JP7501643B2 - 移動体制御システム、制御装置、及び、移動体制御方法 - Google Patents

移動体制御システム、制御装置、及び、移動体制御方法 Download PDF

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Publication number
JP7501643B2
JP7501643B2 JP2022545326A JP2022545326A JP7501643B2 JP 7501643 B2 JP7501643 B2 JP 7501643B2 JP 2022545326 A JP2022545326 A JP 2022545326A JP 2022545326 A JP2022545326 A JP 2022545326A JP 7501643 B2 JP7501643 B2 JP 7501643B2
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Prior art keywords
moving body
path
control device
target line
transport
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Japanese (ja)
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JPWO2022044473A1 (https=
JPWO2022044473A5 (https=
Inventor
裕志 吉田
夏彦 佐藤
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NEC Corp
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NEC Corp
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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
    • G05D1/0282—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 generated in a local control room
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/0231—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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2435—Extracting 3D information
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2022545326A 2020-08-25 2021-06-03 移動体制御システム、制御装置、及び、移動体制御方法 Active JP7501643B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020142065 2020-08-25
JP2020142065 2020-08-25
PCT/JP2021/021115 WO2022044473A1 (ja) 2020-08-25 2021-06-03 移動体制御システム、制御装置、及び、移動体制御方法

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JPWO2022044473A1 JPWO2022044473A1 (https=) 2022-03-03
JPWO2022044473A5 JPWO2022044473A5 (https=) 2023-04-07
JP7501643B2 true JP7501643B2 (ja) 2024-06-18

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US (1) US12386356B2 (https=)
JP (1) JP7501643B2 (https=)
WO (1) WO2022044473A1 (https=)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002132344A (ja) 2000-10-24 2002-05-10 Nippon Seiki Co Ltd 移動体の誘導方法
JP2014219782A (ja) 2013-05-07 2014-11-20 第一施設工業株式会社 自立走行装置
JP2015055906A (ja) 2013-09-10 2015-03-23 株式会社日立産機システム 移動体の走行制御手段に対して制御指令を出力する位置検出装置及び移動体システム

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61112215A (ja) 1984-11-06 1986-05-30 Komatsu Ltd 無人車両の旋回制御方法
JP2920017B2 (ja) 1992-03-11 1999-07-19 新キャタピラー三菱株式会社 走行体のコース学習誘導方法およびその装置
US6134486A (en) 1998-04-20 2000-10-17 The United States Of America As Represented By The Secretary Of The Navy Robot and method of control for an autonomous vehicle to track a path consisting of directed straight lines and circles with positional feedback and continuous curvature
US9789869B2 (en) * 2012-11-02 2017-10-17 Toyota Jidosha Kabushiki Kaisha Driving support apparatus and driving support method
US10390474B2 (en) * 2017-06-19 2019-08-27 Cnh Industrial America Llc. Path planning system for a work vehicle
CN115136091B (zh) * 2020-02-27 2025-07-29 三菱重工业株式会社 控制装置、移动体、移动控制系统、控制方法及存储介质
CN111764235B (zh) * 2020-06-19 2022-02-18 三一汽车制造有限公司 工程机械转弯控制方法、工程机械和计算机设备

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002132344A (ja) 2000-10-24 2002-05-10 Nippon Seiki Co Ltd 移動体の誘導方法
JP2014219782A (ja) 2013-05-07 2014-11-20 第一施設工業株式会社 自立走行装置
JP2015055906A (ja) 2013-09-10 2015-03-23 株式会社日立産機システム 移動体の走行制御手段に対して制御指令を出力する位置検出装置及び移動体システム

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JPWO2022044473A1 (https=) 2022-03-03
WO2022044473A1 (ja) 2022-03-03
US12386356B2 (en) 2025-08-12
US20230297121A1 (en) 2023-09-21

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