御手段は、前記作業手段による作業が終了した場合に、前記作業手段により作業している間よりも移動方向と反対方向の検出距離を短くするよう前記検出手段を制御する請求項1記載の移動装置。
- 前記検出手段は、予め定められた対象物が自装置から離れたことを検出する対象物検出手段をさらに有し、
前記制御手段は、前記対象物検出手段により前記対象物が自装置から離れたことを検出した場合に、前記作業手段により作業している間よりも移動方向と反対方向の検出距離を短くするよう前記検出手段を制御する請求項9記載の移動装置。 - 前記制御手段は、移動方向と反対方向の検出距離よりも移動方向の検出距離を長くするよう前記検出手段を制御する請求項1記載の移動装置。
- 前記制御手段は、自装置の速度に応じて検出距離を変更するよう前記検出手段を制御する請求項1記載の移動装置。
- 前記制御手段は、自装置の速度が遅くなるほど移動方向の検出距離を短くするよう前記検出手段を制御する請求項12に記載の移動装置。
- 前記制御手段は、自装置の速度が速くなるほど移動方向と反対方向の検出距離を短くするよう前記検出手段を制御する請求項12又は13に記載の移動装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017040284A JP6935672B2 (ja) | 2017-03-03 | 2017-03-03 | 移動装置 |
US15/692,446 US20180253100A1 (en) | 2017-03-03 | 2017-08-31 | Moving apparatus |
CN201711090250.9A CN108536137B (zh) | 2017-03-03 | 2017-11-08 | 移动设备 |
Applications Claiming Priority (1)
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---|---|---|---|
JP2017040284A JP6935672B2 (ja) | 2017-03-03 | 2017-03-03 | 移動装置 |
Publications (2)
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JP2018147152A JP2018147152A (ja) | 2018-09-20 |
JP6935672B2 true JP6935672B2 (ja) | 2021-09-15 |
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Family Applications (1)
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JP2017040284A Active JP6935672B2 (ja) | 2017-03-03 | 2017-03-03 | 移動装置 |
Country Status (3)
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US (1) | US20180253100A1 (ja) |
JP (1) | JP6935672B2 (ja) |
CN (1) | CN108536137B (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6751263B2 (ja) * | 2016-09-08 | 2020-09-02 | 富士ゼロックス株式会社 | サービス提供システムおよび移動指示プログラム |
WO2019116912A1 (ja) * | 2017-12-13 | 2019-06-20 | ソニー株式会社 | 移動装置、情報処理装置、および方法、並びにプログラム |
JPWO2022185516A1 (ja) * | 2021-03-05 | 2022-09-09 | ||
CN115338548B (zh) * | 2022-10-14 | 2023-05-26 | 四川智龙激光科技有限公司 | 一种平面切割机床切割头避障方法及系统 |
Family Cites Families (22)
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JPH0283713A (ja) * | 1988-09-21 | 1990-03-23 | Daifuku Co Ltd | 自動走行移動車の安全装置 |
JP2689792B2 (ja) * | 1991-10-30 | 1997-12-10 | 日産自動車株式会社 | 立体音場警報装置 |
JP3307288B2 (ja) * | 1997-08-25 | 2002-07-24 | 株式会社デンソー | 移動ロボット |
JP2000004953A (ja) * | 1998-06-23 | 2000-01-11 | Matsushita Electric Works Ltd | 配膳車 |
DE10319337A1 (de) * | 2003-04-30 | 2004-11-18 | Robert Bosch Gmbh | Vorrichtung zur Geschwindigkeits- und Abstandsregelung bei Kraftfahrzeugen |
JP2005231450A (ja) * | 2004-02-18 | 2005-09-02 | Honda Motor Co Ltd | 車両用障害物検出装置 |
JP4189858B2 (ja) * | 2004-11-16 | 2008-12-03 | 株式会社ホンダアクセス | 障害物検知装置 |
JP4823781B2 (ja) * | 2005-08-31 | 2011-11-24 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP4375320B2 (ja) * | 2005-10-27 | 2009-12-02 | 株式会社日立製作所 | 移動ロボット |
DE102007036175B4 (de) * | 2006-08-03 | 2015-05-13 | Honda Motor Co., Ltd. | Fahrzeugsteuerungssystem |
JP2009014560A (ja) * | 2007-07-05 | 2009-01-22 | Denso Corp | 障害物検出装置 |
US20090254260A1 (en) * | 2008-04-07 | 2009-10-08 | Axel Nix | Full speed range adaptive cruise control system |
US8948914B2 (en) * | 2008-12-05 | 2015-02-03 | Aethon, Inc. | System and method for securely transporting an item |
JP4880712B2 (ja) * | 2009-02-27 | 2012-02-22 | 株式会社日本自動車部品総合研究所 | 障害物検出装置 |
EP2439714B1 (en) * | 2009-06-04 | 2015-03-18 | Toyota Jidosha Kabushiki Kaisha | Vehicle surrounding monitor device and method for monitoring surroundings used for vehicle |
JP6048321B2 (ja) * | 2013-06-07 | 2016-12-21 | 富士ゼロックス株式会社 | 自走式作業装置及びプログラム |
JP5962706B2 (ja) * | 2014-06-04 | 2016-08-03 | トヨタ自動車株式会社 | 運転支援装置 |
JP6420981B2 (ja) * | 2014-07-01 | 2018-11-07 | 株式会社豊田自動織機 | 搬送車、及び搬送システム |
JP6668788B2 (ja) * | 2015-02-16 | 2020-03-18 | 株式会社リコー | 情報処理装置、制御方法、及びプログラム |
JP2016151897A (ja) * | 2015-02-17 | 2016-08-22 | 株式会社安川電機 | 移動体制御装置および移動体制御方法 |
JP6780397B2 (ja) * | 2016-09-14 | 2020-11-04 | 富士ゼロックス株式会社 | 監視制御装置、画像処理装置 |
JP2018043484A (ja) * | 2016-09-16 | 2018-03-22 | 富士ゼロックス株式会社 | 監視制御装置、画像処理装置 |
-
2017
- 2017-03-03 JP JP2017040284A patent/JP6935672B2/ja active Active
- 2017-08-31 US US15/692,446 patent/US20180253100A1/en not_active Abandoned
- 2017-11-08 CN CN201711090250.9A patent/CN108536137B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN108536137B (zh) | 2023-03-24 |
CN108536137A (zh) | 2018-09-14 |
JP2018147152A (ja) | 2018-09-20 |
US20180253100A1 (en) | 2018-09-06 |
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