JP7176241B2 - 自律移動体、および自律移動体の制御プログラム - Google Patents
自律移動体、および自律移動体の制御プログラム Download PDFInfo
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- JP7176241B2 JP7176241B2 JP2018114575A JP2018114575A JP7176241B2 JP 7176241 B2 JP7176241 B2 JP 7176241B2 JP 2018114575 A JP2018114575 A JP 2018114575A JP 2018114575 A JP2018114575 A JP 2018114575A JP 7176241 B2 JP7176241 B2 JP 7176241B2
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- 238000012545 processing Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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- 238000010191 image analysis Methods 0.000 description 1
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- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- 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
-
- 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
-
- 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
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot 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 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
-
- 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
- G05D1/0246—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 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Description
Claims (5)
- 計画された移動経路に沿って移動する自律移動体であって、
他の自律移動体とその動作状況とを認識する外界センサと、
前記外界センサによって前記他の自律移動体が、同時刻に自機の経由地点または目的地点に位置することを予測した場合に、前記動作状況から推定される前記他の自律移動体のタスクと、自機のタスクとの優先度の比較に基づいて、移動を継続するか中断するかを判断する移動判断部と、
前記移動判断部の判断に基づいて移動ユニットを制御する移動制御部と
を備える自律移動体。 - 前記移動判断部は、前記目的地点が充電池に電力を供給する給電ポイントである場合に、前記他の自律移動体の充電タスクと自機の充電タスクとの、充電に対する優先度の比較に基づいて、移動を継続するか中断するかを判断する請求項1に記載の自律移動体。
- 前記外界センサは、前記他の自律移動体の呈示部が呈示する電力の残容量情報を読み取り、
前記移動判断部は、前記残容量情報に基づいて、前記他の自律移動体の充電に対する優先度を定める請求項2に記載の自律移動体。 - 前記他の自律移動体に自機のタスクに関する情報を呈示する呈示部を備える請求項1から3のいずれか1項に記載の自律移動体。
- 計画された移動経路に沿って移動する自律移動体の制御プログラムあって、
外界センサを用いて他の自律移動体とその動作状況とを認識する認識ステップと、
前記認識ステップによって前記他の自律移動体が、同時刻に自機の経由地点または目的地点に位置することを予測した場合に、前記動作状況から推定される前記他の自律移動体のタスクと、自機のタスクとの優先度の比較に基づいて、移動を継続するか中断するかを判断する移動判断ステップと、
前記移動判断ステップの判断に基づいて移動ユニットを制御する移動制御ステップと
をコンピュータに実行させる制御プログラム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2018114575A JP7176241B2 (ja) | 2018-06-15 | 2018-06-15 | 自律移動体、および自律移動体の制御プログラム |
US16/410,012 US11353880B2 (en) | 2018-06-15 | 2019-05-13 | Autonomous moving body and control program for autonomous moving body |
CN201910505096.XA CN110609543B (zh) | 2018-06-15 | 2019-06-12 | 自主移动体和用于自主移动体的控制程序 |
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JP2018114575A JP7176241B2 (ja) | 2018-06-15 | 2018-06-15 | 自律移動体、および自律移動体の制御プログラム |
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JP2019219735A JP2019219735A (ja) | 2019-12-26 |
JP7176241B2 true JP7176241B2 (ja) | 2022-11-22 |
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US (1) | US11353880B2 (ja) |
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CN112171665A (zh) * | 2020-09-14 | 2021-01-05 | 深圳优地科技有限公司 | 运动控制方法、装置、终端设备及存储介质 |
JP2022085379A (ja) * | 2020-11-27 | 2022-06-08 | 株式会社日立製作所 | 移動制御支援装置および方法 |
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- 2018-06-15 JP JP2018114575A patent/JP7176241B2/ja active Active
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- 2019-05-13 US US16/410,012 patent/US11353880B2/en active Active
- 2019-06-12 CN CN201910505096.XA patent/CN110609543B/zh active Active
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CN110609543A (zh) | 2019-12-24 |
US20190384307A1 (en) | 2019-12-19 |
CN110609543B (zh) | 2023-06-02 |
US11353880B2 (en) | 2022-06-07 |
JP2019219735A (ja) | 2019-12-26 |
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