JP7384275B2 - 車両誘導装置、車両誘導方法及び駐車場 - Google Patents
車両誘導装置、車両誘導方法及び駐車場 Download PDFInfo
- Publication number
- JP7384275B2 JP7384275B2 JP2022515248A JP2022515248A JP7384275B2 JP 7384275 B2 JP7384275 B2 JP 7384275B2 JP 2022515248 A JP2022515248 A JP 2022515248A JP 2022515248 A JP2022515248 A JP 2022515248A JP 7384275 B2 JP7384275 B2 JP 7384275B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- retroreflector
- light
- target position
- light reflecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 13
- 230000003287 optical effect Effects 0.000 claims description 87
- 238000005259 measurement Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 14
- 239000012780 transparent material Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 20
- 238000004891 communication Methods 0.000 description 16
- 238000013459 approach Methods 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000002834 transmittance Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000009774 resonance method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Architecture (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
(*Laser Imaging Detection and Ranging、或いはLight Detection and Ranging)
また、目標位置の候補が光反射装置11に対する相対位置で規定され、目標位置の候補の絶対位置(例えば緯度と経度)を測量等で計測する必要が無い。例えば、一時的に駐車スペース5Aの位置を移動させる場合、駐車スペース5Aとの相対位置を保つように光反射装置11Aも移動させれば、制御部20に一切変更を加えることなく、車両50を移動後の駐車スペース5Aへ誘導する、或いは、そのための指標を提供することができる。
Claims (14)
- 自律走行のために車両から出射する測距用のレーザ光を反射する再帰反射器、及び、前記レーザ光が前記再帰反射器から前記車両に向けて再帰反射される第1の状態、及び、前記レーザ光が前記再帰反射器から前記車両に向けて再帰反射されない第2の状態のうちの何れかを設定する反射設定器を含む少なくとも1つの光反射装置と、
前記光反射装置に関連付けられた、前記車両の目標位置の設定によって前記反射設定器に前記第1の状態を設定させ、前記目標位置に前記車両が到着した後に前記反射設定器に前記第2の状態を設定させる制御部と
を備える
車両誘導装置。 - 前記反射設定器は、前記再帰反射器に向かう前記レーザ光の光路上に設けられる光学シャッタを備え、
前記制御部は、前記第1の状態の設定として前記光学シャッタを開き、前記第2の状態の設定として前記光学シャッタを閉じる
請求項1に記載の車両誘導装置。 - 前記反射設定器は、前記再帰反射器に取り付けられると共に、前記再帰反射器に向かう前記レーザ光の光路に対する前記再帰反射器の角度を設定する駆動機構を備え、
前記制御部は、前記駆動機構を介して、前記第1の状態の設定として前記再帰反射器を当該再帰反射器が前記光路上に位置する角度に設定し、前記第2の状態の設定として前記再帰反射器を当該再帰反射器が前記光路から逸れる角度に設定する、
請求項1に記載の車両誘導装置。 - 前記少なくとも1つの光反射装置は前記目標位置について複数設けられる、
請求項1~3のうちの何れか一項に記載の車両誘導装置。 - 前記少なくとも1つの光反射装置を収容すると共に、前記レーザ光の通過を許容する光学的に透明な材料からなる窓部を有する筐体を更に備える、
請求項1~4のうちの何れか一項に記載の車両誘導装置。 - 前記少なくとも1つの光反射装置が外面に取り付けられる筐体を更に備える、
請求項1~4のうちの何れか一項に記載の車両誘導装置。 - 前記制御部は、
前記車両に関する情報を取得し、
取得した前記情報に基づいて、予め設定された、前記車両が移動可能な複数の候補位置から前記目標位置を選択する、
請求項1~6のうちの何れかに記載の車両誘導装置。 - 前記目標位置において非接触で前記車両の受電装置に電力を供給する給電部を更に備える、
請求項1~7のうちの何れか一項に記載の車両誘導装置。 - 前記目標位置は前記車両の駐車スペースであり、
前記少なくとも1つの光反射装置は前記駐車スペースに設置される、
請求項1~8のうちの何れかに記載の車両誘導装置。 - 前記目標位置は前記車両の駐車スペースに至る走行経路の通過点であり、
前記少なくとも1つの光反射装置は前記通過点に設置される、
請求項1~8のうちの何れかに記載の車両誘導装置。 - 請求項1~10のうちの何れか一項に記載の車両誘導装置を備える駐車場。
- 車両誘導方法であって、
自律走行のために測距用のレーザ光を出射する車両の目標位置の設定によって、前記目標位置に関連付けられた所定の位置において、前記レーザ光が前記所定の位置から前記車両に向けて再帰反射される第1の状態を設定し、
