JP7495154B2 - 自律移動装置、自律移動方法及びプログラム - Google Patents

自律移動装置、自律移動方法及びプログラム Download PDF

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JP7495154B2
JP7495154B2 JP2022531118A JP2022531118A JP7495154B2 JP 7495154 B2 JP7495154 B2 JP 7495154B2 JP 2022531118 A JP2022531118 A JP 2022531118A JP 2022531118 A JP2022531118 A JP 2022531118A JP 7495154 B2 JP7495154 B2 JP 7495154B2
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teaching
moving
point
route
data
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JPWO2021255797A1 (https=
Inventor
章 大島
宏泰 城吉
茂 阪東
索 柄川
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DOOG CO.,LTD.
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DOOG CO.,LTD.
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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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • 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
    • G05D1/0212—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
    • G05D1/0238—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, 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
    • G05D1/0248—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 in combination with a laser

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2022531118A 2020-06-15 2020-06-15 自律移動装置、自律移動方法及びプログラム Active JP7495154B2 (ja)

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PCT/JP2020/023468 WO2021255797A1 (ja) 2020-06-15 2020-06-15 自律移動装置、自律移動方法及びプログラム

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JPWO2021255797A1 JPWO2021255797A1 (https=) 2021-12-23
JP7495154B2 true JP7495154B2 (ja) 2024-06-04

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JP2022532332A Active JP7576343B2 (ja) 2020-06-15 2021-04-09 自律移動装置、自律移動方法及びプログラム

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US (2) US20230341862A1 (https=)
EP (1) EP4167043A4 (https=)
JP (2) JP7495154B2 (https=)
WO (2) WO2021255797A1 (https=)

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EP3230142B1 (en) * 2014-12-12 2022-03-16 Sony Group Corporation Method for switching modes for operating a vehicle
US11418950B1 (en) * 2019-12-12 2022-08-16 Amazon Technologies, Inc. System for establishing a secure data connection with an autonomous mobile device
EP4202368A1 (en) * 2021-12-24 2023-06-28 Ricoh Company, Ltd. Information processing apparatus, route generation system, route generating method, and carrier means
JP7800194B2 (ja) * 2022-02-21 2026-01-16 沖電気工業株式会社 制御装置、制御方法、及びプログラム
EP4532283A4 (en) * 2022-06-03 2026-03-18 Seegrid Corp SYSTEM AND METHOD FOR GENERATING COMPLEX EXECUTION PATH NETWORKS FROM AN INCOMPLETE DEMONSTRATION OF TRAINED ACTIVITIES
US20250223142A1 (en) * 2022-06-03 2025-07-10 Seegrid Corporation Lane grid setup for autonomous mobile robot
JP2024101150A (ja) * 2023-01-17 2024-07-29 トヨタ自動車株式会社 制御システム、操作装置、制御方法、及びプログラム
JP7768184B2 (ja) * 2023-04-19 2025-11-12 トヨタ自動車株式会社 操作装置及び移動ロボット
JP7615263B1 (ja) * 2023-09-29 2025-01-16 本田技研工業株式会社 移動体の制御装置、移動体の制御方法、およびプログラム
WO2025263621A1 (ja) * 2024-06-21 2025-12-26 株式会社Doog 自律移動装置、台車、自律移動装置の制御方法、プログラム及び群運用制御システム
JP2026005859A (ja) * 2024-06-27 2026-01-16 株式会社クボタ 走行制御システム、作業車両および走行制御方法

Citations (8)

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JP2000305625A (ja) 1999-04-16 2000-11-02 Honda Motor Co Ltd 自動走行車
JP2004240698A (ja) 2003-02-06 2004-08-26 Matsushita Electric Ind Co Ltd ロボット移動経路教示方法と移動経路教示機能付きロボット
JP2004264182A (ja) 2003-03-03 2004-09-24 Kawasaki Heavy Ind Ltd 移動体の位置計測方法及び装置
JP2010250469A (ja) 2009-04-14 2010-11-04 Yaskawa Electric Corp 移動体及び移動体の教示方法
JP2018112917A (ja) 2017-01-12 2018-07-19 国立大学法人豊橋技術科学大学 自律走行作業装置およびデータ管理方法
JP2019008431A (ja) 2017-06-22 2019-01-17 株式会社日立製作所 経路探索装置および経路探索方法
JP2019061452A (ja) 2017-09-26 2019-04-18 株式会社豊田自動織機 地図情報更新方法
WO2019097626A1 (ja) 2017-11-16 2019-05-23 学校法人 千葉工業大学 自走式掃除機

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CA1247743A (en) * 1985-01-24 1988-12-28 Izuru Morita Operation data recording system
JPS62272307A (ja) * 1986-05-21 1987-11-26 Komatsu Ltd 無人移動体の誘導位置補正装置
JP4464912B2 (ja) * 2004-12-03 2010-05-19 パナソニック株式会社 ロボット制御装置及び自律移動ロボット
JP2008084135A (ja) * 2006-09-28 2008-04-10 Toshiba Corp 移動制御方法、移動ロボットおよび移動制御プログラム
US8744664B2 (en) * 2009-09-07 2014-06-03 Bae Systems Plc Path determination
JP5792361B1 (ja) * 2014-06-25 2015-10-07 シャープ株式会社 自律移動装置
JP2016168883A (ja) * 2015-03-11 2016-09-23 株式会社クボタ 作業車両
JP6437640B2 (ja) 2015-05-07 2018-12-12 ヤンマー株式会社 自律走行車の誘導制御システム
US9688288B1 (en) * 2016-03-08 2017-06-27 VOLKSWAGEN AG et al. Geofencing for auto drive route planning
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US20190163176A1 (en) * 2017-11-30 2019-05-30 drive.ai Inc. Method for transferring control of an autonomous vehicle to a remote operator
US10890911B2 (en) * 2018-07-20 2021-01-12 Autox, Inc. System and method for autonomously delivering commodity to the recipient's preferred environment

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Publication number Priority date Publication date Assignee Title
JP2000305625A (ja) 1999-04-16 2000-11-02 Honda Motor Co Ltd 自動走行車
JP2004240698A (ja) 2003-02-06 2004-08-26 Matsushita Electric Ind Co Ltd ロボット移動経路教示方法と移動経路教示機能付きロボット
JP2004264182A (ja) 2003-03-03 2004-09-24 Kawasaki Heavy Ind Ltd 移動体の位置計測方法及び装置
JP2010250469A (ja) 2009-04-14 2010-11-04 Yaskawa Electric Corp 移動体及び移動体の教示方法
JP2018112917A (ja) 2017-01-12 2018-07-19 国立大学法人豊橋技術科学大学 自律走行作業装置およびデータ管理方法
JP2019008431A (ja) 2017-06-22 2019-01-17 株式会社日立製作所 経路探索装置および経路探索方法
JP2019061452A (ja) 2017-09-26 2019-04-18 株式会社豊田自動織機 地図情報更新方法
WO2019097626A1 (ja) 2017-11-16 2019-05-23 学校法人 千葉工業大学 自走式掃除機

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Publication number Publication date
JPWO2021255797A1 (https=) 2021-12-23
EP4167043A4 (en) 2024-02-21
EP4167043A1 (en) 2023-04-19
US20230266762A1 (en) 2023-08-24
JP7576343B2 (ja) 2024-10-31
WO2021256062A1 (ja) 2021-12-23
WO2021255797A1 (ja) 2021-12-23
JPWO2021256062A1 (https=) 2021-12-23
US20230341862A1 (en) 2023-10-26

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