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    Route generation device and method utilized grid map
    53.
    发明专利
    Route generation device and method utilized grid map 有权
    路由生成设备和方法利用网格地图

    公开(公告)号：JP2010190897A

    公开(公告)日：2010-09-02

    申请号：JP2010033591

    申请日：2010-02-18

    Applicant: Samsung Electronics Co Ltd ,  三星電子株式会社Samsung Electronics Co.,Ltd.

    Inventor： JEONG WOO-YEON ,  LEE SU-JINN

    IPC: G01C21/00 ,  G01C21/34

    CPC classification number: G01C21/20 ,  A47L2201/04 ,  G05D1/0217 ,  G05D1/0274 ,  G05D2201/0203 ,  G06T19/003

    Abstract: PROBLEM TO BE SOLVED: To provide a device and a method for generating a route based on a grid map by using a restricted memory size.
    SOLUTION: An approximate route is generated based on a reduced map generated by reducing an original grid map. Then, the approximate route is mapped on the original grid map, and a mapped and enlarged route is divided into a plurality of sections based on an available memory size utilized for route calculation. A detailed route classified by the section is generated based on a starting point and a target point set in each divided section.
    COPYRIGHT: (C)2010,JPO&INPIT

    Abstract translation: 要解决的问题：提供一种通过使用受限存储器大小来基于网格图生成路线的装置和方法。

    解决方案：基于通过减少原始网格图生成的缩小图来生成近似路线。 然后，将近似路线映射到原始网格图上，并且基于用于路线计算的可用存储器大小将映射和放大的路由划分为多个部分。 基于在每个分割部分中设置的起始点和目标点来生成由该部分分类的详细路线。 版权所有（C）2010，JPO＆INPIT

    Mobile device
    54.
    发明专利
    Mobile device 有权
    移动设备

    公开(公告)号：JP2010079853A

    公开(公告)日：2010-04-08

    申请号：JP2008250697

    申请日：2008-09-29

    Applicant: Honda Motor Co Ltd ,  本田技研工業株式会社

    Inventor： SEKIYA MAKOTO

    IPC: G05D1/02 ,  B25J13/00

    CPC classification number: B25J9/1676 ,  B25J9/162 ,  G05B2219/39091 ,  G05D1/0217 ,  G05D2201/0217

    Abstract: PROBLEM TO BE SOLVED: To provide a mobile apparatus moving or acting appropriately from the viewpoint of effectively avoiding the blocking of movement by an object. SOLUTION: Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object 2 belongs to a first classification, an operation of a robot 1 is controlled so as to prompt the object 2 to move according to a first pattern or an optional pattern. The second moving condition is a condition that the robot 1 is capable of moving in accordance to a current target position trajectory P0 without being obstructed by the object 2 when the object is displaced according to the first pattern. The second classification is a classification of the object which can be moved by acting of a force from the robot 1. Thus, it is possible to confirm in advance that the robot 1 is capable of moving according to the current target position trajectory P0 without being obstructed by the object 2, when the object 2 is displaced forcibly according to the operation of the robot 1. COPYRIGHT: (C)2010,JPO&INPIT

    Abstract translation: 要解决的问题：为了提供从有效地避免物体的运动阻挡的观点来移动或适当地起作用的移动装置。 解决方案：即使不满足第一移动条件，当确定满足第二移动条件并且同时对象2属于第一分类时，机器人1的操作被控制为 提示对象2根据第一模式或可选模式移动。 第二移动条件是当物体根据第一图案移位时，机器人1能够根据当前目标位置轨迹P0移动而不被对象2阻碍的条件。 第二分类是可以通过来自机器人1的力的作用来移动物体的分类。因此，可以预先确认机器人1能够根据当前目标位置轨迹P0而移动，而不会 当对象2被根据机器人1的操作被强制移动时，物体2被阻挡。（C）版权所有（C）2010，JPO＆INPIT

    Method of generating traveling path of unmanned vehicle
    55.
    发明专利
    Method of generating traveling path of unmanned vehicle 有权
    生成无人机行驶路线的方法