前記目標位置への前記車両の移動が到着した後に、前記所定の位置において、前記レーザ光が前記所定の位置から前記車両に向けて再帰反射されない第2の状態を設定する
車両誘導方法。 - 前記目標位置において非接触で前記車両の受電装置に電力を供給する、
請求項12に記載の車両誘導方法。 - 前記車両に関する情報を取得し、
取得した前記情報に基づいて、予め設定された、前記車両が移動可能な複数の候補位置から前記目標位置を選択する、
請求項12又は13に記載の車両誘導方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020073802 | 2020-04-17 | ||
JP2020073802 | 2020-04-17 | ||
PCT/JP2021/009321 WO2021210302A1 (ja) | 2020-04-17 | 2021-03-09 | 車両誘導装置、車両誘導方法及び駐車場 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2021210302A1 JPWO2021210302A1 (ja) | 2021-10-21 |
JP7384275B2 true JP7384275B2 (ja) | 2023-11-21 |
Family
ID=78085276
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022515248A Active JP7384275B2 (ja) | 2020-04-17 | 2021-03-09 | 車両誘導装置、車両誘導方法及び駐車場 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11941982B2 (ja) |
JP (1) | JP7384275B2 (ja) |
DE (1) | DE112021002412T5 (ja) |
WO (1) | WO2021210302A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7346659B1 (ja) | 2022-05-24 | 2023-09-19 | 株式会社ジャパン・インフラ・ウェイマーク | 移動体、制御方法、およびプログラム |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014069647A (ja) | 2012-09-28 | 2014-04-21 | Denso Corp | 駐車支援システム及び位置決め体付き輪止め |
JP2015113600A (ja) | 2013-12-10 | 2015-06-22 | 矢崎総業株式会社 | 駐車支援システム及びワイヤレス給電システム |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004116031A (ja) * | 2002-09-24 | 2004-04-15 | Japan System Bank Corp | ロック式駐車装置の故障時誤進入防止装置 |
DE502007001797D1 (de) | 2007-04-26 | 2009-12-03 | Skidata Ag | Vorrichtung zur Einzelstellplatzüberwachung |
JP2013236524A (ja) | 2012-05-11 | 2013-11-21 | Mitsubishi Electric Corp | 非接触給電システム |
USD729163S1 (en) | 2013-06-12 | 2015-05-12 | Bombardier Transportation Gmbh | Charging pad |
JP2015158444A (ja) * | 2014-02-25 | 2015-09-03 | アイシン・エィ・ダブリュ株式会社 | 車両姿勢判定システム、車両姿勢判定プログラム及び車両姿勢判定方法 |
JP6410080B2 (ja) | 2014-07-02 | 2018-10-24 | 株式会社デンソー | 非接触給電装置 |
DE102014221746A1 (de) | 2014-10-27 | 2016-04-28 | Robert Bosch Gmbh | Verfahren und System zum Führen eines Fahrzeugs zu einem freien Stellplatz auf einem Parkplatz |
JP6350312B2 (ja) | 2015-01-29 | 2018-07-04 | 株式会社デンソー | 非接触充電駐車支援装置 |
US9625582B2 (en) * | 2015-03-25 | 2017-04-18 | Google Inc. | Vehicle with multiple light detection and ranging devices (LIDARs) |
US10845470B2 (en) * | 2016-11-16 | 2020-11-24 | Waymo Llc | Methods and systems for protecting a light detection and ranging (LIDAR) device |
JP6766690B2 (ja) | 2017-02-28 | 2020-10-14 | 株式会社Ihi | 地上側給電装置 |
US11333748B2 (en) * | 2018-09-17 | 2022-05-17 | Waymo Llc | Array of light detectors with corresponding array of optical elements |
US11353588B2 (en) * | 2018-11-01 | 2022-06-07 | Waymo Llc | Time-of-flight sensor with structured light illuminator |
JP2020131943A (ja) | 2019-02-20 | 2020-08-31 | 住友電気工業株式会社 | 駐車制御システム、車載装置、駐車制御方法、及びコンピュータプログラム |
