公开(公告)号：EP4418235A1

公开(公告)日：2024-08-21

申请号：EP22880919.0

申请日：2022-10-06

申请人： IHI Corporation

发明人： SONEHARA Mitsuharu ,  KANESHIMA Yoshiharu ,  KATSUKI Yoshio

IPC分类号： G08G1/16 ,  B60R21/00

CPC分类号： G08G1/16 ,  B60R21/00

摘要： An obstacle detection device (40) of an articulated vehicle (C), comprises a surrounding area calculation unit (41) that calculates a surrounding area (D) in a turning direction of a towing vehicle (X) and a towed vehicle (Y), a passage area calculation unit (42) that calculates a passage prediction area (B, A, AB, A1B1, A2B2), a monitoring area calculation unit (43) that calculates an area in which the surrounding area (D) and the passage prediction area (AB, A, B, A1B1, A2B2) overlap as a monitoring area (E, E1, E2), and an obstacle detection unit (44) that outputs an obstacle detection information indicating that an obstacle that may be entrapped by a turning of the towing vehicle (X) and the towed vehicle (Y) has been detected, in response to the obstacle detected by the obstacle sensor (30) being detected within the monitoring area (E, E1, E2).

公开(公告)号：EP2708334A1

公开(公告)日：2014-03-19

申请号：EP12782445.6

申请日：2012-04-24

申请人： IHI Corporation

发明人： EMOTO Shuhei ,  HAYASHI Toshihiro ,  BANNO Hajime ,  FUJII Masakazu ,  SONEHARA Mitsuharu

IPC分类号： B25J13/00 ,  B25J13/08

CPC分类号： B25J13/08 ,  B25J5/007 ,  B25J9/1664 ,  B25J9/1697 ,  B25J19/023 ,  G05B2219/32357 ,  G05B2219/37436 ,  G05B2219/40512 ,  G05B2219/41146 ,  G05B2219/42263 ,  Y02P90/26

摘要： (A) One or both of an object and a robot (2) are measured by measuring units (12a and 12b) to acquire sensor information. (B) The internal state of one or both of the object and the robot (2) is predicted and updated by a state estimation unit (14) on the basis of the sensor information. (C) The internal state is stored by a data storage unit (16). (D) The robot (2) is controlled by a robot control unit (20). At (B), the internal state is updated by the state estimation unit (14) at an arbitrary timing that is independent of the control cycle of the robot. At (D), a prediction value necessary for controlling the robot is calculated by the robot control unit at a control cycle on the basis of the latest internal state stored in the data storage unit (16).

摘要翻译： （A）通过测量单元（12a和12b）测量物体和机器人（2）中的一个或两个以获取传感器信息。 （B）基于传感器信息由状态估计单元（14）预测和更新物体和机器人（2）中的一个或两个的内部状态。 （C）内部状态由数据存储单元（16）存储。 （D）机器人（2）由机器人控制单元（20）控制。 在（B）中，在与机器人的控制周期无关的任意定时，状态估计部（14）更新内部状态。 在（D）中，基于存储在数据存储单元（16）中的最新内部状态，通过机器人控制单元在控制周期计算控制机器人所需的预测值。