    公开(公告)号：JP2010073080A

    公开(公告)日：2010-04-02

    申请号：JP2008242001

    申请日：2008-09-22

    Applicant: Komatsu Ltd ,  Yokohama National Univ ,  国立大学法人横浜国立大学 ,  株式会社小松製作所

    Inventor： MAEKAWA SUGURU ,  NODA TETSUYA ,  TAMURA SHIGEFUMI ,  OZAKI TOMONORI

    IPC: G05D1/02 ,  E02F9/20

    CPC classification number: G05D1/0217 ,  G05D2201/0202 ,  G05D2201/021

    Abstract: PROBLEM TO BE SOLVED: To generate an optimum traveling path which satisfies a minimum constraint for running a vehicle, reduces loads on tires and a vehicle body, reduces required traveling time, and improves fuel economy for traveling, thereby minimizing cost for traveling. SOLUTION: The method of generating a traveling path of an unmanned vehicle includes steps of: inputting vehicle constraints including a width of the unmanned vehicle and a minimum turning radius, and inputting geometric constraints including a traveling path generation range in which the unmanned vehicle travels, an obstacle to be avoided, positions and directions of an entry point and an exit point (step 201); and generating a traveling path so as to satisfy the vehicle constraints and geometric constraints and minimize a value of a cost function having cost elements including at least a curvature of the traveling path or steering angle or/and a rate of change of the curvature of the traveling path, or a steering manipulation amount variable of the unmanned vehicle (step 202). COPYRIGHT: (C)2010,JPO&INPIT

    Abstract translation: 要解决的问题为了产生满足行驶车辆的最小限制的最佳行驶路径，减少轮胎和车身的载荷，减少所需的行驶时间，并且提高行驶中的燃料经济性，从而最小化行驶成本 。 解决方案：生成无人驾驶车辆的行进路径的方法包括以下步骤：输入包括无人驾驶车辆的宽度和最小转弯半径的车辆约束，并输入包括无人驾驶车辆的行驶路径生成范围的几何约束 车辆行驶，要避免的障碍物，入口点和出口点的位置和方向（步骤201）; 并且产生行进路径以便满足车辆约束和几何约束，并使具有至少包括行驶路径或转向角的曲率的成本要素的成本函数的值最小化或/和 行驶路径或无人驾驶车辆的转向操作量变量（步骤202）。 版权所有（C）2010，JPO＆INPIT

    Control method for unmanned conveyance system
    58.
    发明专利
    Control method for unmanned conveyance system 审中-公开
    不可控输送系统的控制方法

    公开(公告)号：JP2004038935A

    公开(公告)日：2004-02-05

    申请号：JP2003099330

    申请日：2003-04-02

    Applicant: Samsung Electronics Co Ltd ,  三星電子株式会社

    Inventor： JEONG CHAN-DOO

    IPC: G05D1/02

    CPC classification number: G05D1/0217 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0282 ,  G05D1/0289 ,  G05D2201/0216

    Abstract: PROBLEM TO BE SOLVED: To provide a control method for an unmanned conveyance system, in which a plurality of automated guided vehicles are provided on a travel path and they are efficiently operated.
    SOLUTION: Considering operation execution costs corresponding to all operation sequences to be executed by an automated guided vehicle, a travel path of the automatic guided vehicle is set, and the automated guided vehicle is controlled according to the set travel path. Steps for setting a travel path include calculating the number of cases for all operation sequences, and calculating each cost to execute operations of the calculated cases for the automated guided vehicle. In addition, the steps include calculating the operation execution costs using each of the costs, and setting a travel path for the automated guided vehicle according to the case of a minimum cost among the calculated operation execution costs.
    COPYRIGHT: (C)2004,JPO

    Abstract translation: 解决的问题：提供一种无人运输系统的控制方法，其中多个自动导引车辆设置在行驶路径上并且它们被有效地操作。

    解决方案：考虑与由自动导向车辆执行的所有操作序列相对应的操作执行成本，设置自动引导车辆的行进路径，并且根据设定的行驶路径来控制自动引导车辆。 设置行驶路径的步骤包括计算所有操作序列的情况数，并且计算执行自动引导车辆的计算情况的操作的每个成本。 另外，这些步骤包括使用每个成本来计算操作执行成本，并且根据所计算的操作执行成本中的最小成本的情况来设定自动导向车辆的行驶路径。 版权所有（C）2004，JPO

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