US11557061B2 (en) * | 2019-06-28 | 2023-01-17 | GM Cruise Holdings LLC. | Extrinsic calibration of multiple vehicle sensors using combined target detectable by multiple vehicle sensors |
-
2021
- 2021-03-09 WO PCT/JP2021/009321 patent/WO2021210302A1/ja active Application Filing
- 2021-03-09 DE DE112021002412.4T patent/DE112021002412T5/de active Pending
- 2021-03-09 JP JP2022515248A patent/JP7384275B2/ja active Active
-
2022
- 2022-06-08 US US17/835,076 patent/US11941982B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014069647A (ja) | 2012-09-28 | 2014-04-21 | Denso Corp | 駐車支援システム及び位置決め体付き輪止め |
JP2015113600A (ja) | 2013-12-10 | 2015-06-22 | 矢崎総業株式会社 | 駐車支援システム及びワイヤレス給電システム |
Also Published As
Publication number | Publication date |
---|---|
US20220301433A1 (en) | 2022-09-22 |
US11941982B2 (en) | 2024-03-26 |
JPWO2021210302A1 (ja) | 2021-10-21 |
DE112021002412T5 (de) | 2023-04-13 |
WO2021210302A1 (ja) | 2021-10-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6734951B2 (ja) | 複数の光検出及び測距装置(lidar)付きの車両 | |
CN111033306B (zh) | 通过多个假设的光探测和测距(lidar)设备范围混叠弹性 | |
JP3741477B2 (ja) | 測量システム | |
AU2020217306B2 (en) | Use of extended detection periods for range aliasing detection and mitigation in a light detection and ranging (lidar) system | |
CN103186140B (zh) | 移动平台的导航方法与系统 | |
JP2017107563A (ja) | 自律走行装置及び測距装置 | |
JP2007527007A (ja) | 移動制御システム | |
CN104395849A (zh) | 用于沿路径引导机器人清洁器的系统和方法 | |
KR20180039438A (ko) | 공항용 안내 로봇 및 그의 동작 방법 | |
KR20180136833A (ko) | 3차원 공간의 이동 객체를 식별하는 방법 및 이를 구현하는 로봇 | |
JP2016219258A (ja) | 照明装置及び移動体 | |
US11513525B2 (en) | Server and method for controlling laser irradiation of movement path of robot, and robot that moves based thereon | |
US11941982B2 (en) | Vehicle guidance device, vehicle guidance method and parking area | |
JP2017130098A (ja) | 自律走行装置 | |
CN105866737A (zh) | 具有自动定位系统的高安全性运输车 | |
JP2017123065A (ja) | 自律走行装置 | |
CN205527577U (zh) | 具有自动定位系统的自行走运输车 | |
Takeda et al. | Automated vehicle guidance using spotmark | |
US20180306906A1 (en) | Light scanning type object detecting device | |
JP2012113765A (ja) | 移動体システム | |
JP3564201B2 (ja) | 自律走行作業車の自己位置検出装置 | |
KR102653633B1 (ko) | 무인 반송차 및 무인 반송차의 이동을 제어하기 위한 방법 | |
WO2019069921A1 (ja) | 移動体 | |
KR20240042394A (ko) | 무인 반송차 및 무인 반송차의 이동을 제어하기 위한 방법 | |
EP4067941A1 (en) | Ranging system and mobile platform |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220602 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230704 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230721 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20231010 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231023 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7384275 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |